CN110262570B - Heliostat calibration system and method - Google Patents
Heliostat calibration system and method Download PDFInfo
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- CN110262570B CN110262570B CN201910532389.7A CN201910532389A CN110262570B CN 110262570 B CN110262570 B CN 110262570B CN 201910532389 A CN201910532389 A CN 201910532389A CN 110262570 B CN110262570 B CN 110262570B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
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- 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 application discloses a heliostat calibration system and a heliostat calibration method. According to the technical scheme, the positions of a signal transmitting device, a signal receiving device and a heliostat to be calibrated are positioned, the theoretical transmitting angle and the receiving angle of at least one of an optical signal, an image signal and a radio signal are determined, a simultaneous equation is constructed according to the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated, the deviation parameter of the heliostat to be calibrated is determined according to at least one transmitting direction, receiving direction and angle of the optical signal, the image signal and the radio signal, and the heliostat to be calibrated is calibrated according to the deviation parameter. By adopting the technical scheme provided by the application, the aim of improving the calibration efficiency of the heliostat can be fulfilled.
Description
Technical Field
The embodiment of the application relates to the technical field of solar power generation, in particular to a heliostat calibration system and method.
Background
With the rapid development of economic society, direct or indirect environmental problems such as haze and global warming are increasing, and people pay more and more attention to environmental protection. Therefore, new energy resources, especially the utilization of solar energy, are increasingly emphasized in human society.
In a central tower collector power plant, a collector at the top of a heat collection tower receives sunlight reflected from a heliostat field. The heat collector converts the energy into high-pressure high-temperature steam to be output, and then the high-pressure high-temperature steam can be sent into a turbine to generate electricity. The heliostats are typically mounted on the ground around the tower. Each heliostat has a rigid reflective surface that tracks the sun, and the surface remains reflecting moving sunlight to the collector in the daytime using a sunny orientation. There is a need for highly accurate tracking of the sun that reduces the amount of reflected light that spills around the collector. Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a heliostat calibration system capable of accurately reflecting solar rays to a heat collector and realizing less loss.
In the prior art, a light target is usually arranged on a heat collecting tower, so that light spots reflected by heliostats irradiate on the light target, and then the positions of the light spots are read by an image acquisition device on the ground, so that only one heliostat can be calibrated at a time. The method has a complex processing mode and long time consumption, and greatly influences the calibration efficiency of the heliostat when the heliostat field comprises thousands of heliostats.
Disclosure of Invention
The embodiment of the application provides a calibration system and a calibration method for a heliostat, so as to achieve the purpose of improving the calibration efficiency of the heliostat.
In a first aspect, an embodiment of the present application provides a calibration system for a heliostat, including: the system comprises at least one signal transmitting device, at least one signal receiving device, a positioning device, a control device and a data processing device; wherein:
the positioning device is used for determining the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated, and uploading the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated to the data processing device;
the control device is used for sending control signals to the at least one signal transmitting device and the at least one signal receiving device so as to control the signal transmitting device and the signal receiving device to transmit and receive at least one of optical signals, image signals and radio signals and control the signal transmitting device and the signal receiving device to carry out angle adjustment; and controlling the calibrated heliostat to rotate;
the signal transmitting apparatus includes:
the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated;
the transmitting driving unit comprises at least two transmitting driving shafts and is used for driving the at least two transmitting driving shafts under the control of the control device so as to control the transmitting direction and the angle rotation of the signal transmitting device;
the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each transmitting driving shaft is provided with a transmitting encoder;
the signal receiving apparatus includes:
the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated;
a receiving driving unit including at least two receiving driving shafts for driving the at least two receiving driving shafts under the control of the control device, for driving the receiving direction and angle rotation of the signal receiving device;
the receiving encoder is used for recording at least one receiving direction and angle of an optical signal, an image signal and a radio signal and uploading the receiving direction and angle to the data processing device; each receiving driving shaft is provided with a receiving encoder;
the data processing device is used for constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated according to the at least one signal transmitting device, the at least one signal receiving device and the spatial position of the heliostat to be calibrated, and according to at least one transmitting direction, receiving direction and angle of an optical signal, an image signal and a radio signal, and calibrating the heliostat to be calibrated according to the deviation parameters.
Further, the system further comprises at least one calibration rod;
the signal transmitting device is arranged on the heat collecting tower, and the signal receiving devices are respectively arranged on the calibration rod; wherein, a signal receiving device is arranged on each calibration rod.
Further, the data processing device is further configured to determine deviation parameter dimensions of the heliostat to be calibrated, and determine the number of simultaneous equations to be constructed according to the deviation parameter dimensions.
Further, the system further comprises at least one calibration rod; each calibration rod is provided with a signal transmitting device and a signal receiving device; the calibration device comprises at least one calibration rod, a plurality of heliostats and a plurality of calibration rods, wherein the at least one calibration rod is arranged in a heliostat field range, and each calibration rod is used for calibrating the heliostats in a preset area range corresponding to the calibration rod.
Further, at least one of the optical signal, the image signal and the radio signal includes an artificial light source and/or a laser beam.
Further, the data processing apparatus is further configured to:
and counting historical calibration results for each heliostat to be calibrated, and generating a statistical result table.
