CN108958229B - 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
- Publication number
- CN108958229B CN108958229B CN201810975403.6A CN201810975403A CN108958229B CN 108958229 B CN108958229 B CN 108958229B CN 201810975403 A CN201810975403 A CN 201810975403A CN 108958229 B CN108958229 B CN 108958229B
- Authority
- CN
- China
- Prior art keywords
- heliostat
- image
- processing unit
- image acquisition
- tracking accuracy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012545 processing Methods 0.000 claims abstract description 76
- 238000012937 correction Methods 0.000 claims abstract description 34
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 6
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 238000002474 experimental method Methods 0.000 claims description 3
- 238000010248 power generation Methods 0.000 abstract description 6
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 14
- 239000006096 absorbing agent Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012795 verification Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000000306 component Substances 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004313 glare Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Image Analysis (AREA)
Abstract
The invention provides a method and a device for rapidly and qualitatively detecting tracking accuracy of heliostats, which relate to the technical field of tower type solar thermal power generation, and can rapidly screen out which heliostats in a mirror field have poorer tracking accuracy and need 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 efficiency of the mirror field is furthest improved; the device comprises a light source, a heliostat and an image acquisition and processing unit, wherein the light source, the heliostat and the image acquisition and processing unit are sequentially connected in a light reflection mode; 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 images reflected by the heliostat by using the image collecting and processing unit; performing 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
[ Field of technology ]
The invention relates to the technical field of tower type solar thermal power generation, in particular to a method and a device for rapidly and qualitatively detecting tracking accuracy of heliostats.
[ Background Art ]
With the increasing exhaustion of fossil energy sources such as petroleum and coal, solar thermal power generation is considered as one of the most promising power generation modes in the future energy market as an important branch of solar energy utilization. The tower type solar thermal power generation is used as a mode of solar thermal power generation, and the basic mode is that a heliostat field is formed by utilizing a plurality of heliostats which independently track the sun, solar radiation is reflected to a heat absorber positioned at the top end of a heat absorption tower, working medium is heated, then steam is generated through heat exchange, and a steam turbine is driven to generate power.
The heliostat is used as a core component of the tower type solar thermal power station, and tracking precision of the heliostat directly influences condensation efficiency of a mirror field, so that efficiency of the whole power station is influenced. However, various errors are always introduced in the process of manufacturing, installing and debugging heliostats, and mainly comprise upright column inclination, driving backlash, integral surface shape adjustment errors, azimuth and pitching axis reference position errors and the like. There are also some other random errors including wind load, encoder resolution errors, etc. The coupling superposition of the error factors can cause the final tracking accuracy of the heliostat to deviate from the design value, so that the tracking accuracy of the heliostat needs to be corrected in the actual field debugging and operation process.
The conventional verification method is as follows: a white light target is mounted on the heat absorption tower, and the mirror field control system sets the geometric center point of the light target as the tracking target point of the corrected heliostat, so as to control the heliostat to reflect sunlight onto the white light target. And acquiring a light spot image on the light target by using a camera arranged in the lens field, and obtaining an actual light spot center through image processing. And then the theoretical and actual azimuth pitching angles of the heliostat can be calculated by the sun position, the heliostat coordinates, the target point coordinates and the actual spot center, so that the tracking error of the heliostat is obtained. There are various methods for heliostat error correction after the tracking error is obtained: as described in chinese patent 200910244113.5 and chinese patent 201210589981.9, a tracking deviation curve of the heliostat is obtained by interpolation fitting from tracking deviation data at a plurality of moments, so as to correct a tracking angle of the heliostat; as described in chinese patent 201310663872.1, the error parameters in the error model are calculated by regression of tracking bias data at a plurality of times; as described in chinese patent 201110263334.4, a running track is set for the tracking target point of the heliostat, so as to realize dynamic verification of heliostat accuracy.
