CN108958229A - Method and device for rapidly and qualitatively detecting tracking accuracy of heliostat - Google Patents
Method and device for rapidly and qualitatively detecting tracking accuracy of heliostat Download PDFInfo
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Abstract
The invention provides a method and a device for rapidly and qualitatively detecting heliostat tracking accuracy, which relate to the technical field of tower type solar thermal power generation, and can rapidly screen out heliostats in a heliostat field which have poor tracking accuracy and need to be subjected to error correction, so that the efficiency of the conventional heliostat tracking error correction system is greatly improved, the correction time of the whole field is shortened, and the heliostat field efficiency is improved to the maximum extent; the device comprises a light source, a heliostat and an image acquisition and processing unit which are connected in turn through light reflection; the heliostat field control system is in control connection with the heliostat and is in communication connection with the image acquisition and processing unit; the method comprises the following steps: collecting the image reflected by the heliostat by using the image collecting and processing unit; carrying out image processing and image matching; and carrying out tracking accuracy error correction on the heliostat to be corrected according to the matching result. The technical scheme provided by the invention is suitable for the heliostat tracking accuracy detection process.
Description
[technical field]
The present invention relates to tower type solar energy thermal power generation technical fields more particularly to a kind of fast qualitative detection heliostat to track
The method and device of accuracy.
[background technique]
With increasingly depleted a, weight of the solar energy thermal-power-generating as Solar use of the fossil energies such as petroleum, coal
Want branch, it is considered to be one of most promising generation mode in future source of energy market.Tower type solar energy thermal power generation is as the sun
The one mode of energy heat power generation, citation form are the heliostat composition heliostats using the large number of independently tracked sun
, solar radiation is reflexed on the heat dump for being located at heat absorption tower top end, heating working medium, steam is then generated by heat exchange,
Pushing turbine generates electricity.
Core component of the heliostat as tower type solar energy thermal power generation station, tracking accuracy directly influence the optically focused of Jing Chang
Efficiency, and then influence the efficiency in entire power station.However it is always introduced during the manufacture of heliostat, installation and debugging each
The error of kind various kinds mainly includes column inclination, driving backlash, integral face shape alignment error, orientation and pitch axis reference position
Error etc..There are also some other random errors, including wind load, encoder resolution error etc. simultaneously.Above-mentioned error component
Coupling superposition will lead to the final tracking accuracy of heliostat and deviate design value, thus in actual Jing Chang debugging and operational process
It is middle to need to be corrected the tracking accuracy of heliostat.
Traditional method of calibration is as follows: white light target is installed on heat absorption tower, mirror station control system will be in the geometry of light target
Heart point is set as the tracking target point of corrected heliostat, and sunlight is reflected into white light target to control the heliostat
On.Using the light spot image on the camera acquisition light target being mounted in mirror field, actual spot center is obtained by image procossing.
Then heliostat theory can be calculated by position of sun, heliostat coordinate, coordinate of ground point and actual spot center
With actual azimuth pitch angle, to obtain the tracking error of heliostat.Determined after obtaining tracking error there are many method
Solar eyepiece error correction: as described in Chinese patent 200910244113.5 and Chinese patent 201210589981.9, by it is multiple when
The tracing deviation data at quarter obtain the tracing deviation curve of heliostat by interpolation fitting, to correct the trail angle of heliostat
Degree；As described in Chinese patent 201310663872.1, error model is calculated by the tracing deviation data regression at multiple moment
In error parameter；As described in Chinese patent 201110263334.4, running track is set to the tracking target point of heliostat,
To realize the dynamic check of heliostat precision.