In a second aspect, an embodiment of the present application provides a method for calibrating a heliostat, including:
determining the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated through a positioning device, and uploading the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated to a data processing device;
sending control signals to the at least one signal transmitting device and the at least one signal receiving device through the control device so as to control the signal transmitting device and the signal receiving device to transmit and receive at least one of optical signals, image signals and radio signals and control the signal transmitting device and the signal receiving device to carry out angle adjustment; and controlling the calibrated heliostat to rotate;
transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated through a signal transmitting unit of a signal transmitting device; the emission driving unit comprises at least two emission driving shafts, and the at least two emission driving shafts are driven under the control of the control device so as to control the emission direction and the angle rotation of the signal emission device; the transmitting encoder is used for recording at least one transmitting direction and angle of the optical signal, the image signal and the radio signal and uploading the transmitting direction and angle to the data processing device; each emission driving shaft is provided with an emission encoder;
receiving at least one of an optical signal, an image signal and a radio signal returned by the heliostat to be calibrated through a signal receiving unit of the signal receiving device; the receiving driving unit comprises at least two receiving driving shafts, and the at least two receiving driving shafts are driven under the control of the control device and used for driving the receiving direction and the angle rotation of the signal receiving device; recording at least one receiving direction and angle in the optical signal, the image signal and the radio signal through a receiving encoder, and uploading to a data processing device; each receiving driving shaft is provided with a receiving encoder;
and constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated according to the at least one signal transmitting device, the at least one signal receiving device and the spatial position of the heliostat to be calibrated through the data processing device and according to at least one transmitting direction, receiving direction and angle in optical signals, image signals and radio signals, and calibrating the heliostat to be calibrated according to the deviation parameters.
Further, the at least one signal transmitting device is arranged on the heat collecting tower, and the at least one signal receiving device is respectively arranged on the calibration rod; wherein, a signal receiving device is arranged on each calibration rod.
Further, the method further comprises:
and determining deviation parameter dimensions of the heliostat to be calibrated through a data processing device, and determining the number of simultaneous equations to be constructed according to the deviation parameter dimensions.
Further, at least one of the optical signal, the image signal and the radio signal includes an artificial light source and/or a laser beam.
According to the technical scheme provided by the embodiment of the application, the positioning device is used for determining the spatial positions of the signal transmitting device, the signal receiving device and the heliostat to be calibrated, and uploading the spatial positions of the signal transmitting device, the signal receiving device and the heliostat to be calibrated to the data processing device; a signal transmitting apparatus comprising: the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated; an emission driving unit including at least two emission driving shafts for driving the at least two emission driving shafts to control the emission direction and angle rotation of the signal emission device and to record at least one of the emission direction and angle of the optical signal, the image signal, and the radio signal; a signal receiving apparatus comprising: the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated; a receiving driving unit including at least two receiving driving shafts for driving the receiving direction and angle rotation of the signal receiving device and recording at least one of the receiving direction and angle of the optical signal, the image signal and the radio signal; and the data processing device is used for determining at least one of transmitting direction, receiving direction and angle in theoretical optical signals, image signals and radio signals of the heliostat to be calibrated according to the signal transmitting device, the signal receiving device and the spatial position of the heliostat to be calibrated, constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated, and calibrating the heliostat to be calibrated according to the deviation parameters. By adopting the technical scheme provided by the application, the purpose of improving the calibration efficiency of the heliostat can be realized.
Drawings
FIG. 1 is a block diagram of a system for calibrating heliostats according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a heliostat calibration system provided in an embodiment of the application;
FIG. 3 is a schematic diagram of a calibration system for heliostats provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a calibration system for heliostats provided in an embodiment of the present application;
FIG. 5 is a partial schematic view of a calibration system for heliostats provided in accordance with an embodiment of the present disclosure;
FIG. 6 is a schematic horizontal view of a heliostat calibration system provided in accordance with an embodiment of the disclosure;
FIG. 7 is a partial schematic view of a horizontal view of a calibration system for heliostats provided in accordance with an embodiment of the present application;
FIG. 8 is a schematic horizontal view of a heliostat calibration system provided in an embodiment of the application;
fig. 9 is a flowchart of a calibration method for heliostats according to embodiment two of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 1 is a block diagram of a calibration system for heliostats according to an embodiment of the present disclosure, where the embodiment is suitable for a case where each heliostat in a heliostat field is calibrated, the system can be implemented by software and/or hardware, and can perform the calibration method for heliostats according to the present disclosure.