The main defects of the traditional verification method are that the number of white targets capable of performing error correction on the heat absorption tower is limited, the number of targets in a commercial power station is at most 4, only 1 heliostat is allowed to perform error correction at the same time for each target, and the number of heliostats in a mirror field is thousands of planes, so that the correction period is very long, the time for correcting all heliostats in the mirror field can be as long as several months or even two years, the timeliness of the verification result is poor, and the light collecting efficiency of the mirror field is seriously affected. In practice, tracking errors of heliostats are the result of coupling of various factors, the variability between individuals is large, and some heliostats have small tracking errors and do not need correction. However, the traditional calibration method performs indiscriminate periodic calibration on the whole lens field, so that calibration resources are seriously wasted, and the calibration efficiency is reduced. Therefore, an efficient and quick heliostat error screening method is urgently needed in actual power station operation, which heliostats need to be subjected to error correction can be screened out quickly, so that error correction is selectively performed, and correction efficiency is improved.
[ Invention ]
In view of this, the invention provides a method and a device for rapidly and qualitatively detecting tracking accuracy of heliostats, which can rapidly screen out which heliostats in a field have poor tracking accuracy and need error correction, and which heliostats have good tracking accuracy and do not need error correction, thereby greatly improving the efficiency of the existing heliostat tracking error correction system, shortening the full-field correction time and maximally improving the field efficiency.
In one aspect, the invention provides a method for rapidly and qualitatively detecting tracking accuracy of heliostats, comprising the following steps:
s1, arranging a light source and an image acquisition and processing unit, and enabling the light source, the heliostat and the image acquisition and processing unit to be connected in a light reflection mode in sequence;
s2, the image acquisition and processing unit acquires an image reflected by the heliostat;
S3, performing image processing and image matching on the image acquired in the S2;
s4, carrying out tracking accuracy error correction on the heliostat to be corrected according to the matching result;
The specific steps of the S3 comprise:
s31, setting a gray threshold value, and performing binarization processing on the image;
S32, judging whether heliostats in the image are completely dark or completely bright, and if so, entering S33; if not, S34 is entered;
S33, judging whether the heliostat is completely dark or completely bright; if the heliostat is completely dark, judging that the corresponding heliostat is the heliostat to be corrected; if the heliostat is completely bright, determining that the corresponding heliostat does not need to be corrected; and (5) finishing matching;
S34, calculating the occupied area A total of the heliostat in the image and the occupied area A bright of the bright part of the occupied area of the heliostat, and then calculating the scale factor:
S35, comparing the scale factor mu with a preset threshold B, and judging that the corresponding heliostat is not required to be corrected when mu is more than or equal to B; when mu is less than B, judging the corresponding heliostat as the heliostat to be corrected; and (5) finishing matching.
In the aspects and any possible implementation manner described above, there is further provided an implementation manner, where the preset threshold B is obtained from big data and/or experience after a lot of experiments.
On the other hand, the invention provides a device for rapidly and qualitatively detecting the tracking accuracy of heliostats, which is characterized in that: the system comprises a light source, a heliostat, a mirror field control system and an image acquisition and processing unit, wherein the light source, the heliostat and the image acquisition and processing unit are sequentially connected in a light reflection mode; the heliostat field control system is in control connection with the heliostat, and the heliostat field control system is in communication connection with the image acquisition and processing unit;
The specific steps of the image acquisition and processing unit comprise:
s1, setting a gray threshold value, and performing binarization processing on the image;
s2, judging whether heliostats in the image are completely dark or completely bright, and if so, entering S3; if not, S4 is entered;
s3, judging whether the heliostat is completely dark or completely bright; if the heliostat is completely dark, judging that the corresponding heliostat is the heliostat to be corrected; if the heliostat is completely bright, determining that the corresponding heliostat does not need to be corrected; and (5) finishing matching;
S4, calculating an area A total occupied by the heliostat in the image and an area A bright occupied by a bright part in the area occupied by the heliostat, and then calculating a scaling factor mu:
s5, comparing the scale factor mu with a preset threshold B, and judging that the corresponding heliostat is not required to be corrected when mu is more than or equal to B; when mu is less than B, judging the corresponding heliostat as the heliostat to be corrected; and (5) finishing matching.
In aspects and any one of the possible implementations described above, there is further provided an implementation, the image acquisition and processing unit is disposed on the heat absorption tower.
The aspects and any possible implementation manner as described above further provide an implementation manner, and the number of the image acquisition and processing units may be one or more.
In aspects and any possible implementation manner as described above, there is further provided an implementation manner, where the image acquisition and processing unit includes a camera, a camera posture adjustment device, and a computer, where the camera is connected to the camera posture adjustment device, and the computer is connected to the camera.