The major defect of traditional method of calibration is to absorb heat that the white light target limited amount of error correction can be carried out on tower, one
As be commercialized the quantity of light target in power station and be up to 4 pieces, every piece of light target synchronization only allows 1 face heliostat to carry out error school
Just, and in mirror field the thousands of faces of the quantity of heliostat, thus calibration cycle is very long, and Jing Chang whole heliostat corrects a time-consuming
May be up to even one or two years some months, the timeliness of check results is deteriorated, to seriously affect the light gathering efficiency of Jing Chang.It is practical
The tracking error of upper heliostat is the coupling of many factors as a result, the otherness between individual is very big, has quite a few fixed
The tracking error very little of solar eyepiece, does not need to correct.But traditional method of calibration carries out entire Jing Chang indiscriminate periodic
Correction, serious waste correction resource, reduces correction efficiency.Therefore it is badly in need of in the operation of actual power station a kind of efficient, fast
Prompt heliostat error screening technique, can rapidly filter out which heliostat needs to carry out error correction, to there is selection
Property carry out error correction, improve correction efficiency.
[summary of the invention]
In view of this, the present invention provides a kind of method and device of fast qualitative detection heliostat tracking accuracy, institute
Stating device can quickly screen in appearance field which heliostat tracking accuracy is poor to need to carry out error correction, and which on settled date
Mirror tracking accuracy does not need well to carry out error correction, to greatly improve existing heliostat tracking error correction system
Efficiency, shorten the correction time of the whole audience, to the maximum extent improve mirror field efficiency.
On the one hand, the present invention provides a kind of method of fast qualitative detection heliostat tracking accuracy, and step includes:
S1, setting light source, Image Acquisition and processing unit keep the light source, heliostat, described image acquisition and processing single
Member successively light reflection connection；
The image of S2, described image acquisition and processing unit acquisition after heliostat reflection；
S3, image procossing and images match are carried out to the image of S2 acquisition；
S4, tracking accuracy error correction is carried out according to the heliostat that matching result corrects needs.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the tool of the S3
Body step includes:
S31, setting gray threshold, carry out binary conversion treatment to described image；
S32, judge whether the heliostat in described image is completely gloomy or becomes clear completely, if into S33；If
It is no to enter S34；
S33, judge that the heliostat is completely gloomy or completely bright；Determine that corresponding heliostat is if completely gloomy
Heliostat need to be corrected；If completely bright, determine that corresponding heliostat is without correcting heliostat；Matching terminates；
S34, it calculates the heliostat and becomes clear in occupied area Atotal and the face heliostat occupied area in the picture portion
Area Abright shared by point, then calculate scale factor:
S35, scale factor μ is compared with preset threshold B, as μ >=B, then determines that corresponding heliostat is without school
Positive heliostat；As μ < B, then corresponding heliostat is determined for heliostat need to be corrected；Matching terminates.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the default threshold
Value B is to be obtained after largely testing by big data and/or experience.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the light source are
The moon.
On the other hand, the present invention provides a kind of device of fast qualitative detection heliostat tracking accuracy, it is characterised in that:
Including light source, heliostat, mirror station control system, Image Acquisition and processing unit, the light source, the heliostat, described image
Acquisition and processing unit successively light reflection connection；The mirror station control system and heliostat control connect, the Jing Chang control
The connection that system processed is acquired with described image and processing unit can communicate.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the light source are
The moon.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, described image are adopted
Collection and processing unit setting are on heat absorption tower.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, described image are adopted
The quantity of collection and processing unit can be one or more.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, described image are adopted
Collection and processing unit include camera, camera device for adjusting posture and computer, the camera and the camera device for adjusting posture
Connection, the computer are connect with the camera.
The aspect and any possible implementation manners as described above, it is further provided a kind of implementation, the camera bag
Ccd detector and camera lens are included, the ccd detector is connect with the camera lens and the computer respectively.
Compared with prior art, the present invention can be obtained including following technical effect: which can quickly be screened in appearance field
A little heliostats tracking accuracys do not need to carry out error correction well, and accuracy is poor is missed for which heliostat tracking
Difference correction avoids the wasting of resources caused by carrying out indifference correction whole heliostats, to greatly improve the existing settled date
Mirror tracking error corrects the efficiency of system, shortens the correction time of the whole audience, improves mirror field efficiency to the maximum extent；Device measurement
Speed is fast, and detection accuracy is higher, and testing is to carry out at night, will not influence the normal operation in power station.
