CN110262570A - A kind of calibration system and method for heliostat - Google Patents
A kind of calibration system and method for heliostat Download PDFInfo
- Publication number
- CN110262570A CN110262570A CN201910532389.7A CN201910532389A CN110262570A CN 110262570 A CN110262570 A CN 110262570A CN 201910532389 A CN201910532389 A CN 201910532389A CN 110262570 A CN110262570 A CN 110262570A
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- CN
- China
- Prior art keywords
- heliostat
- signal
- calibrated
- receiving device
- sender unit
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
Abstract
The embodiment of the present application discloses the calibration system and method for a kind of heliostat.The technical solution passes through to sender unit, the position of signal receiving device and heliostat to be calibrated is positioned, determine optical signalling, the theoretical emission angle and receiving angle of at least one of picture signal and radio signal, according at least one described sender unit, the spatial position of at least one signal receiving device and heliostat to be calibrated, and according to optical signalling, at least one of picture signal and the radio signal direction of the launch and receiving direction and angle, simultaneous equations are constructed to determine the straggling parameter of heliostat to be calibrated, and heliostat to be calibrated is calibrated according to the straggling parameter.By using technical solution provided herein, the purpose for improving the calibration efficiency of heliostat may be implemented.
Description
Technical field
The invention relates to the calibration systems and side of solar energy generation technology field more particularly to a kind of heliostat
Method.
Background technique
With the rapid development of economic society, directly or indirectly environmental problem is increasingly for haze, global warming etc.
Increase, people increasingly pay attention to environmental protection.Therefore, human society increasingly payes attention to new energy, especially to the benefit of solar energy
With.
In central tower-type heat collector power station, the heat collector of thermal-arrest column overhead receives the sun reflected from heliostat field
Light.Energy is converted high-pressure and high-temperature steam output by heat collector, can be sent into turbine later and carry out power generation.Heliostat is general
It is installed on the ground around tower.Each heliostat has rigid reflecting surface, and the sun can be traced, and uses the orientation that faces south surface daytime,
Keep the sunlight of reflection movement to heat collector.It needs highly accurately to track the sun, reduces the reflection overflowed around heat collector
Light.Therefore providing one kind accurately can realize that the heliostat calibaration system of smaller loss becomes to heat collector by sunlight reflection
The technical issues of those skilled in the art's urgent need to resolve.
In the prior art, it is often utilized on collection thermal tower and arranges light target, be radiated at heliostat flare on light target,
Facula position is read by the image acquisition device on ground again, a heliostat calibration may only be carried out every time.This method processing
Mode is complicated, and elapsed time is longer, when in heliostat field including thousands of a heliostats, greatly affected heliostat
Calibration efficiency.
Summary of the invention
The embodiment of the present application provides the calibration system and method for a kind of heliostat, to realize the calibration efficiency for improving heliostat
Purpose.
In a first aspect, the embodiment of the present application provides a kind of calibration system of heliostat, which includes: at least one letter
Number emitter, at least one signal receiving device, positioning device, control device and data processing equipment；Wherein:
The positioning device, for determine at least one described sender unit, at least one signal receiving device with
And the spatial position of heliostat to be calibrated, and will described at least one sender unit, at least one signal receiving device
And the spatial position of heliostat to be calibrated is uploaded to data processing equipment；
The control device, for being sent at least one described sender unit and at least one signal receiving device
Signal is controlled, to control sender unit and signal receiving device transmitting and receiving optical signal, picture signal and radio
At least one of signal, and control sender unit and signal receiving device carry out angular adjustment；And for controlling
The heliostat being calibrated is rotated；
The sender unit, comprising:
Signal transmitter unit, for into heliostat transmitting optical signalling to be calibrated, picture signal and radio signal
At least one；
Emit driving unit, including at least two transmitting drive shafts, for driving institute under the control of the control device
At least two transmitting drive shafts are stated, to control the direction of the launch and angular turn of sender unit；
Transmitting encoder, for recording at least one of optical signalling, the picture signal and radio signal direction of the launch
With angle, and it is uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting encoder；
The signal receiving device, comprising:
Signal receiving unit, optical signalling, picture signal and the aerogram returned for receiving heliostat to be calibrated
At least one of number；
Driving unit is received, including at least two receive drive shaft, for driving institute under the control of the control device
At least two reception drive shafts are stated, for driving the receiving direction and angular turn of the signal receiving device；
Encoder is received, for recording at least one of optical signalling, picture signal and radio signal receiving direction
With angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder；
The data processing equipment, for receiving dress according at least one described sender unit, at least one signal
Set and the spatial position of heliostat to be calibrated, and according in optical signalling, picture signal and radio signal at least
A kind of direction of the launch and receiving direction and angle construct simultaneous equations to determine the straggling parameter of heliostat to be calibrated, and root
Heliostat to be calibrated is calibrated according to the straggling parameter.
Further, the system also includes at least one calibrating stems；
At least one described sender unit is set on collection thermal tower, at least one described signal receiving device is set respectively
It is placed on the calibrating stem；Wherein, a signal receiving device is set on each calibrating stem.
Further, the data processing equipment is also used to determine the straggling parameter dimension of the heliostat to be calibrated,
And according to the straggling parameter dimension, the quantity of the simultaneous equations constructed required for determining.
Further, the system also includes at least one calibrating stems；A signal is arranged on each calibrating stem to send out
Injection device and a signal receiving device；Wherein, at least one described calibrating stem is arranged within the scope of heliostat field, each calibration
Bar is for calibrating the heliostat within the scope of predeterminable area corresponding with the calibrating stem.
Further, at least one of the optical signalling, picture signal and radio signal include artificial light source and/
Or laser beam.