As shown in fig. 1, the calibration system for the heliostat comprises: at least one signal transmitting means 110, at least one signal receiving means 120, a positioning means 130, a control means 140 and a data processing means 150; wherein:
the positioning device 130 is configured to determine spatial positions of the at least one signal transmitting device 110, the at least one signal receiving device 120, and the heliostat to be calibrated, and upload the spatial positions of the at least one signal transmitting device 110, the at least one signal receiving device 120, and the heliostat to be calibrated to the data processing device 150;
the control device 140 is configured to send a control signal to the at least one signal transmitting device 110 and the at least one signal receiving device 120, so as to control the signal transmitting device 110 and the signal receiving device 120 to transmit and receive at least one of an optical signal, an image signal, and a radio signal, and control the signal transmitting device 110 and the signal receiving device 120 to perform angle adjustment; and controlling the calibrated heliostat to rotate;
the signal transmitting apparatus 110 includes:
the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated;
the transmitting driving unit comprises at least two transmitting driving shafts and is used for driving the at least two transmitting driving shafts under the control of the control device so as to control the transmitting direction and the angle rotation of the signal transmitting device;
the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each transmitting driving shaft is provided with a transmitting encoder;
the signal receiving apparatus 120 includes:
the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated;
a receiving driving unit including at least two receiving driving shafts for driving the at least two receiving driving shafts under the control of the control device, so as to drive the receiving direction and angle rotation of the signal receiving device;
the receiving encoder is used for recording at least one receiving direction and angle of an optical signal, an image signal and a radio signal and uploading the receiving direction and angle to the data processing device; each receiving driving shaft is provided with a receiving encoder;
the data processing device 150 is configured to construct a simultaneous equation according to the at least one signal transmitting device 110, the at least one signal receiving device 120, and the spatial position of the heliostat to be calibrated, and according to at least one of a transmitting direction, a receiving direction, and an angle of an optical signal, an image signal, and a radio signal, to determine a deviation parameter of the heliostat to be calibrated, and calibrate the heliostat to be calibrated according to the deviation parameter.
The positioning device may be implemented by an RTK (Real-time kinematic) carrier phase differential positioning device. The carrier phase differential technology is a differential method for processing the carrier phase observed quantities of the two measuring stations in real time, and the carrier phase acquired by the reference station is sent to a user receiver for calculating the difference and the coordinate. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the RTK is a major milestone applied by a GPS, the appearance of the RTK is engineering lofting and topographic mapping, a new measurement principle and method are brought for various control measurements, and the operation efficiency is greatly improved. The key of the RTK technology is to use the carrier phase observed quantity of the GPS, utilize the space correlation of the observed error between the reference station and the rover station, and remove most errors in the observed data of the rover station in a differential mode, thereby realizing the positioning with high precision (decimeter or even centimeter level).
In this embodiment, since the spatial positions of the signal transmitting device, the signal receiving device and the heliostat to be calibrated can be determined, a plane can be determined according to the spatial positions of the three, and the angle of at least one of the optical signal, the image signal and the radio signal transmitted by the signal transmitting device to the heliostat to be calibrated can be determined, and the angle of at least one of the optical signal, the image signal and the radio signal received by the signal receiving device and returned by the heliostat to be calibrated can be determined.
Wherein, signal transmission device includes: the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated; the transmission driving unit comprises a signal transmitting unit and is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated; the transmitting driving unit comprises at least two transmitting driving shafts and is used for driving the at least two transmitting driving shafts under the control of the control device so as to control the transmitting direction and the angle rotation of the signal transmitting device; the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each emission driving shaft is provided with an emission encoder; signal receiving apparatus comprising: the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated; a receiving driving unit including at least two receiving driving shafts for driving the at least two receiving driving shafts under the control of the control device, for driving the receiving direction and angle rotation of the signal receiving device; the receiving encoder is used for recording at least one receiving direction and angle of an optical signal, an image signal and a radio signal and uploading the receiving direction and angle to the data processing device; each receiving drive shaft is provided with a receiving encoder.
The transmitting encoder can record at least one angle of an optical signal, an image signal and a radio signal sent by the signal transmitting unit, and specifically can record the angles of at least two transmitting driving shafts respectively, wherein the at least two transmitting driving shafts can comprise a transmitting transverse shaft and a transmitting longitudinal shaft, and the two driving shafts can be arranged in other directions. The receiving encoder may record an angle of at least one of the optical signal, the image signal, and the radio signal received by the signal receiving unit, and specifically may record angles of at least two receiving driving axes, respectively, where the at least two receiving driving axes may include a receiving horizontal axis and a receiving vertical axis, and the two driving axes may be arranged in other directions. In this embodiment, the transmission driving unit of the signal transmitting apparatus and the reception driving unit of the signal receiving apparatus may respectively include a horizontal axis and a vertical axis, and since the transmission apparatus and the reception apparatus have small volumes and light weights and may be fixed in relatively stable positions, such as on a heat collecting tower or other devices, the error caused by the signal transmitting apparatus and the signal receiving apparatus may not be considered in the calculation process in the technical solution.
Thus, the signal transmitting device and the signal receiving device can perform the recording work of the angle of the transmitted signal and the angle of the received signal when at least one of the optical signal, the image signal, and the radio signal is transmitted and received for one or more heliostats to be calibrated.
The data processing device can construct a simultaneous equation according to the at least one signal transmitting device, the at least one signal receiving device and the spatial position of the heliostat to be calibrated, and according to at least one transmitting direction, receiving direction and angle of an optical signal, an image signal and a radio signal to determine a deviation parameter of the heliostat to be calibrated, and calibrate the heliostat to be calibrated according to the deviation parameter.
For a heliostat, its deviation parameter may be multidimensional, and may be determined by factors introducing deviation, such as horizontal axis deviation, vertical axis deviation, center position deviation, and the like of the heliostat, specifically, how many simultaneous equations need to be formed may be determined according to the dimension of the deviation parameter of the heliostat, for example, for a certain heliostat, the dimension of the deviation parameter is 4, and then 4 simultaneous equations may be formed, such as transmitting device a and receiving device a, transmitting device a and receiving device B, transmitting device B and receiving device a, transmitting device B and receiving device B, where the positions of transmitting device a and B are different, and the positions of receiving device a and B are also different. Thus, a simultaneous system of four equations may be constructed by two transmitting devices and two receiving devices, for example, the transmitting device a and the receiving devices a, b, c, d may also be located at different positions, so as to construct a simultaneous system of four equations to account for each deviation parameter of the heliostat, thereby determining how to calibrate the heliostat.