Certainly, it implements any of the products of the present invention it is not absolutely required to while reaching all the above technical effect.
[Detailed description of the invention]
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is that the principle of the device of fast qualitative detection heliostat tracking accuracy provided by one embodiment of the present invention is shown
It is intended to；
Fig. 2 is that the image of the device of fast qualitative detection heliostat tracking accuracy provided by one embodiment of the present invention is adopted
The structural schematic diagram of collection and processing unit；
Fig. 3 is that the device of fast qualitative detection heliostat tracking accuracy provided by one embodiment of the present invention was measuring
The schematic diagram of typical heliostat field image collected in journey.
Wherein:
The moon -1, heliostat -2, Image Acquisition and processing unit -3, absorb heat tower -4, mirror station control system -5, CCD detection
Device -6, camera lens -7, holder -8, tripod -9, computer -10 track good heliostat image -11 of accuracy, and tracking is accurate
Property poor heliostat image -12, heliostat image -13 of the tracking accuracy between good and poor.
[specific embodiment]
For a better understanding of the technical solution of the present invention, being retouched in detail to the embodiment of the present invention with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
The term used in embodiments of the present invention is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The present invention.In the embodiment of the present invention and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
Fig. 1 is that the principle of the device of fast qualitative detection heliostat tracking accuracy provided by one embodiment of the present invention is shown
It is intended to.As shown in Figure 1, a kind of device of fast qualitative detection heliostat tracking accuracy, including light source, heliostat field unit with
And Image Acquisition and processing unit 3.The successively light reflection connection of light source, heliostat field unit, Image Acquisition and processing unit 3.
The successively light reflection connection of light source, heliostat field unit, Image Acquisition and processing unit 3 is specially what light source issued
Light, to the position of Image Acquisition and processing unit 3, is received after the reflection of heliostat field unit by Image Acquisition and processing unit.
Moonlight when light source is the moon 1, especially full moon at sunny night；Light source is also possible to simulate the light source of moonlight,
Analog light source position or running track must be it is known that and preferably identical as the moon 1.
The heliostat field unit includes heat absorption tower 4, several heliostats 2 and mirror station control system 5；The heat absorption tower
4 for mixed mud structural tower perhaps steel structure tower positioned at the center or edge of Jing Chang；The heliostat 2 is glass-reflected
Mirror, quantity may be thousands of faces, be arranged in around heat absorption tower 4, sunlight can be reflected into the heat dump of heat absorption tower 4
Place；The mirror station control system 5 is electrically connected or communicates to connect with every face heliostat 2, for controlling the movement of heliostat 2 to change
Its posture enables heliostat 2 to be reflected into sunlight or moonlight on the position of heat dump or Image Acquisition and processing unit 3.Institute
The Image Acquisition and processing unit 3 stated are mounted on the top of heat absorption tower 4, and position coordinates are in advance by total station or GPS coordinate
Measuring device measurement.It, can also be with it should be noted that the top for the tower that absorbs heat again might not be arranged in Image Acquisition and processing unit 3
It is arranged in other positions, as long as the light of light source 1 can be reflected into the posture by adjusting heliostat 2 Image Acquisition and processing is single
Member 3, and the coordinate of the position need to be measured in advance.But it should be noted that the position should not be too close from heat dump, prevent
When Jing Chang on daytime works, strong light burns out equipment.
When there are enough heat insulating protecting apparatus, Image Acquisition and processing unit 3 can also be arranged in the heat absorption of heat absorption tower
At device or near it, heat insulating protecting apparatus can protect Image Acquisition and processing unit 3 will not be because of the temperature of daylight and heat dump
And it damages.Because the moon is similar with track of sun, Image Acquisition and processing unit 3 are arranged at the heat dump of heat absorption tower or its is attached
Reflection easily, can guarantee that heliostat 2 carries out the detection of tracking accuracy, detection in the state of normal work in this way when close
The heliostat of tracking accuracy difference out can be directly adjusted on the basis of its original posture, reduce adjustment difficulty.