Further, the data processing equipment is also used to:
For each heliostat to be calibrated, historical calibration result is counted, and generates statistical result table.
Second aspect, the embodiment of the present application provide a kind of calibration method of heliostat, this method comprises:
Described at least one sender unit, at least one signal receiving device are determined by positioning device and to school
The spatial position of quasi- heliostat, and will at least one described sender unit, at least one signal receiving device and to
The spatial position of the heliostat of calibration is uploaded to data processing equipment；
Control is sent at least one described sender unit and at least one signal receiving device by control device
Signal, to control sender unit and signal receiving device transmitting and receiving optical signal, picture signal and radio signal
At least one of, and control sender unit and signal receiving device progress angular adjustment；And for controlling by school
Quasi- heliostat is rotated；
By the signal transmitter unit of sender unit to heliostat to be calibrated emit optical signalling, picture signal and
At least one of radio signal；Emitting driving unit includes at least two transmitting drive shafts, in the control device
Control under drive it is described at least two transmitting drive shaft, to control the direction of the launch and angular turn of sender unit；With
And transmitting encoder, for recording at least one of optical signalling, the picture signal and radio signal direction of the launch and angle,
And it is uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting encoder；
Optical signalling, the figure that heliostat to be calibrated returns are received by the signal receiving unit of the signal receiving device
As at least one of signal and radio signal；Receiving driving unit includes at least two reception drive shafts, for described
Described at least two are driven to receive drive shaft under the control of control device, for driving the recipient of the signal receiving device
To with angular turn；And at least one of optical signalling, picture signal and radio signal are recorded by receiving encoder
Receiving direction and angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder；
By data processing equipment according at least one described sender unit, at least one signal receiving device and
The spatial position of heliostat to be calibrated, and sent out according at least one of optical signalling, picture signal and radio signal
Direction and receiving direction and angle are penetrated, constructs simultaneous equations to determine the straggling parameter of heliostat to be calibrated, and according to described
Straggling parameter calibrates heliostat to be calibrated.
Further, at least one described sender unit is set on collection thermal tower, at least one described signal receives
Device is respectively arranged on the calibrating stem；Wherein, a signal receiving device is set on each calibrating stem.
Further, the method also includes:
The straggling parameter dimension of the heliostat to be calibrated is determined by data processing equipment, and is joined according to the deviation
Number dimension, the quantity of the simultaneous equations constructed required for determining.
Further, at least one of the optical signalling, picture signal and radio signal include artificial light source and/
Or laser beam.
Technical solution provided by the embodiment of the present application, by positioning device, for determining the sender unit, letter
The spatial position of number reception device and heliostat to be calibrated, and by the sender unit, signal receiving device and
The spatial position of heliostat to be calibrated is uploaded to data processing equipment；Sender unit, comprising: signal transmitter unit is used
In at least one of to be calibrated heliostat transmitting optical signalling, picture signal and radio signal；Emit driving unit,
Including at least two transmitting drive shafts, for driving at least two transmittings drive shaft, to control the hair of sender unit
Penetrate direction and angular turn, and at least one of record optical signalling, picture signal and radio signal direction of the launch with
Angle；Signal receiving device, comprising: signal receiving unit, for receiving optical signalling, the image that heliostat to be calibrated returns
At least one of signal and radio signal；Driving unit is received, including at least two receive drive shaft, it is described for driving
At least two receive drive shafts, for driving the receiving direction and angular turn and recording light of the signal receiving device
Learn at least one of signal, picture signal and radio signal receiving direction and angle；Data processing equipment, for according to institute
The spatial position of sender unit, signal receiving device and heliostat to be calibrated is stated, determines and is directed to the settled date to be calibrated
At least one of theoretical optics signal, picture signal and the radio signal of the mirror direction of the launch and receiving direction and angle, structure
Simultaneous equations are built to determine the straggling parameter of heliostat to be calibrated, and according to the straggling parameter to heliostat to be calibrated into
Row calibration.By using technical solution provided herein, the purpose for improving the calibration efficiency of heliostat may be implemented.
Detailed description of the invention
Fig. 1 is the structural block diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 2 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 3 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 4 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 5 is the partial schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 6 is the horizontal view angle schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 7 is the partial schematic diagram of the horizontal view angle of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 8 is the horizontal view angle schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides；
Fig. 9 is the flow chart of the calibration method for the heliostat that the embodiment of the present application two provides.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the application, rather than the restriction to the application.It also should be noted that in order to just
Part relevant to the application is illustrated only in description, attached drawing rather than entire infrastructure.
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing or method described as flow chart.Although each step is described as the processing of sequence by flow chart, many of these
Step can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of each step can be rearranged.When its operation
The processing can be terminated when completion, it is also possible to have the additional step being not included in attached drawing.The processing can be with
Corresponding to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 1 is the structural block diagram of the calibration system for the heliostat that the embodiment of the present application one provides, and the present embodiment may be adapted to pair
The case where each heliostat in heliostat field is calibrated, the system can realize by the mode of software and/or hardware, and
The calibration method of heliostat provided herein can be performed.