In aspects and any possible implementation manner as described above, there is further provided an implementation manner, where the camera includes a CCD detector and a lens, and the CCD detector is connected to the lens and the computer, respectively.
Compared with the prior art, the invention can obtain the following technical effects: the heliostat tracking accuracy in the mirror field is good and error correction is not needed, and the heliostat tracking accuracy is poor and error correction is needed, so that resource waste caused by indiscriminate correction of all heliostats is avoided, the efficiency of the conventional heliostat tracking error correction system is greatly improved, the full-field correction time is shortened, and the mirror field efficiency is furthest improved; the device measuring speed is fast, and the detection precision is higher, and the test is gone on in evening moreover, can not influence the normal operating of power station.
Of course, it is not necessary for any of the products embodying the invention to achieve all of the technical effects described above at the same time.
Description of the drawings:
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an apparatus for rapid qualitative detection of heliostat tracking accuracy provided by one embodiment of the invention;
FIG. 2 is a schematic diagram of an image acquisition and processing unit of an apparatus for rapid qualitative detection of heliostat tracking accuracy provided by one embodiment of the invention;
FIG. 3 is a schematic diagram of a typical heliostat field image acquired during a measurement process by an apparatus for rapid qualitative detection of heliostat tracking accuracy provided by one embodiment of the invention.
Wherein:
Moon-1, heliostat-2, image acquisition and processing unit-3, heat absorption tower-4, lens field control system-5, CCD detector-6, lens-7, tripod head-8, tripod-9, computer-10, heliostat image-11 with good tracking accuracy, heliostat image-12 with poor tracking accuracy, heliostat image-13 with tracking accuracy between good and poor tracking accuracy.
Detailed Description
For a better understanding of the technical solution of the present invention, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.
It should be understood that the described embodiments are merely some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
Fig. 1 is a schematic diagram of an apparatus for rapidly and qualitatively detecting tracking accuracy of heliostats according to one embodiment of the invention. As shown in fig. 1, a device for rapidly and qualitatively detecting tracking accuracy of heliostats comprises a light source, a heliostat field unit and an image acquisition and processing unit 3. The light source, the heliostat field unit and the image acquisition and processing unit 3 are connected in sequence in a light reflection mode.
The light source, the heliostat field unit and the image acquisition and processing unit 3 are sequentially connected in a light reflection mode, namely, the light emitted by the light source is reflected by the heliostat field unit and then reaches the position of the image acquisition and processing unit 3, and is received by the image acquisition and processing unit.
The heliostat field unit comprises an endothermic tower 4, a plurality of heliostats 2 and a field control system 5; the heat absorption tower 4 is a concrete structure tower or a steel structure tower and is positioned at the center or the edge of the mirror field; the heliostat 2 is a glass reflector, the number of which can be thousands of surfaces, is arranged around the heat absorption tower 4, and can reflect sunlight to the heat absorber of the heat absorption tower 4; the heliostat field control system 5 is electrically or communicatively connected to each heliostat 2, and is used for controlling the heliostat 2 to act to change its posture, so that the heliostat 2 can reflect sunlight or moonlight to the position of the heat absorber or the image acquisition and processing unit 3. The image acquisition and processing unit 3 is arranged at the top of the heat absorption tower 4, and the position coordinates of the image acquisition and processing unit are measured by a total station or GPS coordinate measuring equipment in advance. It should be noted that the image capturing and processing unit 3 is not necessarily disposed at the top of the re-heat absorbing tower, but may be disposed at other positions, as long as the light of the light source 1 can be reflected to the image capturing and processing unit 3 by adjusting the posture of the heliostat 2, and the coordinates of the position need to be measured in advance. However, it should be noted that this location should not be too close to the heat sink, preventing glare from burning out the device when the field of the daytime lens is in operation.
The image acquisition and processing unit 3 may also be arranged at or near the absorber of the absorber tower, when there is sufficient thermal insulation protection means, which can protect the image acquisition and processing unit 3 from damage due to sunlight and the heat of the absorber. Because moon and sun track are similar, reflection is very convenient when the image acquisition and processing unit 3 is arranged at or near the heat absorber of the heat absorption tower, so that the heliostat 2 can be ensured to detect tracking accuracy in a normal working state, and the heliostat with poor tracking accuracy can be directly adjusted on the basis of the original posture of the heliostat, thereby reducing adjustment difficulty.