Image Acquisition and the quantity of processing unit 3 can be one or more.
Fig. 2 is the Image Acquisition of detection device provided by one embodiment of the present invention and the structural schematic diagram of processing unit.
As shown in Fig. 2, Image Acquisition and processing unit 3 include camera, holder 8, tripod 9 and computer 10, the mobilizable peace of camera
On holder 8, its posture can be very easily adjusted, holder has applied relatively generally the adjustment structure of camera, most common
Be monitoring device angle rotation and control, which is not described herein again；Holder 8 is detachably arranged on tripod 9；Described
Tripod 9 is mounted on heat absorption tower 4, is used to support holder and camera；Computer 10 and phase mechatronics, for receiving and handling
The heliostat 2 of camera shooting reflects the image of moonlight, including image is matched with preset threshold binary image, judges corresponding
Whether whether the tracking accuracy of heliostat 2 is excellent, need to carry out tracking error correction.Mirror station control system 5 and Image Acquisition
The connection that can be communicated with processing unit 3, communication mode multiplicity, including electrical connection, wireless connection, wave connection etc. even include
The communication mode of artificial transmitting information, makes that mirror station control system 5 obtains Image Acquisition and what processing unit 3 was judged needs to adjust
Heliostat information, tracking error correction is carried out to the heliostat that corrects of needs according to this information.Camera includes ccd detector
6 and camera lens 7, ccd detector 6 be electrically connected respectively with camera lens 7 and computer 10.
The moonlight and sunlight issued due to the moon 1 has the similar angle of divergence, and irradiation intensity is more much lower than sunlight.
The moon light image that heliostat 2 reflects thus is shot using the Image Acquisition and processing unit 3, it both can be with simulated solar irradiation
Situation, and acquisition equipment will not be burnt out because of that can flow too strong.According to astronomical algorithm, the track of the moon is calculated in real time, it will be described
The solar tracking algorithm of mirror station control system 5 change into and chase after a moon algorithm, will be real-time in the parameter input table of heliostat track algorithm
The azimuth of sunlight incidence and height angular data are substituted for azimuth and the height angular data of real-time moonlight incidence, and control is every
Moonlight is reflected at the position of the Image Acquisition and processing unit 3 by the posture of face heliostat 2.
Fig. 3 is that heliostat detection device provided by one embodiment of the present invention is collected typical fixed in measurement process
The schematic diagram of solar eyepiece field picture.As tracked in Fig. 3 shown in the good heliostat image 11 of accuracy, if the tracking of heliostat 2
Accuracy is good, then can be reflected into moonlight at Image Acquisition and processing unit 3, then single by the Image Acquisition and processing
The image of the heliostat 2 of 3 acquisition of member is bright.If it is poor that heliostat 2 tracks accuracy, moonlight can not be reflected
To at Image Acquisition and processing unit 3, then the image of the heliostat 2 acquired by Image Acquisition and processing unit 3 be it is gloomy,
As tracked in Fig. 3 shown in the poor heliostat image 12 of accuracy.If heliostat 2 track accuracy between it is good and it is poor it
Between, then the mirror surface of heliostat 2 has partial region that can be reflected into moonlight at Image Acquisition and processing unit 3, then is adopted by image
The image for the heliostat 2 that collection and processing unit 3 acquire is that part light is gloomy, as tracked accuracy in Fig. 3 between good
Shown in heliostat image 13 between good and poor.
Pass through image procossing and images match, so that it may it is accurate to screen to fast qualitative which heliostat tracking in appearance field
Property it is poor, need to carry out error correction, so that it may daytime with traditional bearing calibration selectively to these heliostats into
Row error correction, to greatly improve correction efficiency.