As shown in Figure 1, the calibration system of the heliostat includes: at least one sender unit 110, at least one letter
Number reception device 120, positioning device 130, control device 140 and data processing equipment 150；Wherein:
The positioning device 130, for determining that at least one described sender unit 110, at least one signal receive
The spatial position of device 120 and heliostat to be calibrated, and will at least one described sender unit 110, at least one
The spatial position of signal receiving device 120 and heliostat to be calibrated is uploaded to data processing equipment 150；
The control device 140, for receiving dress at least one described sender unit 110 and at least one signal
120 transmissions control signal is set, to control sender unit 110 and the transmitting of signal receiving device 120 and receiving optical signal, figure
As at least one of signal and radio signal, and control sender unit 110 and signal receiving device 120 carry out angle
Degree is adjusted；And it is rotated for controlling the heliostat being calibrated；
The sender unit 110, comprising:
Signal transmitter unit, for into heliostat transmitting optical signalling to be calibrated, picture signal and radio signal
At least one；
Emit driving unit, including at least two transmitting drive shafts, for driving institute under the control of the control device
At least two transmitting drive shafts are stated, to control the direction of the launch and angular turn of sender unit；
Transmitting encoder, for recording at least one of optical signalling, the picture signal and radio signal direction of the launch
With angle, and it is uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting encoder；
The signal receiving device 120, comprising:
Signal receiving unit, optical signalling, picture signal and the aerogram returned for receiving heliostat to be calibrated
At least one of number；
Driving unit is received, including at least two receive drive shaft, for driving institute under the control of the control device
At least two reception drive shafts are stated, for driving the receiving direction and angular turn of the signal receiving device；
Encoder is received, for recording at least one of optical signalling, picture signal and radio signal receiving direction
With angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder；
The data processing equipment 150, for according to described at least one sender unit 110, at least one signal
The spatial position of reception device 120 and heliostat to be calibrated, and according to optical signalling, picture signal and radio signal
At least one of the direction of the launch and receiving direction and angle, construct simultaneous equations come determine heliostat to be calibrated deviation ginseng
Number, and heliostat to be calibrated is calibrated according to the straggling parameter.
Wherein, positioning device can be fixed using RTK (Real-time kinematic, in real time dynamically) carrier phase difference
Position device is realized.The benefit being arranged in this way is carrier phase difference technology, is that real-time two measuring station carrier phases of processing are seen
The carrier phase that base station acquires is issued receiver user by the difference method of measurement, carries out that difference is asked to resolve coordinate.This is a kind of
New common satellite positioning surveys method, and pervious static state, rapid static, dynamic measurement are required to be resolved afterwards and can just be obtained
The precision of Centimeter Level is obtained, and RTK is can to obtain in real time the measurement method of centimeter-level positioning precision in field, it uses carrier wave
Phase dynamic real-time difference method is the great milestone of GPS application, its appearance is engineering setting out, topographic mapping, various controls
System measurement brings new Principle and method of measurement, greatly improves operating efficiency.The key of RTK technology is to use
The carrier phase observed quantity of GPS, and the spatial coherence of observation error between reference station and movement station is utilized, pass through difference
Mode removes most of error in movement station observation data, to realize the positioning of high-precision (decimetre even Centimeter Level).
In the present embodiment, due to that can determine sender unit, signal receiving device and heliostat to be calibrated
Spatial position, then a plane can be determined according to the spatial position of three, and determine from sender unit to school
The angle of at least one of quasi- heliostat transmitting optical signalling, picture signal and radio signal, and determine that signal connects
At least one in optical signalling, picture signal and the radio signal from heliostat to be calibrated to return that receiving apparatus receives
The angle of kind.
Wherein, sender unit, comprising: signal transmitter unit, for heliostat transmitting optical signalling to be calibrated,
At least one of picture signal and radio signal；Emit driving unit, including signal transmitter unit, for to be calibrated
Heliostat emits at least one of optical signalling, picture signal and radio signal；Emit driving unit, including at least two
Emit drive shaft, for driving at least two transmittings drive shaft under the control of the control device, to control signal hair
The direction of the launch and angular turn of injection device；Transmitting encoder, for recording in optical signalling, picture signal and radio signal
At least one direction of the launch and angle, and be uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting coding
Device；Signal receiving device, comprising: signal receiving unit, signal receiving unit, the light returned for receiving heliostat to be calibrated
Learn at least one of signal, picture signal and radio signal；Driving unit is received, including at least two receive drive shaft,
For driving described at least two to receive drive shaft under the control of the control device, for driving the signal to receive dress
The receiving direction and angular turn set；Encoder is received, for recording in optical signalling, picture signal and radio signal extremely
A kind of few receiving direction and angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder.
Wherein, transmitting encoder can be to optical signalling, picture signal and the aerogram that signal transmitter unit is issued
Number at least one of angle recorded, specifically can at least two transmitting drive shafts angle remember respectively
Record, wherein at least two transmitting drive shafts may include transmitting horizontal axis and the transmitting longitudinal axis, and two drive shafts can also be according to other
Direction setting.Receiving encoder can be to optical signalling, picture signal and the radio signal received by signal receiving unit
At least one of angle recorded, specifically can at least two reception drive shafts angle record respectively,
Wherein, at least two reception drive shafts may include receiving horizontal axis and receiving the longitudinal axis, and two drive shafts can also be according to its other party
To setting.In the present embodiment, the transmitting driving unit of sender unit and the reception driving unit of signal receiving device can
To respectively include due to the small volume of emitter and reception device, lighter in weight, and being horizontally and vertically fixed on
Metastable position, as collected on thermal tower or in other equipment, so the technical program can not consider in calculating process
Error brought by sender unit and signal receiving device.
Sender unit and signal receiving device can be for one or more heliostat hairs to be calibrated as a result,
When penetrating at least one of receiving optical signal, picture signal and radio signal, the angle and reception of transmitting signal are carried out
The record work of the angle of signal.
Data processing equipment, can according at least one described sender unit, at least one signal receiving device with
And the spatial position of heliostat to be calibrated, and according at least one of optical signalling, picture signal and radio signal
The direction of the launch and receiving direction and angle construct simultaneous equations to determine the straggling parameter of heliostat to be calibrated, and according to institute
Straggling parameter is stated to calibrate heliostat to be calibrated.