The number of image acquisition and processing units 3 may be one or more.
Fig. 2 is a schematic structural diagram of an image acquisition and processing unit of a detection device according to an embodiment of the present invention. As shown in fig. 2, the image acquisition and processing unit 3 includes a camera, a pan-tilt 8, a tripod 9 and a computer 10, wherein the camera is movably mounted on the pan-tilt 8, so that the posture of the camera can be conveniently adjusted, the adjustment structure of the pan-tilt to the camera is commonly applied, and the most common is the angle rotation and control of monitoring equipment, which is not described herein again; the tripod head 8 is detachably arranged on the tripod 9; the tripod 9 is arranged on the heat absorption tower 4 and is used for supporting the tripod head and the camera; the computer 10 is electrically connected with the camera, and is used for receiving and processing the image of the moon light reflected by the heliostat 2 shot by the camera, and comprises the steps of matching the image with a preset threshold image, and judging whether the tracking accuracy of the corresponding heliostat 2 is good or not and whether tracking error correction is needed or not. The field control system 5 is in communication connection with the image acquisition and processing unit 3, and various communication modes are provided, including electrical connection, wireless connection, wave connection and the like, and even the communication mode including manual information transmission, so that the field control system 5 obtains the information of the heliostat to be adjusted judged by the image acquisition and processing unit 3, and tracking error correction is performed on the heliostat to be corrected according to the information. The camera comprises a CCD detector 6 and a lens 7, the CCD detector 6 being electrically connected to the lens 7 and the computer 10, respectively.
Since moon 1 emits moon light with a divergence angle similar to that of sunlight, the irradiation intensity is much lower than that of the sunlight. Therefore, the image acquisition and processing unit 3 is adopted to shoot the moon light image reflected by the heliostat 2, so that the condition of sunlight can be simulated, and the acquisition equipment cannot be burnt out due to too strong energy flow. According to astronomical algorithm, calculating moon track in real time, changing sun-tracking algorithm of the field control system 5 into moon-tracking algorithm, changing real-time sunlight incident azimuth angle and altitude angle data into real-time moon incident azimuth angle and altitude angle data in parameter input table of heliostat tracking algorithm, controlling attitude of each heliostat 2, reflecting moon light to position of the image acquisition and processing unit 3.
FIG. 3 is a schematic diagram of a typical heliostat field image acquired during measurement by a heliostat detection device according to one embodiment of the invention. As shown in the heliostat image 11 with good tracking accuracy in fig. 3, if the heliostat 2 is capable of reflecting moon light to the image acquisition and processing unit 3, the image of the heliostat 2 acquired by the image acquisition and processing unit 3 is bright. If heliostat 2 tracking accuracy is poor, then moon light cannot be reflected to image acquisition and processing unit 3, and then the image of heliostat 2 acquired by image acquisition and processing unit 3 is dark, as shown by heliostat image 12 of poor tracking accuracy in fig. 3. If heliostat 2 tracking accuracy is between good and poor, then a partial area of the mirror surface of heliostat 2 is capable of reflecting moon light to image acquisition and processing unit 3, and then the image of heliostat 2 acquired by image acquisition and processing unit 3 is partially bright and partially dark, as shown by heliostat image 13 in fig. 3 with tracking accuracy between good and poor.
Through image processing and image matching, the heliostat tracking accuracy of the heliostat field can be rapidly and qualitatively screened out, error correction is needed, and the heliostat can be selectively corrected by using a traditional correction method in daytime, so that the correction efficiency is greatly improved.
Specifically, a method for rapidly and qualitatively detecting tracking accuracy of heliostats comprises the following steps:
s1, arranging a light source and an image acquisition and processing unit, and enabling the light source, the heliostat and the image acquisition and processing unit to be connected in a light reflection mode in sequence;
S2, turning on the light source, and collecting an image reflected by the heliostat by using the image collecting and processing unit;
S3, performing image processing and image matching on the acquired images;
S4, tracking accuracy error correction is carried out on the heliostat to be corrected according to the matching result.