Specifically, a kind of method of fast qualitative detection heliostat tracking accuracy, step include:
S1, setting light source, Image Acquisition and processing unit keep the light source, heliostat, described image acquisition and processing single
Member successively light reflection connection；
S2, the light source is opened, utilizes the figure of described image acquisition and processing unit acquisition after heliostat reflection
Picture；
S3, image procossing and images match are carried out to the described image of acquisition；
S4, tracking accuracy error correction is carried out according to the heliostat that matching result corrects needs.
Detailed process is as follows for the image procossing and images match of step S3:
When performing image processing, the overall intensity situation of image is first passed through, gray threshold is set, two-value is carried out to image
Change processing, obtain which heliostat image be it is bright, which heliostat image is gloomy or the same face heliostat image
On, any partial region be it is bright, which partial region is gloomy.If the entire mirror surface of heliostat be all it is bright, this is fixed
It is good that solar eyepiece tracks accuracy, if the opposite entire mirror surface of heliostat be all it is gloomy, it is poor which tracks accuracy.
The heliostat gloomy for mirror portion light, as tracked heliostat of the accuracy between good and poor in Fig. 3
Shown in image 13, then need to be further processed.Binary conversion treatment is the common processing method of field of image processing, is by each picture
The gray value of element is compared with preset decision threshold, more than or equal to a given value for decision threshold, is less than decision threshold
Give another value, to realize the binaryzation of grey scale pixel value.
It extracts the face heliostat occupied area, i.e. shared pixel number on the entire image first, is denoted as Atotal, then
It extracts area shared by light, i.e. shared pixel number in the face heliostat occupied area, is denoted as Abright, then it is fixed
Adopted scale factor μ:
Scale factor μ is the ratio that the part that heliostat is bright on image accounts for entire settled date mirror area.Set a threshold value
B, as μ >=B, then it is assumed that the tracking accuracy of the heliostat is acceptable, does not need to carry out error correction；As μ < B, then recognize
It is unacceptable for the tracking accuracy of the heliostat, it needs to carry out error correction.The value of threshold value B be after largely testing,
It is obtained by big data and experience.
The course of work of detection device of the invention is as follows: at sunny night, the moon luminous intensity it is stronger under the conditions of, starting
Mirror station control system 5；According to astronomical algorithm, the track of the moon 1 is calculated in real time, the solar tracking algorithm of mirror station control system 5 is changed into
A moon algorithm is chased after, the posture of every face heliostat 2 is controlled, moonlight is reflected at the position of Image Acquisition and processing unit 3；By image
Acquisition and processing unit 3 acquire the image of heliostat field.Due to the heliostat 2 of different tracking accuracies, the light and shade journey of image
Degree can be different, the good heliostat image of tracking accuracy be it is bright, the poor heliostat image of tracking accuracy is gloomy
's.Therefore pass through the image processing function and images match function of Image Acquisition and processing unit 3, so that it may screen to fast qualitative
The tracking accuracy of which heliostat is poor in appearance field, needs to carry out error correction.It is traditional so as to be used on daytime
Bearing calibration carries out selective error correction to these heliostats, and then greatlys improve correction efficiency.
Above to the method and dress of a kind of tracking accuracy of fast qualitative detection heliostat provided by the embodiment of the present application
It sets, is described in detail.The description of the example is only used to help understand the method for the present application and its core ideas；Together
When, for those of ordinary skill in the art, according to the thought of the application, have in specific embodiments and applications
Change place, in conclusion the contents of this specification should not be construed as limiting the present application.
Some vocabulary has such as been used to censure specific components in specification and claims.Those skilled in the art
, it is to be appreciated that hardware manufacturer may call the same component with different nouns.Present specification and claims are not
In such a way that the difference of title is as component is distinguished, but with the difference of component functionally as the criterion of differentiation.Such as
It is an open language in "comprising", " comprising " of the specification and claims in the whole text mentioned in, therefore " packet should be construed to
Containing/including but not limited to "." substantially " refer within the acceptable error range, those skilled in the art can centainly miss
The technical problem is solved in poor range, basically reaches the technical effect.Specification subsequent descriptions be implement the application compared with
Good embodiment, so the description is being not intended to limit the scope of the present application for the purpose of the rule for illustrating the application.