In this embodiment, optionally, the system further comprises at least one calibration rod; the signal transmitting device is arranged on the heat collecting tower, and the signal receiving devices are respectively arranged on the calibration rod; wherein, a signal receiving device is arranged on each calibration rod. The number of the calibration rods can be one or more, and the calibration rods can be used for arranging the signal receiving devices, and the number of the signal transmitting devices can also be one or more, and the signal transmitting devices can be arranged on the heat collecting tower. For example, a plurality of signal emitting devices facing different directions and angles can be arranged around the heat collection tower at a position where the heat collector on the heat collection tower is relatively far away from the heat collection tower, and the signal emitting devices can also be arranged at different heights on the heat collection tower. In this embodiment, the alignment rod may be a thin and tall rod disposed inside or near the heliostat field, which has the advantage of reducing the shielding of the alignment rod from sunlight impinging on the heliostat field during daytime heat collection, i.e., hot hours, and the advantage of a higher alignment rod is that it can improve the alignment accuracy and extend the alignment range. According to the heliostat, the calibration rod is arranged, so that the separation of the space positions of the signal transmitting device and the signal receiving device can be realized, the incident angle and the emergent angle of the heliostat are increased, and the calibration precision of the heliostat is improved. It should be noted that if the reverse is true, it is also possible to arrange the signal emitting device on the calibration rod and the signal receiving device on the heat collecting tower.
In this embodiment, optionally, the data processing device is further configured to determine a deviation parameter dimension of the heliostat to be calibrated, and determine, according to the deviation parameter dimension, the number of simultaneous equations that need to be constructed. The deviation parameter dimension of the heliostat may be determined according to actual calculation, and may be manually input by a worker, for example. At least one of the transmission and reception times of the optical signal, the image signal and the radio signal during the calibration process of each heliostat can be determined according to the dimension of the deviation parameter, so that the calibration efficiency of the heliostat can be improved.
Fig. 2 is a schematic diagram of a calibration system for heliostats according to an embodiment of the present disclosure. As shown in fig. 2, a transmitter, i.e., the above-mentioned signal transmitting device, is disposed on the heat collecting tower, and after the transmitter transmits at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated, the transmitter may receive at least one of the optical signal, the image signal and the radio signal returned by the heliostat to be calibrated through a receiver disposed on the calibrating rod, i.e., the above-mentioned signal receiving device. In this embodiment, the spatial positions of the transmitter, the receiver, and the heliostat may be located by the locating device before the transmitter transmits at least one of the optical signal, the image signal, and the radio signal. Preferably, the heliostat can perform sun-tracking work in the daytime, namely, sunlight is reflected to the heat collecting tower, and calibration of the heliostat is performed at night, so that the working efficiency of the heat collecting system is not influenced.
In a possible embodiment, if the system comprises at least two signal emitting devices, the at least two signal emitting devices are respectively arranged on at least two calibration rods; the system further comprises: a control module for determining a first signal transmitting device and a second signal transmitting device from the at least two signal transmitting devices; the control module is further configured to: the method comprises the steps that a first signal transmitting device is controlled to transmit at least one of a first optical signal, an image signal and a radio signal to a heliostat to be calibrated, and a signal receiving device arranged on a heat collecting tower receives at least one of the first optical signal, the image signal and the radio signal returned by the heliostat to be calibrated; the heliostat to be calibrated is controlled to rotate, the second signal transmitting device is controlled to transmit at least one of a second optical signal, an image signal and a radio signal to the heliostat to be calibrated, and the signal receiving device arranged on the heat collection tower receives at least one of a second optical signal, an image signal and a radio signal returned by the heliostat to be calibrated; the data processing device is further used for calibrating the rotation precision of the heliostat to be calibrated. According to the technical scheme, the signal transmitting device of at least one of the two optical signals, the image signal and the radio signal can be determined, and at least one of the optical signal, the image signal and the radio signal is respectively transmitted to the heliostat, so that the heliostat returns to the upper side of the optical receiving signal. By means of the arrangement, not only can the static angle of the heliostat be standardized, but also whether the rotation process of the heliostat can meet the requirement can be calibrated, for example, after at least one of the first optical signal, the image signal and the radio signal is calibrated, if the angle of at least one of the second optical signal, the image signal and the radio signal, which is shot and received, still has an error, the mechanical error exists in the rotation process of the heliostat. Therefore, the effect of dynamic calibration can be realized, and the calibration precision of the heliostat is improved.
It should be noted that, in the above technical solution, one signal transmitting device may be used for two or more signal receiving devices, and two or more signal transmitting devices may also be used for two or more signal receiving devices, so that the advantage of the above arrangement is that the heliostat can be dynamically calibrated by using the existing equipment.