The specific procedure of the image processing and the image matching in the step S3 is as follows:
When the image processing is carried out, a gray threshold value is set according to the whole gray condition of the image, and binarization processing is carried out on the image to obtain which heliostat images are bright and which heliostat images are dark, or which partial areas are bright and which partial areas are dark on the same heliostat image. If the entire mirror surface of the heliostat is bright, the heliostat tracking accuracy is good, whereas if the entire mirror surface of the heliostat is dark, the heliostat tracking accuracy is poor. For heliostats with bright mirror portions and dark portions, further processing is required as shown by heliostat image 13 in fig. 3 with tracking accuracy between good and poor. The binarization processing is a processing method commonly used in the field of image processing, and is to compare the gray value of each pixel with a preset judgment threshold value, wherein the gray value is greater than or equal to a given value of the judgment threshold value and is smaller than the given other value of the judgment threshold value, so that the binarization of the gray value of the pixel is realized.
Firstly, the occupied area of the heliostat on the surface, namely the number of occupied pixels, is marked as A total, and then the occupied area of the bright part, namely the number of occupied pixels, is marked as A bright, on the whole image, and the scaling factor mu is defined:
The scale factor μ is the proportion of the bright portion of the heliostat on the image to the entire heliostat area. Setting a threshold B, and when mu is more than or equal to B, considering that the tracking accuracy of the heliostat is acceptable and error correction is not needed; when μ < B, then the tracking accuracy of the heliostat is considered unacceptable, requiring error correction. The value of threshold B is obtained from big data and experience after a large number of experiments.
The working process of the detection device of the invention is as follows: starting the mirror field control system 5 under the condition of strong moon light intensity at sunny night; according to astronomical algorithm, calculating the track of moon 1 in real time, changing the sun-tracking algorithm of the mirror field control system 5 into a moon-tracking algorithm, controlling the posture of each heliostat 2, and reflecting moon light to the position of the image acquisition and processing unit 3; images of the heliostat field are acquired by the image acquisition and processing unit 3. Because heliostats 2 with different tracking accuracy have different brightness of images, heliostat images with good tracking accuracy are bright, and heliostat images with poor tracking accuracy are dark. Therefore, by the image processing function and the image matching function of the image acquisition and processing unit 3, the heliostat in the mirror field can be rapidly and qualitatively screened out that the tracking accuracy of the heliostat is poor, and error correction is required. Therefore, the heliostats can be selectively corrected for errors by using a traditional correction method in daytime, and the correction efficiency is greatly improved.
The method and the device for rapidly and qualitatively detecting the tracking accuracy of the heliostat provided by the embodiment of the application are described in detail. The above description of embodiments is only for aiding in the understanding of the method of the present application and its core ideas; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Certain terms are used throughout the description and claims to refer to particular components. Those of skill in the art will appreciate that a hardware manufacturer may refer to the same component by different names. The description and claims do not take the form of an element differentiated by name, but rather by functionality. As referred to throughout the specification and claims, the terms "comprising," including, "and" includes "are intended to be interpreted as" including/comprising, but not limited to. By "substantially" is meant that within an acceptable error range, a person skilled in the art is able to solve the technical problem within a certain error range, substantially achieving the technical effect. The description hereinafter sets forth a preferred embodiment for practicing the application, but is not intended to limit the scope of the application, as the description is given for the purpose of illustrating the general principles of the application. The scope of the application is defined by the appended claims.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
While the foregoing description illustrates and describes the preferred embodiments of the present application, it is to be understood that the application is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as expressed herein, either as a result of the foregoing teachings or as a result of the knowledge or technology of the relevant art. And that modifications and variations which do not depart from the spirit and scope of the application are intended to be within the scope of the appended claims.
Claims (7)
1. A method for rapidly and qualitatively detecting tracking accuracy of heliostats comprises the following steps:
s1, arranging a light source and an image acquisition and processing unit, and enabling the light source, the heliostat and the image acquisition and processing unit to be connected in a light reflection mode in sequence;
s2, the image acquisition and processing unit acquires an image reflected by the heliostat;
S3, performing image processing and image matching on the image acquired in the S2;
s4, carrying out tracking accuracy error correction on the heliostat to be corrected according to the matching result;
The specific steps of the S3 comprise:
s31, setting a gray threshold value, and performing binarization processing on the image;
S32, judging whether heliostats in the image are completely dark or completely bright, and if so, entering S33; if not, S34 is entered;
S33, judging whether the heliostat is completely dark or completely bright; if the heliostat is completely dark, judging that the corresponding heliostat is the heliostat to be corrected; if the heliostat is completely bright, determining that the corresponding heliostat does not need to be corrected; and (5) finishing matching;
S34, calculating the occupied area A total of the heliostat in the image and the occupied area A bright of the bright part of the occupied area of the heliostat, and then calculating the scaling factor mu:
S35, comparing the scale factor mu with a preset threshold B, and judging that the corresponding heliostat is not required to be corrected when mu is more than or equal to B; when mu is less than B, judging the corresponding heliostat as the heliostat to be corrected; and (5) finishing matching.