The protection scope of the application is subject to view the appended claims institute defender.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
Include, so that commodity or system including a series of elements not only include those elements, but also including not clear
The other element listed, or further include for this commodity or the intrinsic element of system.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in the commodity or system for including the element also
There are other identical elements.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Above description shows and describes several preferred embodiments of the present application, but as previously described, it should be understood that the application
Be not limited to forms disclosed herein, should not be regarded as an exclusion of other examples, and can be used for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in application contemplated scope described herein
It is modified.And changes and modifications made by those skilled in the art do not depart from spirit and scope, then it all should be in this Shen
It please be in the protection scope of the appended claims.
Claims (10)
1. a kind of method of fast qualitative detection heliostat tracking accuracy, step include:
S1, setting light source, Image Acquisition and processing unit, make the light source, heliostat, described image acquisition and processing unit according to
Secondary light reflection connection；
The image of S2, described image acquisition and processing unit acquisition after heliostat reflection；
S3, image procossing and images match are carried out to the image of S2 acquisition；
S4, tracking accuracy error correction is carried out according to the heliostat that matching result corrects needs.
2. the method for fast qualitative detection heliostat tracking accuracy according to claim 1, which is characterized in that the S3
Specific steps include:
S31, setting gray threshold, carry out binary conversion treatment to described image；
S32, judge whether the heliostat in described image is completely gloomy or becomes clear completely, if into S33；If not into
Enter S34；
S33, judge that the heliostat is completely gloomy or completely bright；Corresponding heliostat is determined if completely gloomy to need school
Positive heliostat；If completely bright, determine that corresponding heliostat is without correcting heliostat；Matching terminates；
S34, heliostat occupied area A in the picture is calculatedtotalWith shared by light in the face heliostat occupied area
Area Abright, then calculate ratio factor mu:
S35, scale factor μ is compared with preset threshold B, as μ >=B, then determines that corresponding heliostat is fixed without correcting
Solar eyepiece；As μ < B, then corresponding heliostat is determined for heliostat need to be corrected；Matching terminates.
3. the method for fast qualitative detection heliostat tracking accuracy according to claim 2, which is characterized in that described pre-
If threshold value B is to be obtained after largely testing by big data and/or experience.
4. the method for fast qualitative detection heliostat tracking accuracy according to claim 1, which is characterized in that the light
Source is the moon.
5. a kind of device of fast qualitative detection heliostat tracking accuracy, it is characterised in that: including light source, heliostat, Jing Chang
Control system, Image Acquisition and processing unit, the light source, the heliostat, described image acquisition and processing unit successively light
Reflection connection；The mirror station control system and heliostat control connect, and the mirror station control system and described image acquire
The connection that can be communicated with processing unit.
6. the device of fast qualitative detection heliostat tracking accuracy according to claim 5, which is characterized in that the light
Source is the moon.
7. the device of fast qualitative detection heliostat tracking accuracy according to claim 5, which is characterized in that the figure
As acquisition and processing unit setting are on heat absorption tower.
8. the device of fast qualitative detection heliostat tracking accuracy according to claim 5, which is characterized in that the figure
As the quantity of acquisition and processing unit can be one or more.
9. according to the device of any fast qualitative detection heliostat tracking accuracy of claim 5-8, which is characterized in that
Described image acquisition and processing unit include camera, camera device for adjusting posture and computer, the camera and the camera appearance
State adjusts device connection, and the computer is connect with the camera.
10. the device of fast qualitative detection heliostat tracking accuracy according to claim 9, which is characterized in that described
Camera includes ccd detector and camera lens, and the ccd detector is connect with the camera lens and the computer respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810975403.6A CN108958229B (en) | 2018-08-24 | 2018-08-24 | Method and device for rapidly and qualitatively detecting tracking accuracy of heliostat |
Applications Claiming Priority (1)
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