In this embodiment, optionally, the signal transmitting device and the signal receiving device are disposed on at least one calibration rod at the same time; the at least one calibration rod is arranged in a heliostat field range, and each calibration rod is used for calibrating heliostats in a preset area range corresponding to the calibration rod. The heliostat field calibration device comprises a plurality of calibration rods, a signal transmitting device and a signal receiving device, wherein the signal transmitting device and the signal receiving device are arranged on each calibration rod simultaneously, so that the heliostats in a certain area can be calibrated by the signal transmitting device and the signal receiving device on each calibration rod, and all the heliostats in the whole heliostat field can be calibrated by the aid of the plurality of calibration rods. The efficiency can be improved by the aid of the arrangement, respective management and control can be realized, and calibration work of all heliostats in a whole heliostat field cannot be influenced when partial equipment breaks down.
Fig. 3 is a schematic diagram of a calibration system for heliostats according to an embodiment of the present disclosure. As shown in fig. 3, one or more signal emitting devices may be disposed on the heat collecting tower, and a signal receiving device may be disposed on the plurality of calibration rods. Wherein a plurality of alignment rods may be disposed between the heat collection tower and the heliostat field, wherein each alignment rod may be responsible for heliostat alignment operations for one or more heliostat fields. The benefit that sets up like this can be under the prerequisite of the regulation and control is carried out in the calibration precision of assurance to the heliostat, and the calibration efficiency in improvement heliostat field that can also be great.
Fig. 4 is a schematic diagram of a calibration system for heliostats according to an embodiment of the present disclosure. As shown in fig. 4, at least one of optical signals, image signals and radio signals returned by heliostats in different heliostat regions can be received on the same calibration rod, so that the calibration parameters of the heliostats can be simultaneously obtained through multiple sets of equations, and the calibration result of the heliostats can be obtained. While only one etalon is shown in fig. 4 as receiving return signals from heliostats in three heliostat fields, in actual use, more fields may be received, and any number of fields may be received as desired.
Fig. 5 is a partial schematic view of a calibration system for heliostats provided in accordance with an embodiment of the present disclosure. As shown in fig. 5, for one alignment rod, the signals returned by three heliostat fields can be received, wherein the signals returned by the heliostats of the three fields to the alignment rod can be synchronous or asynchronous, but for the signal receiving device above the standard rod, the signals returned by the heliostats of each field can be received and recorded, and then the heliostat field can be turned to the second heliostat field, so as to complete the reception and recording of the signals returned by the heliostats of the second heliostat field, and then the heliostat field can be turned to the next heliostat field. The calibration efficiency can be improved by the arrangement, and the heliostat field calibration device is suitable for the situation that a large number of heliostats need to be calibrated exist in a heliostat field.
Fig. 6 is a schematic horizontal view of a calibration system for heliostats according to an embodiment of the present disclosure. As shown in fig. 6, a transmitter disposed on the heat collecting tower transmits an optical signal, such as a laser signal, to the heliostat, after the optical signal is reflected by the heliostat, a receiver on the calibrating rod receives the returned signal, and records the transmitting direction and angle and the receiving direction and angle, and further, in combination with the spatial position parameters of the transmitter, the receiver, and the heliostat, the spatial position of the heliostat or the error of the rotating shaft can be calibrated.
Fig. 7 is a partial schematic view of a horizontal viewing angle of a calibration system for heliostats provided in accordance with an embodiment of the present disclosure. As shown in fig. 7, the receiver on one alignment rod can receive the signals returned by multiple heliostats, and then align the heliostats. Therefore, the calibration efficiency of the heliostat can be improved, the utilization rate of the calibration system can be improved, and the cost of the calibration system can be reduced.
Fig. 8 is a schematic horizontal view of a calibration system for heliostats according to an embodiment of the present disclosure. As shown in fig. 8, the calibration rod can be set to be thin and high, so that the solar rays returned by the heliostat can be received by the heat collection tower without being affected under the condition that the calibration rod is set in the field of the heliostat, and the normal operation of the heliostat in the daytime is ensured.
In this embodiment, optionally, at least one of the optical signal, the image signal and the radio signal includes an artificial light source and/or a laser beam. The artificial light source can be adapted to calibrating the heliostat at night, and the laser beam can be adapted to calibrating the heliostat at day or night without being influenced by natural light. Meanwhile, the laser beam is a light ray with concentrated energy, and the calibration precision of the heliostat in a heliostat field is improved.
In this embodiment, optionally, the data processing apparatus is further configured to: and counting the historical calibration results for each heliostat to be calibrated, and generating a statistical result table. Wherein, can will carry out statistics and calculation to the many times calibration result of same heliostat, come the simultaneous accuracy coefficient who obtains this heliostat, and then can assist the staff to discover easily that always the heliostat that goes wrong has which to and how to handle this heliostat.
According to the technical scheme provided by the embodiment of the application, the positioning device is used for determining the spatial positions of the signal transmitting device, the signal receiving device and the heliostat to be calibrated, and uploading the spatial positions of the signal transmitting device, the signal receiving device and the heliostat to be calibrated to the data processing device; a signal transmitting apparatus comprising: the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated; a transmission driving unit including at least two transmission driving shafts for driving the at least two transmission driving shafts to control the transmission direction and angle rotation of the signal transmitting device and to record at least one of the transmission direction and angle of the optical signal, the image signal and the radio signal; signal receiving apparatus comprising: the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated; a receiving driving unit including at least two receiving driving shafts for driving the receiving direction and angle rotation of the signal receiving device and recording at least one of the receiving direction and angle of the optical signal, the image signal and the radio signal; and the data processing device is used for determining at least one of transmitting direction, receiving direction and angle in theoretical optical signals, image signals and radio signals of the heliostat to be calibrated according to the signal transmitting device, the signal receiving device and the spatial position of the heliostat to be calibrated, constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated, and calibrating the heliostat to be calibrated according to the deviation parameters. By adopting the technical scheme provided by the application, the purpose of improving the calibration efficiency of the heliostat can be realized.