2. The method for rapid qualitative detection of heliostat tracking accuracy according to claim 1, wherein the preset threshold B is obtained from big data and/or experience after a large number of experiments.
3. The utility model provides a quick qualitative detection heliostat tracking accuracy's device which characterized in that: the system comprises a light source, a heliostat, a mirror field control system and an image acquisition and processing unit, wherein the light source, the heliostat and the image acquisition and processing unit are sequentially connected in a light reflection mode; the heliostat field control system is in control connection with the heliostat, and the heliostat field control system is in communication connection with the image acquisition and processing unit;
The specific steps of the image acquisition and processing unit comprise:
s1, setting a gray threshold value, and performing binarization processing on the image;
s2, judging whether heliostats in the image are completely dark or completely bright, and if so, entering S3; if not, S4 is entered;
s3, judging whether the heliostat is completely dark or completely bright; if the heliostat is completely dark, judging that the corresponding heliostat is the heliostat to be corrected; if the heliostat is completely bright, determining that the corresponding heliostat does not need to be corrected; and (5) finishing matching;
S4, calculating an area A total occupied by the heliostat in the image and an area A bright occupied by a bright part in the area occupied by the heliostat, and then calculating a scaling factor mu:
s5, comparing the scale factor mu with a preset threshold B, and judging that the corresponding heliostat is not required to be corrected when mu is more than or equal to B; when mu is less than B, judging the corresponding heliostat as the heliostat to be corrected; and (5) finishing matching.
4. The apparatus for rapid qualitative detection of heliostat tracking accuracy according to claim 3, wherein the image acquisition and processing unit is disposed on a heat absorption tower.
5. A device for rapid qualitative detection of heliostat tracking accuracy according to claim 3 wherein the number of image acquisition and processing units is one or more.
6. The device for rapid qualitative detection of heliostat tracking accuracy according to any of claims 3-5, wherein the image acquisition and processing unit comprises a camera, a camera posture adjustment device and a computer, the camera being connected to the camera posture adjustment device, the computer being connected to the camera.
7. The apparatus for rapid qualitative detection of heliostat tracking accuracy according to claim 6, wherein the camera comprises a CCD detector and a lens, the CCD detector being connected to the 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)
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108958229A CN108958229A (en) | 2018-12-07 |
| CN108958229B true CN108958229B (en) | 2024-05-17 |
Family
ID=64473171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810975403.6A Active CN108958229B (en) | 2018-08-24 | 2018-08-24 | Method and device for rapidly and qualitatively detecting tracking accuracy of heliostat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108958229B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109508044B (en) * | 2018-12-14 | 2022-03-29 | 上海晶电新能源有限公司 | Heliostat secondary reflection pointing correction system and method |
| CN109828612B (en) * | 2019-02-14 | 2021-09-07 | 浙江中控太阳能技术有限公司 | System and method for rapidly correcting heliostat at night by using unmanned aerial vehicle |
| CN109885106B (en) * | 2019-03-29 | 2022-02-11 | 西安微电子技术研究所 | Heliostat installation and transmission error calibration system and method |
| CN110131907A (en) * | 2019-03-29 | 2019-08-16 | 浙江中控太阳能技术有限公司 | A kind of heliostat mirror field automatic fault maintenance navigation methods and systems |
| CN110136206B (en) * | 2019-05-08 | 2021-05-07 | 浙江中控太阳能技术有限公司 | Method for calibrating center of visual axis of tower-type solar heliostat correction camera |
| CN110262570B (en) * | 2019-06-19 | 2023-01-10 | 深圳中科能投能源有限公司 | Heliostat calibration system and method |