Wherein, for a heliostat, straggling parameter can be various dimensions, can due to introduce deviation because
It usually determines, such as the horizontal axis deviation of heliostat, longitudinal axis deviation, center deviation etc., specifically, can be according to heliostat
Straggling parameter dimension, to determine the equation group for needing to form how many a simultaneous, such as some heliostat, deviation ginseng
Several dimensions is 4, then can with the equation group of 4 equations simultaneousnesses of component, such as emitter A and reception device a, emitter A with
Reception device b, emitter B and reception device a, emitter B and reception device b, wherein the position of emitter A and B is not
Together, the position of reception device a and b is also different.In this way, four can be constructed by two emitters and two reception devices
The Simultaneous Equations of equation, such as can also be by emitter A and reception device a, b, c, d, wherein the position of four reception devices
It sets different, the Simultaneous Equations of four equations is constructed with this, to clear out each straggling parameter of the heliostat, from
And it determines how and heliostat is calibrated.
In the present embodiment, optionally, the system also includes at least one calibrating stems；At least one signal transmitting
Device is set on collection thermal tower, at least one described signal receiving device is respectively arranged on the calibrating stem；Wherein, Mei Gesuo
State one signal receiving device of setting on calibrating stem.Wherein, the number of calibrating stem can be one or more, can be used for setting
Signal receiving device is set, the number of sender unit is also possible to one or more, can be set on collection thermal tower.Example
Such as can in the heat collector distance position relatively far away from above collection thermal tower, around collection thermal tower setting it is multiple towards different directions with
The sender unit of angle can also be configured in the different height above collection thermal tower.In the present embodiment, calibrating stem can
To be that thin and high bar inside heliostat field or neighbouring is arranged in, the benefit being arranged in this way is can to reduce calibrating stem white
Blocking to the sunlight being radiated above heliostat field in its collection thermal tower, that is, thermal process, the higher benefit of setting is can be with
It improves calibration accuracy and expands calibration range.The present embodiment may be implemented by setting calibrating stem to sender unit and letter
The separation of the spatial position of both number reception devices, increases the incidence angle and the angle of emergence of heliostat, helps to improve heliostat
Calibration accuracy.It is worth noting that sender unit is arranged on calibrating stem, signal is received if be arranged in turn
Device setting is also possible on collection thermal tower.
In the present embodiment, optionally, the data processing equipment is also used to determine the inclined of the heliostat to be calibrated
Poor parameter dimensions, and according to the straggling parameter dimension, the quantity of the simultaneous equations constructed required for determining.Wherein, heliostat
Straggling parameter dimension can be and determined according to practical calculate, such as can be manually entered by staff.It can basis
Straggling parameter dimension determines in optical signalling, picture signal and the radio signal carried out in calibration process to each heliostat
At least one transmitting and receive number, to improve the calibration efficiency of heliostat.
Fig. 2 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in Fig. 2, on collection thermal tower
Face is provided with transmitter, i.e., above-mentioned sender unit, and transmitter sends optical signalling, image letter to heliostat to be calibrated
Number and at least one of radio signal after, this can be received by the receiver being arranged in above calibrating stem and to be calibrated is determined
At least one of optical signalling, picture signal and the radio signal that solar eyepiece returns, the signal of receiver therein, that is, above-mentioned
Reception device.It in the present embodiment, can be at least one in transmitter transmitting optical signalling, picture signal and radio signal
By positioning device to transmitter before kind, the spatial position of receiver and heliostat is positioned.Preferably, heliostat can
To carry out solar tracking work on daytime, i.e., sunray is reflected on collection thermal tower, the calibration of heliostat is carried out at night, in this way may be used
Not influence the working efficiency of collecting system.
In a feasible embodiment, if the system comprises at least two sender units, and described at least two
A sender unit is separately positioned at least two calibrating stems；The system also includes control module, for from it is described to
The first sender unit and second signal emitter are determined in few two sender units；The control module is also used
In: control first sender unit emits the first optical signalling, picture signal and radio to heliostat to be calibrated
At least one of signal, the signal receiving device being set on collection thermal tower receive what the heliostat to be calibrated returned
At least one of first optical signalling, picture signal and radio signal；And the control heliostat rotation to be calibrated,
And it controls the second signal emitter and emits the second optical signalling, picture signal and aerogram to heliostat to be calibrated
Number at least one of, the signal receiving device being set on collection thermal tower receive that the heliostat to be calibrated returns the
At least one of two optical signallings, picture signal and radio signal；The data processing equipment is also used to described to school
The rotation precision of quasi- heliostat is calibrated.The technical program can determine two optical signallings, picture signal and radio
The sender unit of at least one of signal, and optical signalling, picture signal and aerogram are sent to heliostat respectively
At least one of number, so that heliostat is returned to by above optical receiving signal.In this way, not only can be to heliostat
Static angular carry out standard, can also the rotation process to heliostat whether can meet the requirements and calibrate, such as the
After the completion of the calibration of at least one of one optical signalling, picture signal and radio signal, the second optical signalling of discovery, image letter
Number and the hair of at least one of radio signal take the photograph and still have error with received angle, then illustrate the rotation of the heliostat
There are machine errors for process.Therefore the effect of dynamic calibration may be implemented, to improve the calibration accuracy to heliostat.
It is worth noting that in the above-mentioned technical solutions, two or more can be corresponded to using a sender unit
Signal receiving device, two or more signals can also correspond to using two or more sender units receive and fill
Set, the benefit being arranged in this way be can neck the reasons why existing equipment dynamic calibration is realized to heliostat.