Example two
Fig. 9 is a flowchart of a calibration method for heliostats according to the second embodiment of the present application. The method provided by the present embodiment may be performed by the calibration system for heliostats described above.
As shown in fig. 9, the calibration system and method for heliostats includes:
s910, determining the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated through the positioning device, and uploading the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated to the data processing device.
S920, sending control signals to the at least one signal transmitting device and the at least one signal receiving device through the control device so as to control the signal transmitting device and the signal receiving device to transmit and receive at least one of optical signals, image signals and radio signals and control the signal transmitting device and the signal receiving device to carry out angle adjustment; and for controlling the rotation of the calibrated heliostat.
S930, transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated through a signal transmitting unit of the signal transmitting device; the emission driving unit comprises at least two emission driving shafts, and the at least two emission driving shafts are driven under the control of the control device so as to control the emission direction and the angle rotation of the signal emission device; the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each of the transmission drive shafts is provided with a transmission encoder.
S940, receiving at least one of an optical signal, an image signal and a radio signal returned by the heliostat to be calibrated through a signal receiving unit of the signal receiving device; the receiving driving unit comprises at least two receiving driving shafts, and the at least two receiving driving shafts are driven under the control of the control device and used for driving the receiving direction and the angle rotation of the signal receiving device; recording at least one receiving direction and angle in the optical signal, the image signal and the radio signal through a receiving encoder, and uploading to a data processing device; each receiving drive shaft is provided with a receiving encoder.
S950, constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated according to the spatial position of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated, and at least one transmitting direction, receiving direction and angle of an optical signal, an image signal and a radio signal through the data processing device, and calibrating the heliostat to be calibrated according to the deviation parameters.
On the basis of the foregoing embodiments, the present embodiment provides a calibration method for heliostats, which may determine a theoretical transmission angle and a reception angle of at least one of an optical signal, an image signal, and a radio signal by positioning positions of a signal transmitting device, a signal receiving device, and a heliostat to be calibrated, construct a simultaneous equation according to at least one of a transmission direction and a reception direction and angle of the optical signal, the image signal, and the radio signal to determine a deviation parameter of the heliostat to be calibrated, and calibrate the heliostat to be calibrated according to the deviation parameter. By adopting the technical scheme provided by the application, the aim of improving the calibration efficiency of the heliostat can be fulfilled.
On the basis of the above technical solutions, optionally, the at least one signal transmitting device is disposed on the heat collecting tower, and the at least one signal receiving device is disposed on the calibration rod respectively; wherein, a signal receiving device is arranged on each calibration rod. The advantage of this arrangement is that the angle of incidence and reflection of at least one of the optical, image and radio signals can be increased, improving the accuracy of the heliostat alignment.
On the basis of the above technical solutions, optionally, the deviation parameter dimension of the heliostat to be calibrated is determined through a data processing device, and the number of simultaneous equations to be constructed is determined according to the deviation parameter dimension.
On the basis of the above technical solutions, optionally, at least one of the optical signal, the image signal and the radio signal includes an artificial light source and/or a laser beam.
The method can be operated by the system provided by any embodiment of the application, and has corresponding functional modules and beneficial effects.
Specifically, the above technical solution can be implemented in two ways, one of which is:
artificial light source: the selected energy is strong, the light is concentrated and folded, and the emission distance is long;
launch the stand device: each transmitting upright post is provided with an artificial light source (andor \ a laser beam) for transmitting a light signal; directing each heliostat by an artificial light source; meanwhile, a driving device is arranged below each light source and is used for driving the artificial light source to rotate and pitch; the laser has the functions of an encoder and a rotation, and is used for controlling the direction and the angle of the rotation, and the position, the direction and the angle of laser emission; two encoders are arranged in the driving device and used for feeding back the rotating and pitching angles and the directions and angles.
A heat collecting tower: installing an optical receiver on the heat collecting tower; each heliostat is directionally pointed on the heat collecting tower through an artificial light source; the light receiving device on the heat collecting tower is also provided with a driving device; the driving device is also provided with two encoders; used for controlling the movement angle, direction and angle of the light receiving device.
A heliostat: and the sunlight reflecting device is arranged on the heliostat and used for reflecting laser.
RTK differential positioning: positioning each heliostat, the heat collecting tower and the transmitting upright post device by using an RTK differential positioning technology, and using the measured data to perform space positioning and related calculation on the relative positions of the heliostats, the heat collecting tower and the transmitting upright post device.
The artificial light source is low in price, good in light condensation performance, long in range, strong in energy and convenient to install.
Wherein, every 10, 60, 100 heliostats can be provided with an auxiliary column, which is equivalent to a new positioning center.
The artificial light source driving device ensures that the artificial light source points to the heliostat, and the moving angle and the positioning are accurate.
Wherein, the driving device of the light receiver ensures the accurate moving angle of the light receiver and receives the reflected light
The RTK differential positioning technology can accurately measure the positions of the heat collection tower, the auxiliary tower and the heliostat.