| CN112286234B (en) * | 2020-10-30 | 2023-08-29 | 浙江可胜技术股份有限公司 | Heliostat attitude encoding and decoding-based mirror field correction system and heliostat attitude encoding and decoding-based mirror field correction method |
| CN112666985B (en) * | 2020-12-15 | 2022-09-16 | 江苏鑫晨光热技术有限公司 | Heliostat motion error parameter correction system and method based on reflection |
| CN117714228B (en) * | 2024-02-06 | 2024-04-26 | 长春晟博光学技术开发有限公司 | Control method of heliostat controller based on Autbus communication mode |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614445A (en) * | 2008-06-23 | 2009-12-30 | 中国华电工程(集团)有限公司 | Improve the method for accuracy of control of automatic sun track following of heliostat |
| CN102175066A (en) * | 2011-02-14 | 2011-09-07 | 吴建华 | Heliostat tracking control device for tower-type solar thermal power station |
| CN102506810A (en) * | 2011-10-18 | 2012-06-20 | 邵文远 | Heliostat angle deviation detection method for tower type solar thermal power generation system |
| CN102980313A (en) * | 2012-12-26 | 2013-03-20 | 首航节能光热技术股份有限公司 | Heliostat error correction system and method for solar tower optical-thermal power station |
| WO2013044849A1 (en) * | 2011-09-29 | 2013-04-04 | Sun Haixiang | Heliostat calibration system and calibration method of solar power station |
| CN103644665A (en) * | 2013-12-23 | 2014-03-19 | 中国科学院电工研究所 | Tracking and controlling system and tracking method for heliostat |
| CN103743547A (en) * | 2013-12-25 | 2014-04-23 | 青海中控太阳能发电有限公司 | BCS plate characteristic identification method |
| WO2015173899A1 (en) * | 2014-05-14 | 2015-11-19 | 株式会社 日立ハイテクノロジーズ | Solar thermal power generation system, and calibration system for solar thermal power generation system |
| CN106644399A (en) * | 2016-12-31 | 2017-05-10 | 中海阳能源集团股份有限公司 | System and method of correcting heliostat deviation by using unmanned aerial vehicle |
| CN107678448A (en) * | 2017-11-27 | 2018-02-09 | 上海晶电新能源有限公司 | A kind of solar tracking correction system and method based on celestial image |
| CN108225552A (en) * | 2017-12-25 | 2018-06-29 | 中国科学院电工研究所 | Tower power station heliostat field optically focused energy-flux density distribution measurement method |
| CN208985003U (en) * | 2018-08-24 | 2019-06-14 | 北京首航艾启威节能技术股份有限公司 | A kind of device of fast qualitative detection heliostat tracking accuracy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110000478A1 (en) * | 2009-07-02 | 2011-01-06 | Dan Reznik | Camera-based heliostat tracking controller |
-
2018
- 2018-08-24 CN CN201810975403.6A patent/CN108958229B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101614445A (en) * | 2008-06-23 | 2009-12-30 | 中国华电工程(集团)有限公司 | Improve the method for accuracy of control of automatic sun track following of heliostat |
| CN102175066A (en) * | 2011-02-14 | 2011-09-07 | 吴建华 | Heliostat tracking control device for tower-type solar thermal power station |
| WO2013044849A1 (en) * | 2011-09-29 | 2013-04-04 | Sun Haixiang | Heliostat calibration system and calibration method of solar power station |
| CN102506810A (en) * | 2011-10-18 | 2012-06-20 | 邵文远 | Heliostat angle deviation detection method for tower type solar thermal power generation system |
| CN102980313A (en) * | 2012-12-26 | 2013-03-20 | 首航节能光热技术股份有限公司 | Heliostat error correction system and method for solar tower optical-thermal power station |
| CN103644665A (en) * | 2013-12-23 | 2014-03-19 | 中国科学院电工研究所 | Tracking and controlling system and tracking method for heliostat |
| CN103743547A (en) * | 2013-12-25 | 2014-04-23 | 青海中控太阳能发电有限公司 | BCS plate characteristic identification method |
| WO2015173899A1 (en) * | 2014-05-14 | 2015-11-19 | 株式会社 日立ハイテクノロジーズ | Solar thermal power generation system, and calibration system for solar thermal power generation system |
| CN106644399A (en) * | 2016-12-31 | 2017-05-10 | 中海阳能源集团股份有限公司 | System and method of correcting heliostat deviation by using unmanned aerial vehicle |
| CN107678448A (en) * | 2017-11-27 | 2018-02-09 | 上海晶电新能源有限公司 | A kind of solar tracking correction system and method based on celestial image |
| CN108225552A (en) * | 2017-12-25 | 2018-06-29 | 中国科学院电工研究所 | Tower power station heliostat field optically focused energy-flux density distribution measurement method |