In the present embodiment, optionally, the sender unit and the signal receiving device are set at least simultaneously
On one calibrating stem；Wherein, described at least one calibrating stem is arranged within the scope of heliostat field, each calibrating stem be used for this
Heliostat within the scope of the corresponding predeterminable area of calibrating stem is calibrated.Wherein it is possible to by the setting of multiple calibrating stems, and
It is provided with sender unit and signal receiving device simultaneously on each calibrating stem, to realize the signal on each calibrating stem
Emitter and signal receiving device can calibrate the heliostat in certain area, then can be by the way that multiple calibrations are arranged
The mode of bar realizes the calibration to all heliostats in entire heliostat field.Efficiency not only can be improved in setting in this way, additionally it is possible to
Realization is managed respectively, when equipment component breaks down, will not influence the calibration of all heliostats in entire heliostat field.
Fig. 3 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in figure 3, on collection thermal tower
One or more sender unit has can be set in face, and multiple calibrating stems can be positioned above signal receiving device.Wherein,
Multiple calibrating stems can be set between collection thermal tower and heliostat field, determine wherein each calibrating stem can be responsible for one or more
The heliostat calibration in solar eyepiece region.The benefit being arranged in this way is to guarantee to manage the calibration accuracy of heliostat
Under the premise of, additionally it is possible to greatly improve the calibration efficiency of heliostat field.
Fig. 4 is the schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in figure 4, same
It can receive on calibrating stem in optical signalling, picture signal and the radio signal that the heliostat in different heliostat fields returns
At least one, setting in this way can acquire the correction parameter of heliostat by multiple groups equation, simultaneous, to obtain heliostat
Calibration result.It illustrate only the return signal that a standard rod receives the heliostat of three heliostat fields in Fig. 4, in reality
Border is in use, can receive the signal of the return of more multizone, and can receive the return in any number of regions according to demand
Signal.
Fig. 5 is the partial schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in figure 5, for
One calibrating stem can receive the signal of three heliostat fields return, wherein trizonal heliostat is returned to the calibrating stem
Writing in reply, it is synchronous number to can be, can also be asynchronous, but for the signal receiving device above standard rod, can be directed to
The signal that the heliostat in each region returns is received and is recorded, and second heliostat field is then turned to, to complete to the
The reception for the signal that the heliostat of two heliostat fields returns and record are turning to next heliostat field.It is arranged in this way
Calibration efficiency can be improved, be suitble to the presence of the case where heliostat for largely needing to calibrate in heliostat field.
Fig. 6 is the horizontal view angle schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in fig. 6,
Wherein, the transmitter that is arranged above of collection thermal tower emits optical signalling to heliostat, such as laser signal, after heliostat reflects,
There is the receiver above calibrating stem to receive the signal returned, and the direction of the launch and angle and receiving direction and angle are remembered
Record, and then combine transmitter, the space position parameter of receiver and heliostat spatial position to heliostat or can turn
The error of axis is calibrated.
Fig. 7 is the partial schematic diagram of the horizontal view angle of the calibration system for the heliostat that the embodiment of the present application one provides.Such as Fig. 7
Shown, the receiver on a calibrating stem can receive the letter that multiple heliostats return, and then carry out to multiple heliostats
Calibration.The calibration efficiency of heliostat can be improved in this way and improve the utilization rate of calibration system, reduce the cost of calibration system.
Fig. 8 is the horizontal view angle schematic diagram of the calibration system for the heliostat that the embodiment of the present application one provides.As shown in figure 8,
What wherein calibrating stem can be set is thin and high, can not influence in the case where being arranged calibrating stem in heliostat field in this way
Collect thermal tower and receive the sunray that heliostat returns, ensure that heliostat can normally work on daytime.
In the present embodiment, optionally, at least one of the optical signalling, picture signal and radio signal include
Artificial light source and/or laser beam.Wherein, artificial light source is adapted to carry out the calibration of heliostat, laser beam at night
It can be adapted to simultaneously daytime or night calibrates heliostat, not influenced by available light.Meanwhile laser beam is
The light that energy is concentrated, is conducive to improve the calibration accuracy to the heliostat of heliostat field.
In the present embodiment, optionally, the data processing equipment is also used to: right for each heliostat to be calibrated
Historical calibration result is counted, and generates statistical result table.Wherein it is possible to by the multiple calibration result to the same heliostat
It is counted and is calculated, Lai Lianli obtains the coefficient of accuracy of the heliostat, and then it is total to be easy discovery with ancillary staff
Which the heliostat that will appear problem has, and how to handle the heliostat.
Technical solution provided by the embodiment of the present application, by positioning device, for determining the sender unit, letter
The spatial position of number reception device and heliostat to be calibrated, and by the sender unit, signal receiving device and
The spatial position of heliostat to be calibrated is uploaded to data processing equipment；Sender unit, comprising: signal transmitter unit is used
In at least one of to be calibrated heliostat transmitting optical signalling, picture signal and radio signal；Emit driving unit,
Including at least two transmitting drive shafts, for driving at least two transmittings drive shaft, to control the hair of sender unit
Penetrate direction and angular turn, and at least one of record optical signalling, picture signal and radio signal direction of the launch with
Angle；Signal receiving device, comprising: signal receiving unit, for receiving optical signalling, the image that heliostat to be calibrated returns
At least one of signal and radio signal；Driving unit is received, including at least two receive drive shaft, it is described for driving
At least two receive drive shafts, for driving the receiving direction and angular turn and recording light of the signal receiving device
Learn at least one of signal, picture signal and radio signal receiving direction and angle；Data processing equipment, for according to institute
The spatial position of sender unit, signal receiving device and heliostat to be calibrated is stated, determines and is directed to the settled date to be calibrated
At least one of theoretical optics signal, picture signal and the radio signal of the mirror direction of the launch and receiving direction and angle, structure
Simultaneous equations are built to determine the straggling parameter of heliostat to be calibrated, and according to the straggling parameter to heliostat to be calibrated into
Row calibration.By using technical solution provided herein, the purpose for improving the calibration efficiency of heliostat may be implemented.
Embodiment two
Fig. 9 is the flow chart of the calibration method for the heliostat that the embodiment of the present application two provides.Side provided by the present embodiment
Method can be executed by the calibration system of above-mentioned heliostat.
As shown in figure 9, the calibration system and method for the heliostat include:
S910, determined by positioning device at least one described sender unit, at least one signal receiving device with
And the spatial position of heliostat to be calibrated, and will described at least one sender unit, at least one signal receiving device
And the spatial position of heliostat to be calibrated is uploaded to data processing equipment.
S920, it is sent by control device at least one described sender unit and at least one signal receiving device
Signal is controlled, to control sender unit and signal receiving device transmitting and receiving optical signal, picture signal and radio
At least one of signal, and control sender unit and signal receiving device carry out angular adjustment；And for controlling
The heliostat being calibrated is rotated.
S930, optical signalling, image are emitted to heliostat to be calibrated by the signal transmitter unit of sender unit
At least one of signal and radio signal；Emitting driving unit includes at least two transmitting drive shafts, in the control
At least two transmittings drive shaft is driven under the control of device processed, is turned with controlling the direction of the launch and the angle of sender unit
It is dynamic；And transmitting encoder, for record at least one of optical signalling, the picture signal and radio signal direction of the launch with
Angle, and it is uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting encoder.
S940, the optics letter that heliostat to be calibrated returns is received by the signal receiving unit of the signal receiving device
Number, at least one of picture signal and radio signal；Receiving driving unit includes at least two reception drive shafts, is used for
Described at least two are driven to receive drive shaft under the control of the control device, for driving connecing for the signal receiving device
Debit to angular turn；And it is recorded in optical signalling, picture signal and radio signal at least by receiving encoder
A kind of receiving direction and angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder.
S950, dress is received according at least one described sender unit, at least one signal by data processing equipment
Set and the spatial position of heliostat to be calibrated, and according in optical signalling, picture signal and radio signal at least
A kind of direction of the launch and receiving direction and angle construct simultaneous equations to determine the straggling parameter of heliostat to be calibrated, and root
Heliostat to be calibrated is calibrated according to the straggling parameter.
The present embodiment on the basis of the above embodiments, provides a kind of calibration method of heliostat, and this method can lead to
It crosses to sender unit, the position of signal receiving device and heliostat to be calibrated is positioned, and determines optical signalling, figure
As the theoretical emission angle and receiving angle of at least one of signal and radio signal, according to optical signalling, picture signal
With at least one of the radio signal direction of the launch and receiving direction and angle, simultaneous equations are constructed to determine and to be calibrated determine
The straggling parameter of solar eyepiece, and heliostat to be calibrated is calibrated according to the straggling parameter.It is mentioned by using the application
The purpose for improving the calibration efficiency of heliostat may be implemented in the technical solution of confession.
On the basis of above-mentioned each technical solution, optionally, at least one described sender unit is set to collection thermal tower
On, at least one described signal receiving device is respectively arranged on the calibrating stem；Wherein, it is arranged one on each calibrating stem
A signal receiving device.The benefit being arranged in this way is can to increase in optical signalling, picture signal and radio signal at least
A kind of incident angle and reflection angle improves the precision calibrated to heliostat.
On the basis of above-mentioned each technical solution, optionally, the settled date to be calibrated is determined by data processing equipment
The straggling parameter dimension of mirror, and according to the straggling parameter dimension, the quantity of the simultaneous equations constructed required for determining.
On the basis of above-mentioned each technical solution, optionally, in the optical signalling, picture signal and radio signal
At least one includes artificial light source and/or laser beam.
The above method can the system provided by the application any embodiment run, have a corresponding function of the system
Module and beneficial effect.
Specifically, above-mentioned technical proposal can be realized using the following two kinds mode, one is:
Artificial light source: selection energy is strong, and light is concentrated, and collapses, and transmitting range is remote；
Transmitting stand column device: each transmitting column installs artificial light source (and/or laser issue light beam) and is used to emit light
Signal；Each heliostat is directed toward by artificial light source orientation；Driving device is installed below in each light source simultaneously, and driving device is used for
Drive artificial light source rotation and pitching movement；With encoder and rotation function, for controlling direction and the angle of rotation, laser
The position and direction and angle of transmitting；There are two encoders for installation inside driving device, for feeding back the angle of rotation and pitching
With direction and angle.
Collection thermal tower: optical receiver is installed on collection thermal tower；Collect and each heliostat is directed toward by artificial light source orientation on thermal tower；
Collection thermal tower light reception device also installs driving device；Driving device also installs two encoders；For controlling optical receiver apparatus
Movement angle and direction and angle.
Heliostat: reflected sunlight device installs reflection unit on heliostat, is used for reflection laser.
RTK Differential positioning: each heliostat, collection thermal tower and transmitting stand column device are carried out using RTK differential position
Positioning, the data measured are used to carry out space orientation and relevant calculating to the relative position between it.
Wherein, artificial light source is cheap, and light-gathering is good, and far firing range, energy is strong, easy for installation.
Wherein, an auxiliary strut can be set in every 10,60,100 heliostats, is equivalent to a new centre of location.
Wherein, artificial light source driving device, it is ensured that artificial light source is directed toward heliostat, accurate move angle and positioning.
Wherein, the driving device of optical receiver, it is ensured that optical receiver can accurate move angle and reception reflection light
Wherein, RTK differential position can accurately measure the position of collection thermal tower, stand-by still and heliostat.
Wherein, artificial light source is directed toward heliostat each time and receives reflected signal, can be counted according to these data
Calculate the spatial position of heliostat；Light repeatedly is emitted to heliostat and receives reflection signal, equation group can be formed, to solve
Related unknown parameter out；
Wherein, signal repeatedly is reflected using artificial light source, measures the position and attitude of single heliostat；It can obtain heliostat
Correlation space parameter；
Wherein, initial heliostat space position parameter is obtained, so that it may be calibrated automatically to heliostat correlation model
And identification；
Wherein, stand-by still calibrates benchmark as a heliostat field, for the first time to collect thermal tower as calibration benchmark, individually
Stand-by still can be measured independently as calibration center, calculated and be simulated.
The second is:
Collect on thermal tower and be all arranged on column emitter: emitter and reception device；
Artificial light source: energy is strong, and light is concentrated, and collapses, and transmitting range is remote；
Collection thermal tower: artificial light source, optical receiver are installed on collection thermal tower；Collect and is directed toward often on thermal tower by artificial light source orientation
A heliostat；Driving device is installed below in each light source simultaneously, and driving device is for driving artificial light source rotation and pitching movement；
Equipped with encoder and rotation function, for controlling direction and the angle of rotation, the position and direction and angle of Laser emission；Simultaneously
There are two encoders for installation inside driving device, for feeding back the angle and direction and angle of rotation and pitching.Meanwhile collecting thermal tower
Light reception device also installs driving device；Driving device also installs two encoders；For controlling the movement of optical receiver apparatus
Angle and direction and angle.
Emit stand column device: each transmitting stand column device installation artificial light source and optical receiver；Emit in stand column device
Each heliostat is directed toward by artificial light source orientation；Driving device is installed below in each light source simultaneously, and driving device is for driving
Artificial light source rotation and pitching movement；With encoder and rotation function, for controlling direction and the angle of rotation, Laser emission
Position and direction and angle；There are two encoders for installation inside driving device simultaneously, for feeding back the angle of rotation and pitching
With direction and angle.Meanwhile collecting thermal tower light reception device and driving device is also installed；Driving device also installs two encoders；
For controlling the movement angle and direction and angle of optical receiver apparatus.
Heliostat: reflected sunlight device installs reflection unit on heliostat, is used for reflection laser.
RTK Differential positioning: each heliostat, collection thermal tower and stand-by still are positioned using RTK differential position, surveyed
The data measured are used to carry out space orientation and relevant calculating to the relative position between it.
Feature reduction:
Collect (tower bottom) or 10,60,100 mirrors of column (auxiliary) on thermal tower and forms a zonule
Wherein, the similar laser emitter (light of artificial light source (orientation) (specified region) (and/or laser issue light beam)
Source)；
Wherein, RTK Differential positioning；
Wherein, twin shaft (Dual-encoder) angle feed-back sensor is driven；
Relative theory:
Every 10,60,100 etc. heliostats have an auxiliary strut again, are equivalent to a new centre of location.
Each collection thermal tower column, the position coordinates of stand-by still and heliostat are measured using RTK differential position.
RTK Differential positioning: carrier phase difference technology is the difference of two measuring station carrier phase observed quantities of real-time processing
The carrier phase that base station acquires is issued receiver user by method, carries out that difference is asked to resolve coordinate.This is a kind of new common
Satellite positioning surveys method, and pervious static state, rapid static, dynamic measurement require to carry out resolving afterwards that Centimeter Level could be obtained
Precision, and RTK is can to obtain in real time the measurement method of centimeter-level positioning precision in field, it is real that it uses carrier phase dynamic
When difference method, be the great milestone of GPS application, its appearance is engineering setting out, topographic mapping, and various controls are measured and brought
New Principle and method of measurement, greatly improves operating efficiency.
The key of RTK technology is to have used the carrier phase observed quantity of GPS, and is utilized between reference station and movement station
The spatial coherence of observation error removes most of error in movement station observation data, to realize by way of difference
The positioning of (decimetre even Centimeter Level) in high precision.
Note that above are only the preferred embodiment and institute's application technology principle of the application.It will be appreciated by those skilled in the art that
The application is not limited to specific embodiment described here, be able to carry out for a person skilled in the art it is various it is apparent variation,
The protection scope readjusted and substituted without departing from the application.Therefore, although being carried out by above embodiments to the application
It is described in further detail, but the application is not limited only to above embodiments, in the case where not departing from the application design, also
It may include more other equivalent embodiments, and scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. a kind of calibration system of heliostat, which is characterized in that the system includes: at least one sender unit, at least one
A signal receiving device, positioning device, control device and data processing equipment；Wherein:
The positioning device, for determine at least one described sender unit, at least one signal receiving device and to
The spatial position of the heliostat of calibration, and will at least one described sender unit, at least one signal receiving device and
The spatial position of heliostat to be calibrated is uploaded to data processing equipment；
The control device, for sending control at least one described sender unit and at least one signal receiving device
Signal, to control sender unit and signal receiving device transmitting and receiving optical signal, picture signal and radio signal
At least one of, and control sender unit and signal receiving device progress angular adjustment；And for controlling by school
Quasi- heliostat is rotated；
The sender unit, comprising:
Signal transmitter unit, for emitting in optical signalling, picture signal and radio signal extremely to heliostat to be calibrated
Few one kind；
Emit driving unit, including at least two transmitting drive shafts, it is described extremely for driving under the control of the control device
Few two transmitting drive shafts, to control the direction of the launch and angular turn of sender unit；
Transmitting encoder, for recording at least one of optical signalling, the picture signal and radio signal direction of the launch and angle
Degree, and it is uploaded to data processing equipment；Each transmitting drive shaft has setting transmitting encoder；
The signal receiving device, comprising:
Signal receiving unit, for receiving in optical signalling, picture signal and the radio signal that heliostat to be calibrated returns
At least one；
Driving unit is received, including at least two receive drive shaft, it is described extremely for driving under the control of the control device
Few two reception drive shafts, for driving the receiving direction and angular turn of the signal receiving device；
Encoder is received, for recording at least one of optical signalling, picture signal and radio signal receiving direction and angle
Degree, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder；
The data processing equipment, for according at least one described sender unit, at least one signal receiving device with
And the spatial position of heliostat to be calibrated, and according at least one of optical signalling, picture signal and radio signal
The direction of the launch and receiving direction and angle construct simultaneous equations to determine the straggling parameter of heliostat to be calibrated, and according to institute
Straggling parameter is stated to calibrate heliostat to be calibrated.
2. system according to claim 1, which is characterized in that the system also includes at least one calibrating stems；
At least one described sender unit is set on collection thermal tower, at least one described signal receiving device is respectively arranged at
On the calibrating stem；Wherein, a signal receiving device is set on each calibrating stem.
3. system according to claim 1, which is characterized in that the data processing equipment is also used to determine described to school
The straggling parameter dimension of quasi- heliostat, and according to the straggling parameter dimension, the number of the simultaneous equations constructed required for determining
Amount.
4. system according to claim 1, which is characterized in that the system also includes at least one calibrating stems；Each institute
It states and a sender unit and a signal receiving device is set on calibrating stem；Wherein, at least one calibrating stem setting
Within the scope of heliostat field, each calibrating stem is for carrying out school to the heliostat within the scope of predeterminable area corresponding with the calibrating stem
It is quasi-.
5. system according to any one of claims 1-4, which is characterized in that the optical signalling, picture signal and nothing
At least one of line electric signal includes artificial light source and/or laser beam.
6. system according to claim 1, which is characterized in that the data processing equipment is also used to:
For each heliostat to be calibrated, historical calibration result is counted, and generates statistical result table.
7. a kind of calibration method of heliostat, which is characterized in that this method comprises:
At least one sender unit, at least one signal receiving device and settled date to be calibrated are determined by positioning device
The spatial position of mirror, and by least one sender unit, at least one signal receiving device and heliostat to be calibrated
Spatial position be uploaded to data processing equipment；
Control signal is sent at least one described sender unit and at least one signal receiving device by control device,
To control in sender unit and signal receiving device transmitting and receiving optical signal, picture signal and radio signal extremely
Few one kind, and control sender unit and signal receiving device carry out angular adjustment；And for controlling determining of being calibrated
Solar eyepiece is rotated；
Emit optical signalling, picture signal and wireless to heliostat to be calibrated by the signal transmitter unit of sender unit
At least one of electric signal；Emitting driving unit includes at least two transmitting drive shafts, for the control in the control device
The lower driving of the system at least two transmittings drive shaft, to control the direction of the launch and angular turn of sender unit；Transmitting is compiled
Code device, for recording at least one of optical signalling, the picture signal and radio signal direction of the launch and angle, and is uploaded to
Data processing equipment；Each transmitting drive shaft has setting transmitting encoder；
Optical signalling, the image letter that heliostat to be calibrated returns are received by the signal receiving unit of the signal receiving device
Number and at least one of radio signal；Receiving driving unit includes at least two reception drive shafts, in the control
Drive described at least two to receive drive shaft under the control of device, with for drive the receiving direction of the signal receiving device with
Angular turn；And the reception of at least one of optical signalling, picture signal and radio signal is recorded by receiving encoder
Direction and angle, and it is uploaded to data processing equipment；Each reception drive shaft has setting to receive encoder；
By data processing equipment according to described at least one sender unit, at least one signal receiving device and to school
The spatial position of quasi- heliostat, and according at least one of optical signalling, picture signal and radio signal launch party
To with receiving direction and angle, simultaneous equations are constructed to determine the straggling parameter of heliostat to be calibrated, and according to the deviation
Parameter calibrates heliostat to be calibrated.
8. the method according to the description of claim 7 is characterized in that at least one described sender unit is set to collection thermal tower
On, at least one described signal receiving device is respectively arranged on the calibrating stem；Wherein, it is arranged one on each calibrating stem
A signal receiving device.
9. the method according to the description of claim 7 is characterized in that the method also includes:
The straggling parameter dimension of the heliostat to be calibrated is determined by data processing equipment, and is tieed up according to the straggling parameter
Degree, the quantity of the simultaneous equations constructed required for determining.
10. according to method described in claim 7-9 any one, which is characterized in that the optical signalling, picture signal and nothing
At least one of line electric signal includes artificial light source and/or laser beam.
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| CN114111066A (en) * | 2021-11-30 | 2022-03-01 | 合肥德恒光电科技股份有限公司 | Tower type solar power generation system based on heat storage and heat exchange integration |
| CN114279694A (en) * | 2022-03-04 | 2022-04-05 | 中国电建集团西北勘测设计研究院有限公司 | Heliostat precision detection and simulation system correction method |
| CN114279694B (en) * | 2022-03-04 | 2022-07-05 | 中国电建集团西北勘测设计研究院有限公司 | Heliostat precision detection and simulation system correction method |
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