The artificial light source points to the heliostat each time and receives reflected signals, and the spatial position of the heliostat can be calculated according to the data; the heliostat transmits light rays and receives reflected signals for multiple times to form an equation set, so that relevant unknown parameters are solved;
wherein, the position posture of a single heliostat is measured by repeatedly utilizing the artificial light source to reflect signals; relevant spatial parameters of the heliostat can be obtained;
obtaining initial heliostat space position parameters, and automatically calibrating and identifying a heliostat correlation model;
the auxiliary tower is used as a heliostat area calibration standard, the heat collection tower is used as a calibration standard for the first time, and a single auxiliary tower can be independently used as a calibration center to carry out measurement, calculation and simulation.
The second is that:
all set up on the heat collection tower and the stand emitter: a transmitting device and a receiving device;
artificial light source: the energy is strong, the light is concentrated and folded, and the emission distance is long;
a heat collecting tower: an artificial light source and an optical receiver are arranged on the heat collecting tower; each heliostat is directionally pointed on the heat collection tower through an artificial light source; meanwhile, a driving device is arranged below each light source and is used for driving the artificial light source to rotate and pitch; the laser is provided with an encoder and a rotating function and is used for controlling the rotating direction and angle and the position, direction and angle of laser emission; and two encoders are arranged in the driving device and used for feeding back the rotating and pitching angles, directions and angles. Meanwhile, the light receiving device on the heat collecting tower is also provided with a driving device; the driving device is also provided with two encoders; used for controlling the movement angle, direction and angle of the light receiving device.
Launch the stand device: each transmitting upright post device is provided with an artificial light source and an optical receiver; the transmitting upright post device is directionally pointed to each heliostat through an artificial light source; meanwhile, a driving device is arranged below each light source and is used for driving the artificial light source to rotate and pitch; the laser has the functions of an encoder and a rotation, and is used for controlling the direction and the angle of the rotation, and the position, the direction and the angle of laser emission; and two encoders are arranged in the driving device and used for feeding back the rotating and pitching angles, directions and angles. Meanwhile, the light receiving device on the heat collecting tower is also provided with a driving device; the driving device is also provided with two encoders; used for controlling the movement angle, direction and angle of the light receiving device.
A heliostat: and the sunlight reflecting device is arranged on the heliostat and used for reflecting laser.
RTK differential positioning: positioning each heliostat, the heat collecting tower and the auxiliary tower by using an RTK differential positioning technology, and using the measured data for carrying out space positioning and related calculation on the relative position among the heliostats, the heat collecting tower and the auxiliary tower.
The characteristics are simplified:
10, 60 and 100 mirrors on a heat collecting tower (tower bottom) or a vertical column (auxiliary) form a small area
Wherein the artificial light source (orientation) (designated area) (and/or laser emitting beam) is similar to a laser emitter (light source);
wherein the RTK is differentially positioned;
wherein a dual-axis (dual encoder) angle feedback sensor is driven;
the related principle is as follows:
every 10, 60, 100 and the like heliostats are provided with an auxiliary upright post, which is equivalent to a new positioning center.
And measuring the position coordinates of each heat collecting tower upright post, the auxiliary tower and the heliostat by using an RTK differential positioning technology.
RTK differential positioning: the carrier phase differential technology is a differential method for processing the observed quantity of the carrier phases of two measuring stations in real time, and the carrier phases acquired by a reference station are sent to a user receiver to calculate the coordinates by means of difference. The method is a new common satellite positioning measurement method, the former static, rapid static and dynamic measurements need to be solved afterwards to obtain centimeter-level accuracy, the RTK is a measurement method capable of obtaining centimeter-level positioning accuracy in real time in the field, a carrier phase dynamic real-time difference method is adopted, the RTK is a major milestone applied by a GPS, the appearance of the RTK is engineering lofting and topographic mapping, a new measurement principle and method are brought for various control measurements, and the operation efficiency is greatly improved.
The key of the RTK technology is to use the carrier phase observed quantity of the GPS, utilize the space correlation of the observed error between the reference station and the rover station, and remove most errors in the observed data of the rover station in a differential mode, thereby realizing the positioning with high precision (decimeter or even centimeter level).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (8)
1. A system for calibrating a heliostat, the system comprising: the system comprises at least one signal transmitting device, at least one signal receiving device, a positioning device, a control device and a data processing device; wherein:
the positioning device is used for determining the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated, and uploading the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated to the data processing device;
the control device is used for sending control signals to the at least one signal transmitting device and the at least one signal receiving device so as to control the signal transmitting device and the signal receiving device to transmit and receive at least one of optical signals, image signals and radio signals and control the signal transmitting device and the signal receiving device to carry out angle adjustment; and controlling the calibrated heliostat to rotate;
the signal transmitting apparatus includes:
the signal transmitting unit is used for transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated;
the transmitting driving unit comprises at least two transmitting driving shafts and is used for driving the at least two transmitting driving shafts under the control of the control device so as to control the transmitting direction and the angle rotation of the signal transmitting device;
the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each emission driving shaft is provided with an emission encoder;
the signal receiving apparatus includes:
the signal receiving unit is used for receiving at least one of optical signals, image signals and radio signals returned by the heliostat to be calibrated;
a receiving driving unit including at least two receiving driving shafts for driving the at least two receiving driving shafts under the control of the control device, so as to drive the receiving direction and angle rotation of the signal receiving device;
the receiving encoder is used for recording at least one receiving direction and angle of an optical signal, an image signal and a radio signal and uploading the receiving direction and angle to the data processing device; each receiving driving shaft is provided with a receiving encoder;
the data processing device is used for constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated according to the at least one signal transmitting device, the at least one signal receiving device and the spatial position of the heliostat to be calibrated, and at least one transmitting direction, receiving direction and angle of an optical signal, an image signal and a radio signal, and calibrating the heliostat to be calibrated according to the deviation parameters; the heliostat calibration method is also used for determining the deviation parameter dimension of the heliostat to be calibrated and determining the number of simultaneous equations to be constructed according to the deviation parameter dimension;
the transmitting encoder records the angle of at least one of an optical signal, an image signal and a radio signal transmitted by the signal transmitting unit, and records the angles of at least two transmitting driving shafts respectively; the reception encoder records an angle of at least one of the optical signal, the image signal, and the radio signal received by the signal receiving unit, and records angles of at least two reception drive axes, respectively.
2. The system of claim 1, further comprising at least one alignment rod;
the signal transmitting device is arranged on the heat collecting tower, and the signal receiving devices are respectively arranged on the calibration rod; wherein, a signal receiving device is arranged on each calibration rod.
3. The system of claim 1, further comprising at least one alignment rod; each calibration rod is provided with a signal transmitting device and a signal receiving device; the at least one calibration rod is arranged in a heliostat field range, and each calibration rod is used for calibrating heliostats in a preset area range corresponding to the calibration rod.
4. A system according to any of claims 1-3, wherein at least one of the optical signal, the image signal and the radio signal comprises an artificial light source and/or a laser beam.
5. The system of claim 1, wherein the data processing device is further configured to:
and counting historical calibration results for each heliostat to be calibrated, and generating a statistical result table.
6. A method of calibrating a heliostat, the method comprising:
determining the spatial positions of at least one signal transmitting device, at least one signal receiving device and the heliostat to be calibrated through a positioning device, and uploading the spatial positions of the at least one signal transmitting device, the at least one signal receiving device and the heliostat to be calibrated to a data processing device;
sending control signals to the at least one signal transmitting device and the at least one signal receiving device through the control device so as to control the signal transmitting device and the signal receiving device to transmit and receive at least one of optical signals, image signals and radio signals and control the signal transmitting device and the signal receiving device to carry out angle adjustment; and controlling the calibrated heliostat to rotate;
transmitting at least one of an optical signal, an image signal and a radio signal to the heliostat to be calibrated through a signal transmitting unit of the signal transmitting device; the transmitting driving unit comprises at least two transmitting driving shafts, and the at least two transmitting driving shafts are driven under the control of the control device so as to control the transmitting direction and the angle rotation of the signal transmitting device; the transmitting encoder is used for recording at least one transmitting direction and angle of an optical signal, an image signal and a radio signal and uploading the transmitting direction and angle to the data processing device; each transmitting driving shaft is provided with a transmitting encoder;
receiving at least one of an optical signal, an image signal and a radio signal returned by the heliostat to be calibrated through a signal receiving unit of the signal receiving device; the receiving driving unit comprises at least two receiving driving shafts, and the at least two receiving driving shafts are driven under the control of the control device and used for driving the receiving direction and the angle rotation of the signal receiving device; recording at least one receiving direction and angle of an optical signal, an image signal and a radio signal through a receiving encoder, and uploading the receiving direction and angle to a data processing device; each receiving driving shaft is provided with a receiving encoder;
constructing a simultaneous equation to determine deviation parameters of the heliostat to be calibrated according to the at least one signal transmitting device, the at least one signal receiving device and the spatial position of the heliostat to be calibrated and at least one transmitting direction, receiving direction and angle in optical signals, image signals and radio signals through a data processing device, and calibrating the heliostat to be calibrated according to the deviation parameters;
determining deviation parameter dimensions of the heliostat to be calibrated through a data processing device, and determining the number of simultaneous equations to be constructed according to the deviation parameter dimensions;
the transmitting encoder records the angle of at least one of an optical signal, an image signal and a radio signal transmitted by the signal transmitting unit, and records the angles of at least two transmitting driving shafts respectively; the reception encoder records an angle of at least one of the optical signal, the image signal, and the radio signal received by the signal receiving unit, and records angles of at least two reception drive axes, respectively.
7. The method of claim 6, wherein the at least one signal emitting device is disposed on a heat collection tower and the at least one signal receiving device is disposed on the calibration rod, respectively; wherein, a signal receiving device is arranged on each calibration rod.
8. The method of any of claims 6-7, wherein at least one of the optical signal, the image signal, and the radio signal comprises an artificial light source and/or a laser beam.
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| CN110749281B (en) * | 2019-10-30 | 2021-08-17 | 深圳中科能投能源有限公司 | Positioning system and positioning method of heliostat support |
| CN110703813A (en) * | 2019-11-11 | 2020-01-17 | 深圳东康前海新能源有限公司 | Heliostat calibration system and method |
| CN112506233B (en) * | 2020-11-26 | 2022-11-15 | 浙江可胜技术股份有限公司 | RFID-based heliostat reference position positioning method |
| CN113687302B (en) * | 2021-08-19 | 2023-08-29 | 浙江可胜技术股份有限公司 | Heliostat address configuration method and heliostat address configuration system |
| 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 |
| 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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