| CN208985003U (en) * | 2018-08-24 | 2019-06-14 | 北京首航艾启威节能技术股份有限公司 | A kind of device of fast qualitative detection heliostat tracking accuracy |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108958229A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108958229B (en) | Method and device for rapidly and qualitatively detecting tracking accuracy of heliostat | |
| US9722534B2 (en) | Computation of glint, glare, and solar irradiance distribution | |
| Ulmer et al. | Beam characterization and improvement with a flux mapping system for dish concentrators | |
| CN105066902B (en) | Solar concentrator reflecting mirror surface shape detection means and method based on optical imagery | |
| WO2013056507A1 (en) | Heliostat angle deviation detection method for solar tower thermal power system | |
| CN105022410B (en) | A kind of tower type solar electricity generation system heliostat calibaration system and calibration method | |
| CN107843348B (en) | Device and method for measuring energy flow density of heat absorber | |
| WO2013083053A1 (en) | Calibration method and calibration system for heliostat of solar power station | |
| WO2013044850A1 (en) | Calibration system and calibration method for heliostat in solar power station | |
| CN109508043B (en) | Image-based heliostat secondary reflection pointing correction field system and method | |
| CN104699116A (en) | Heliostat tracking error correction method | |
| WO2013044849A1 (en) | Heliostat calibration system and calibration method of solar power station | |
| CN208985003U (en) | A kind of device of fast qualitative detection heliostat tracking accuracy | |
| CN110209205A (en) | A kind of heliostat bearing calibration based on mirror surface label | |
| CN205450422U (en) | Solar energy condensing lens focusing system | |
| CN204881548U (en) | Solar concentrator speculum shape of face detection device based on optical imaging | |
| Liu et al. | Improving the energy distribution uniformity of solar dish collector system under tracking error using a cavity receiver position adjustment method | |
| CN116907535A (en) | Method for checking heliostat by adopting artificial light source and camera | |
| CN109062269A (en) | A kind of heliostat focuses method for correcting error, apparatus and system automatically | |
| US8674280B1 (en) | Concentration solar power optimization system and method of using same | |
| CN112666985B (en) | Heliostat motion error parameter correction system and method based on reflection | |
| Riveros-Rosas et al. | Concentration Images Profiles of the High-Flux Solar Furnace of CIE-UNAM in Temixco, Mexico. First Stage | |
| Ferriere et al. | In-situ measurement of concentrated solar flux and distribution at the aperture of a central solar receiver | |
| CN110136206B (en) | Method for calibrating center of visual axis of tower-type solar heliostat correction camera | |
| Guo et al. | Moonlight concentration experiments of Badaling solar tower power plant in Beijing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: Room 208, building 3, No.2 Yushun Road, Daxing District, Beijing 102602 Applicant after: Shouhang high tech energy technology Co.,Ltd. Address before: 100070, Beijing Fengtai District headquarters base three District 20 Applicant before: SHOUHANG RESOURCES SAVING |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 730311 no.2888, North Qilianshan Avenue, Lanzhou New District, Lanzhou City, Gansu Province (room 317, zone B, comprehensive service building, comprehensive free trade zone) Applicant after: Shouhang high tech energy technology Co.,Ltd. Address before: Room 208, building 3, No.2 Yushun Road, Daxing District, Beijing Applicant before: Shouhang high tech energy technology Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 735000 room 307, No. 23, West Street, northwest street, Suzhou District, Jiuquan City, Gansu Province Applicant after: Shouhang high tech energy technology Co.,Ltd. Address before: 730311 no.2888, North Qilianshan Avenue, Lanzhou New District, Lanzhou City, Gansu Province (room 317, zone B, comprehensive service building, comprehensive free trade zone) Applicant before: Shouhang high tech energy technology Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |