CN110703813A - Heliostat calibration system and method - Google Patents
Heliostat calibration system and method Download PDFInfo
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Abstract
The embodiment of the invention discloses a heliostat calibration system and a method, wherein the system comprises: the device comprises at least one calibration module, a support, a positioning device and a data processing device; the calibration module comprises at least one calibration device, at least one angle sensor and at least one driving unit; the bracket is connected with the supporting rod of the heat collecting tower and can move or rotate along the supporting rod of the heat collecting tower; the calibrating device comprises a signal transmitting unit, a signal reflecting unit and a signal receiving unit, wherein the signal transmitting unit is used for transmitting signals to the heliostat to be calibrated, the signal reflecting unit is used for reflecting the signals, and the signal receiving unit is used for receiving the signals; the driving unit comprises at least two driving shafts for controlling the rotation angle and the direction of the calibration device; the angle sensor is used for recording the rotation angle and direction of at least two drive shafts. According to the embodiment of the invention, the signal transmitting unit and the signal receiving unit are arranged in the same device, so that the integration level of the calibration device is improved, and the calibration device is more convenient to install.
Description
Technical Field
The embodiment of the invention 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 the turbine to generate electricity. The heliostats are typically mounted to 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 often arranged on a heat collection 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 the advantages that the processing mode is complex, the consumed time is long, when a heliostat field comprises thousands of heliostats, the calibration efficiency of the heliostats is greatly influenced, and the light target and the image acquisition device are separately arranged, so that the consumed time and the consumed power are realized.
Disclosure of Invention
Embodiments of the present invention provide a heliostat calibration system and method, so as to improve calibration efficiency of a heliostat and improve integration of a calibration device, so that the calibration device is more convenient to set in an actual field.
In a first aspect, an embodiment of the present invention provides a heliostat calibration system, including: the device comprises at least one calibration module, a support, a positioning device and a data processing device; the calibration module is arranged on the bracket and comprises at least one calibration device, at least one angle sensor and at least one driving unit;
the bracket is connected with the supporting rod of the heat collecting tower and can move or rotate along the supporting rod of the heat collecting tower;
the calibration device comprises a signal transmitting unit, a signal reflecting unit and a signal receiving unit, wherein the signal transmitting unit is used for transmitting signals to the heliostat to be calibrated, the signal reflecting unit is used for reflecting the signals, and the signal receiving unit is used for receiving the signals;
the driving unit comprises at least two driving shafts and is used for controlling the rotating angle and the direction of the calibrating device;
the angle sensor is used for recording the rotating angles and the directions of the at least two driving shafts;
the positioning device is used for determining a first spatial position of the signal transmitting unit, a second spatial position of the signal receiving unit and a third spatial position of the heliostat to be calibrated, and uploading the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit and the third spatial position of the heliostat to be calibrated to the data processing device;
the data processing device determines deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third spatial position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit, and calibrates the heliostat to be calibrated according to the deviation parameters.
Furthermore, the signal transmitting unit comprises at least one first light source, the signal reflecting unit comprises an arc-shaped reflecting mirror, a mirror surface of the arc-shaped reflecting mirror faces the heliostat to be calibrated, and the first light source is arranged between the mirror surface of the arc-shaped reflecting mirror and the signal receiving unit.
Further, when the signal transmitting unit comprises a first light source, the first light source and the signal receiving unit are designed coaxially.
Further, the light emitted by the first light source is reflected by the arc-shaped reflector and then is transmitted to the heliostat to be calibrated, and the light reflected by the heliostat to be calibrated is received by the signal receiving unit.
Furthermore, the signal reflection unit comprises a plane reflector, an included angle between the plane reflector and the horizontal direction is 45 degrees, and the plane reflector comprises a first surface and a second surface.
Furthermore, the signal transmitting unit comprises a laser transmitter, a laser transmitting opening of the laser transmitter faces the second surface of the plane reflector, and laser transmitted by the laser transmitter can pass through the plane reflector.
Furthermore, the signal receiving unit is arranged facing the first surface of the plane mirror, and can receive the light reflected by the first surface of the plane mirror.
Furthermore, laser emitted by the laser emitter is sent to the heliostat with calibration through the through hole of the plane mirror, light reflected by the heliostat to be calibrated is sent to the first surface of the plane mirror, and the signal receiving unit receives the light reflected by the first surface of the plane mirror.
Furthermore, the system further comprises an intensity detection device, wherein the intensity detection device is arranged in the heliostat field to be calibrated and is used for detecting the intensity of the signal sent by the signal emission unit.
In a second aspect, an embodiment of the present invention provides a heliostat calibration method, including:
determining a first spatial position of a heliostat to be calibrated, a second spatial position of a signal transmitting unit and a third spatial position of a signal receiving unit;
determining the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit;
determining deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit;
and calibrating the heliostat to be calibrated according to the deviation parameter.
The heliostat calibration system provided by the embodiment of the invention comprises at least one calibration module, a support, a positioning device and a data processing device, wherein the calibration module comprises at least one calibration device, at least one angle sensor and at least one driving unit, the support is connected with a supporting rod of a heat collection tower and can move or rotate along the supporting rod of the heat collection tower, the calibration device comprises a signal transmitting unit, a signal reflecting unit and a signal receiving unit, the signal transmitting unit is used for transmitting signals to heliostats to be calibrated, the signal reflecting unit is used for reflecting the signals, the signal receiving unit is used for receiving the signals, the driving unit comprises at least two driving shafts, the driving unit is used for controlling the rotation angle and the direction of the calibration device, and the angle sensor is used for recording the rotation angle and the direction of the at least two. Through setting up signal transmitting unit and signal receiving unit in same device, improve calibrating device's integrated level for calibrating device is more convenient when the installation, and a plurality of calibrating device can calibrate a plurality of heliostats simultaneously, has improved heliostat calibration system's efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a heliostat calibration system according to an embodiment of the invention;
fig. 2 is a schematic structural diagram of a heliostat calibration system according to a second embodiment of the invention;
fig. 3 is a schematic structural diagram of a calibration apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a calibration apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic flowchart of a heliostat calibration method according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention 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. A process may be terminated when its operations are completed, but may have additional steps not included in the figure. A process may correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.
Furthermore, the terms "first," "second," and the like may be used herein to describe various orientations, actions, steps, elements, or the like, but the orientations, actions, steps, or elements are not limited by these terms. These terms are only used to distinguish one direction, action, step or element from another direction, action, step or element. For example, a first spatial location may be referred to as a second spatial location, and similarly, a second spatial location may be referred to as a first spatial location, without departing from the scope of the present application. The first spatial position and the second spatial position are both spatial positions, but they are not the same spatial position. The terms "first", "second", etc. are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Example one
Fig. 1 is a schematic structural diagram of a heliostat calibration system according to a first embodiment of the present invention, which is applicable to calibrating heliostats in a heliostat field. As shown in fig. 1, a heliostat calibration system according to a first embodiment of the present invention includes: at least one calibration module 100, a support 110, a positioning device (not shown), and a data processing device (not shown), wherein the calibration module 100 comprises: at least one calibration device 120, at least one angle sensor (not shown in the figures) and at least one drive unit (not shown in the figures).
The support 110 is connected with the support rod 500 of the heat collecting tower, the support rod 500 of the heat collecting tower is longitudinally provided with a sliding groove 510, and the support 110 moves up and down or moves left and right along the support rod 500 of the heat collecting tower through the sliding groove 510. Optionally, an annular groove may be transversely formed on the support rod 500 of the heat collecting tower, and the support 110 rotates around the support rod 500 of the heat collecting tower through the annular groove. In other embodiments, the sliding groove 510 may be replaced by a guide rail.
The calibration device 120 includes a signal transmitting unit, a signal reflecting unit and a signal receiving unit, wherein the signal transmitting unit is used for transmitting signals to the heliostat to be calibrated, the signal reflecting unit is used for reflecting the signals, and the signal receiving unit is used for receiving the signals. The signal emitted by the signal emitting unit is reflected to the heliostat to be calibrated through the signal reflecting unit, and the heliostat to be calibrated emits light to the signal receiving unit; or the signal emitted by the signal emitting unit is directly emitted to the heliostat to be calibrated, the heliostat to be calibrated emits the signal to the signal reflecting unit, and the signal reflecting unit emits the signal to the signal receiving unit.
In an embodiment of the present invention, a heliostat calibration system includes at least one calibration module 100, and the calibration module 100 includes at least one calibration device 120. When the calibration module 100 is a plurality of, also can set up on a plurality of supports, the mounted position can be confirmed according to actual conditions, as long as guarantee a plurality of calibration module do not interfere with each other can.
The drive unit comprises at least two drive shafts, and the drive unit is used for controlling the rotation angle and the direction of the calibration device. The angle sensor is used for recording the rotation angle and direction of at least two drive shafts. A drive unit and an angle sensor are connected to a calibration device.
In this embodiment, the positioning device is configured to determine a first spatial position of the signal transmitting unit, a second spatial position of the signal receiving unit, and a third spatial position of the heliostat to be calibrated, and upload the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, and the third spatial position of the heliostat to be calibrated to the data processing device. Optionally, the positioning device may be implemented by using an RTK (Real-time kinematic) carrier-phase differential positioning device.
Further, the calibration device 120 further comprises an angle sensor and a driving unit for controlling the rotation angle and direction of the calibration device, the driving unit comprises at least two driving shafts, each driving shaft controls one rotation direction of the calibration device 120, for example, the driving unit comprises a transverse driving shaft and a longitudinal driving shaft, the transverse driving shaft controls the rotation angle of the calibration device 120 in the horizontal direction, and the longitudinal driving shaft controls the rotation angle of the calibration device 120 in the vertical direction. The angle sensor is used for recording the rotating angles and the directions of at least two driving shafts, and the angles and the directions of signals transmitted to the heliostat can be known through the rotating angles and the directions of the driving shafts.
Optionally, the calibration device 120 may further include a driving subunit, where the driving subunit includes at least one driving shaft, and the driving subunit is configured to control the signal receiving unit to perform small-amplitude movement, so that the signal receiving unit detects the whole mirror surface of the heliostat to be calibrated, instead of detecting only one area of the heliostat mirror surface to be calibrated, and may detect the intensity of light reflected by the heliostat to be calibrated through the signal receiving unit, so as to improve accuracy of capturing the size of a reflection light spot on the heliostat mirror surface to be calibrated by the signal receiving unit.
Furthermore, the signal emitted by the signal emitting unit can be a light signal, the signal receiving unit can be a camera, the light spot center position of the light signal reflected by the heliostat is captured through the camera, and the angle of the signal received by the signal receiving unit can be known through the light spot center position, the second space position of the signal receiving unit and the third space position of the heliostat to be calibrated.
Optionally, the signal transmitting unit is further connected to a signal control unit, and the strength of the signal transmitted by the signal transmitting unit can be controlled by the signal control unit.
The data processing device constructs a simultaneous equation according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third spatial position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit, so that the deviation parameter of the heliostat to be calibrated is determined, and the heliostat to be calibrated is calibrated according to the deviation parameter.
The heliostat calibration system provided by the embodiment of the invention comprises at least one calibration module, a support, a positioning device and a data processing device, wherein the calibration module comprises at least one calibration device, at least one angle sensor and at least one driving unit, the support is connected with a supporting rod of a heat collection tower and can move or rotate along the supporting rod of the heat collection tower, the calibration device comprises a signal transmitting unit, a signal reflecting unit and a signal receiving unit, the signal transmitting unit is used for transmitting signals to heliostats to be calibrated, the signal reflecting unit is used for reflecting the signals, the signal receiving unit is used for receiving the signals, the driving unit comprises at least two driving shafts, the driving unit is used for controlling the rotation angle and the direction of the calibration device, and the angle sensor is used for recording the rotation angle and the direction of the at least two driving. The signal transmitting unit and the signal receiving unit are arranged in the same device, the integration level of the calibrating device is improved, the calibrating device is more convenient to install, at least one calibrating module and at least one calibrating device can calibrate a plurality of heliostats simultaneously, and the efficiency of the heliostat calibrating system is improved.
Example two
Fig. 2 is a schematic structural diagram of a heliostat calibration system according to a second embodiment of the present invention, which is a further optimization of the second embodiment. As shown in fig. 2, a heliostat calibration system according to a second embodiment of the present invention includes: at least one calibration module 100, a support 110, a positioning device (not shown), a data processing device (not shown), and an intensity detection device 400, wherein the calibration module 100 includes at least one calibration device 120, and structures and functions of the calibration module 100, the support 110, the calibration device 120, the positioning device, and the data processing device are the same as those in any of the above embodiments, and are not described herein again.
The intensity detection device 400 is disposed in a heliostat field to be calibrated, which includes a plurality of heliostats 600 to be calibrated. The intensity detection device 400 comprises a light intensity calibration rod 410 and a light intensity sensor 420, a signal sent by the calibration device 120 can reach the heliostat 600 to be calibrated and also can reach the light intensity sensor 420, the light intensity sensor 420 receives the signal sent by the calibration device 120, the signal intensity is analyzed, the current atmospheric attenuation rate can be obtained through multiple measurement and calculation, and therefore the current atmospheric attenuation rate can be used for calculating the real reflectivity of the heliostat to be detected.
Optionally, the intensity of the signal from the calibration device 120 detected by the light intensity sensor 420 can confirm whether there is a shelter in front of the calibration device 120. Normally, the light intensity sensor 420 detects that the signal sent by the calibration device 120 has a certain signal intensity, and when the signal intensity detected by the light intensity sensor 420 is weak, it indicates that there may be a blocking object in front of the calibration device 120, or the signal itself sent by the calibration device 120 is weak in intensity and needs to be adjusted.
According to the heliostat calibration system provided by the embodiment of the invention, the intensity detection device is added in the heliostat field to be calibrated to detect the intensity of the signal sent by the calibration device, so that the reliability of the heliostat calibration system is further improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a calibration apparatus according to a third embodiment of the present invention, which is a further refinement of the calibration apparatus in the foregoing embodiments. As shown in fig. 3, a calibration apparatus provided in the third embodiment of the present invention includes: at least one first light source 210, an arc-shaped mirror 220, a camera 230, an angle sensor 240, and a driving unit 250.
The first light source 210 is disposed between the arc-shaped reflector 220 and the camera 230, and the mirror surface of the arc-shaped reflector 220 faces the direction of the heliostat 600 to be calibrated, so that the first emitting light 211 emitted by the first light source 210 is emitted onto the mirror surface of the arc-shaped reflector 220, the mirror surface of the arc-shaped reflector 220 reflects the first emitting light 211 as the second emitting light 221, the second emitting light 221 is emitted onto the heliostat 600 to be calibrated, and the heliostat 600 to be calibrated emits the second emitting light 221 as the receiving light 231 received by the camera 230. In this embodiment, the first light source 210 may be an LED light source or a hernia light source. In an actual scenario, the heliostat 600 to be calibrated is far away from the calibration device, the reflection light rays emitted from the mirror surface of the arc-shaped reflecting mirror 220 are approximately parallel light, and the first emission light rays 211, the second emission light rays 221 and the second emission light rays 221 shown in fig. 2 only exemplarily represent the propagation relationship of the light rays among the first light source 210, the arc-shaped reflecting mirror 220, the camera 230 and the heliostat 600 to be calibrated.
The driving unit 250 includes at least two driving shafts, the driving unit 250 shown in fig. 3 includes 2 driving shafts, the emission direction and angle of the second emitted light 221 can be controlled by controlling the rotation direction and angle of the driving unit 250, and the emission direction and angle of the second emitted light 221 can be known by the rotation direction and angle of the driving unit 250 recorded by the angle sensor 240. Since the second spatial position of the camera 230 and the third spatial position of the heliostat 600 to be calibrated can be known from the positioning device, the direction and angle of the received light 231 can be known from the second spatial position of the camera 230 and the third spatial position of the heliostat 600 to be calibrated.
In this embodiment, when there is only one first light source 210, the first light source 210 and the camera 230 adopt a shaft-supplying design, so that the light source and the camera form an integrated structure, and the calibration efficiency of the calibration device is improved.
Optionally, the first light source 210 is further connected to a light source control unit, and the intensity of the light emitted by the first light source 210 can be adjusted by the light source control unit. The light source control unit may be disposed between the first light source 210 and the camera 230, and may also be disposed between the first light source 210 and the arc-shaped reflecting mirror 220.
Optionally, the first light source 210 may be designed to be a color light, and the color of the first light source 210 may also be adjusted by the light source control unit.
Optionally, a filter or a polarizer may be further disposed in front of the camera 230 to increase the signal-to-noise ratio of the camera and the quality of the image captured by the camera 230.
The calibration device provided by the third embodiment of the invention emits calibration light through the first light source, reflects the calibration light to the heliostat to be calibrated through the arc reflector, receives the reflection light of the heliostat through the camera, and sets the first light source, the arc reflector and the camera into an integral calibration device, so that the calibration device is more convenient to mount; the first light source and the camera adopt a coaxial design, so that the calibration efficiency of the calibration device is improved.
Example four
Fig. 4 is a schematic structural diagram of a calibration apparatus according to a fourth embodiment of the present invention, which is a further refinement of the calibration apparatus according to the first embodiment. As shown in fig. 4, a calibration apparatus provided in the fourth embodiment of the present invention includes: a laser emitter 310, a plane mirror 320, and a camera 230. The driving unit and the angle sensor of the calibration device are the same as those of the above embodiments, and are not described herein again.
The plane mirror 320 has a first surface 321 and a second surface 322, the first surface 321 can reflect light, and the second surface 322 cannot reflect light. The plane mirror 320 has a through hole 323 formed at a center thereof, and the light can pass through the plane mirror 320 through the through hole 323. The angle 324 of the plane mirror 320 with the horizontal is 45.
As shown in fig. 4, the laser transmitter 310 is disposed facing the second face 322 of the plane mirror 320, and the camera 230 is disposed facing the first face 321 of the plane mirror 320. The first emission laser 701 emitted by the laser emitter 310 is emitted to the heliostat 600 to be calibrated through the through hole 323 of the planar mirror 320, the first reflection laser 702 emitted by the heliostat 600 to be calibrated after reflection is emitted to the first surface 321 of the planar mirror 320, and the first surface 321 of the planar mirror 320 reflects the first reflection laser 702 into the second reflection laser 703 and emits the second reflection laser 703 to the camera 230. In actual scenarios, the heliostat 600 to be calibrated is far away from the laser emitter 310, and the first emitted laser light 701, the first reflected laser light 702 and the second reflected laser light 703 shown in fig. 3 only exemplarily represent the propagation relationship of the laser light among the laser emitter 310, the plane mirror 320, the camera 230 and the heliostat 600 to be calibrated.
Optionally, two layers of antireflection films are disposed at the through hole 323 of the plane mirror 320, and the laser intensity emitted by the laser emitter 310 is increased by using the principle of superposition of optical waves.
Optionally, the planar reflector 320 may be a one-way see-through film with a transmittance of 50%, a through hole is not formed in the center of the film, light emitted from the laser emitter 310 can directly pass through the planar reflector 320, and light emitted from the heliostat 600 to be calibrated can be reflected to the camera 230 due to the one-way light transmittance of the one-way see-through film. The emission direction and angle of the first emission laser 701 can be controlled by controlling the rotation direction and angle of the driving unit, and the emission direction and angle of the first emission laser 701 can be known by the rotation direction and angle of the driving unit recorded by the angle sensor. Since the second spatial position of the camera 230 and the third spatial position of the heliostat 600 to be calibrated can be known by the positioning device, the direction and angle of the second reflected laser 703 can be known from the second spatial position of the camera 230 and the third spatial position of the heliostat 600 to be calibrated.
According to the calibrating device provided by the fourth embodiment of the invention, the laser emitter emits calibrating laser to the heliostat to be calibrated, the light reflected by the heliostat to be calibrated is reflected to the camera through the first surface of the planar reflector, the camera receives the light reflected by the heliostat, and the laser emitter, the planar reflector and the camera are arranged into an integral calibrating device, so that the calibrating device is more convenient to mount.
EXAMPLE five
Fig. 5 is a schematic flowchart of a heliostat calibration method according to a fifth embodiment of the present invention, which can be applied to calibrating heliostats in a heliostat field. The method can be implemented by the heliostat calibration device provided by any embodiment of the invention. Reference may be made to the description in any system embodiment of the invention for details that are not described in detail in the fifth embodiment of the invention.
As shown in fig. 5, a heliostat calibration method according to a fifth embodiment of the present invention includes:
s510, determining a first spatial position of the heliostat to be calibrated, a second spatial position of the signal transmitting unit and a third spatial position of the signal receiving unit.
Specifically, the first spatial position of the heliostat to be calibrated, the second spatial position of the signal transmitting unit, and the third spatial position of the signal receiving unit may be measured by a positioning device, and the positioning device may be implemented by a Real-time kinematic (RTK) carrier-phase differential positioning device.
S520, determining the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit.
Specifically, when the signal transmitted by the signal transmitting unit is directly transmitted to the heliostat to be calibrated, the angle at which the signal transmitting unit transmits the signal is the angle at which the signal transmitting unit transmits the signal to the heliostat to be calibrated; when the signals transmitted by the signal transmitting unit are reflected to the heliostat to be calibrated through the signal reflecting unit, the angle of the signals transmitted by the signal transmitting unit is the angle of the signals transmitted by the signal reflecting unit to the heliostat to be calibrated. When the reflection signal of the heliostat to be calibrated is directly sent to the signal receiving unit, the angle of the signal received by the signal receiving unit is the angle of the reflection signal sent to the signal receiving unit by the heliostat to be calibrated; when the reflection signal of the heliostat to be calibrated is reflected to the signal receiving unit through the signal reflection unit, the angle of the signal received by the signal receiving unit is the angle of the reflection signal reflected to the signal receiving unit by the signal reflection unit.
S530, determining deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit.
Specifically, a simultaneous equation is constructed according to a first space position of the signal transmitting unit, a second space position of the signal receiving unit, a third position of the heliostat to be calibrated, an angle of a signal transmitted by the signal transmitting unit and an angle of a signal received by the signal receiving unit, the number of the simultaneous equations is determined by the dimension of the heliostat deviation parameter to be calibrated, and the deviation parameter of the heliostat to be calibrated is determined through the simultaneous equations.
And S540, calibrating the heliostat to be calibrated according to the deviation parameter.
Specifically, the heliostat to be calibrated is calibrated according to deviation parameters, wherein the deviation parameters include, but are not limited to, a pitch angle error, a horizontal rotation angle error, a heliostat center position error and an euler rotation angle position error of the heliostat.
In the heliostat calibration method provided by the fifth embodiment of the present invention, a first spatial position of a heliostat to be calibrated, a second spatial position of a signal transmitting unit, and a third spatial position of a signal receiving unit are determined; determining the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit; determining deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit; and calibrating the heliostat to be calibrated according to the deviation parameter. The heliostat calibration method provided by the fourth embodiment of the invention can calibrate a plurality of heliostats simultaneously, and improves the efficiency of the heliostat calibration system.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention 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 invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A heliostat calibration system, comprising: the device comprises at least one calibration module, a support, a positioning device and a data processing device; the calibration module is arranged on the bracket and comprises at least one calibration device, at least one angle sensor and at least one driving unit;
the bracket is connected with the supporting rod of the heat collecting tower and can move or rotate along the supporting rod of the heat collecting tower; the calibration device comprises a signal transmitting unit, a signal reflecting unit and a signal receiving unit, wherein the signal transmitting unit is used for transmitting signals to the heliostat to be calibrated, the signal reflecting unit is used for reflecting the signals, and the signal receiving unit is used for receiving the signals;
the driving unit comprises at least two driving shafts and is used for controlling the rotating angle and the direction of the calibrating device;
the angle sensor is used for recording the rotating angles and the directions of the at least two driving shafts;
the positioning device is used for determining a first spatial position of the signal transmitting unit, a second spatial position of the signal receiving unit and a third spatial position of the heliostat to be calibrated, and uploading the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit and the third spatial position of the heliostat to be calibrated to the data processing device;
the data processing device determines deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third spatial position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit, and calibrates the heliostat to be calibrated according to the deviation parameters.
2. The system of claim 1, wherein the signal emitting unit comprises at least one first light source, the signal reflecting unit comprises an arc-shaped mirror having a mirror surface disposed facing a heliostat to be calibrated, and the first light source is disposed between the mirror surface of the arc-shaped mirror and the signal receiving unit.
3. The system of claim 2, wherein the signal transmitting unit comprises a first light source, and wherein the first light source and the signal receiving unit are coaxially arranged.
4. The system of claim 2, wherein the light emitted from the first light source is reflected by the curved reflector and transmitted to the heliostat to be calibrated, and the light reflected by the heliostat to be calibrated is received by the signal receiving unit.
5. The system of claim 1, wherein the signal reflecting unit comprises a plane mirror, the plane mirror having an angle of 45 ° with respect to the horizontal, the plane mirror comprising a first face and a second face.
6. The system of claim 5, wherein the signal transmitting unit comprises a laser transmitter, a laser transmitting opening of the laser transmitter is disposed facing the second surface of the plane mirror, and the laser transmitted by the laser transmitter can pass through the plane mirror.
7. The system of claim 5, wherein the signal receiving unit is disposed facing the first side of the plane mirror, the signal receiving unit being capable of receiving light reflected by the first side of the plane mirror.
8. The system of claim 6, wherein the laser light emitted by the laser emitter is transmitted through the through-hole of the planar mirror to the heliostat to be calibrated, the light reflected by the heliostat to be calibrated is transmitted to the first surface of the planar mirror, and the signal receiving unit receives the light reflected by the first surface of the planar mirror.
9. The system according to any one of claims 1 to 8, further comprising an intensity detection device provided in the heliostat field to be calibrated for detecting the intensity of the signal emitted by the signal emission unit.
10. A heliostat calibration method, comprising:
determining a first spatial position of a heliostat to be calibrated, a second spatial position of a signal transmitting unit and a third spatial position of a signal receiving unit;
determining the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit;
determining deviation parameters of the heliostat to be calibrated according to the first spatial position of the signal transmitting unit, the second spatial position of the signal receiving unit, the third position of the heliostat to be calibrated, the angle of the signal transmitted by the signal transmitting unit and the angle of the signal received by the signal receiving unit;
and calibrating the heliostat to be calibrated according to the deviation parameter.
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Cited By (1)
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| CN117714228B (en) * | 2024-02-06 | 2024-04-26 | 长春晟博光学技术开发有限公司 | Control method of heliostat controller based on Autbus communication mode |
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