CN110716576A - Heliostat field inspection system and method based on unmanned aerial vehicle - Google Patents
Heliostat field inspection system and method based on unmanned aerial vehicle Download PDFInfo
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Abstract
The invention provides a heliostat field inspection system and a method based on an unmanned aerial vehicle, wherein the system comprises the unmanned aerial vehicle, an unmanned aerial vehicle control system, an image processing system and a heliostat field control system; wherein: the unmanned aerial vehicle is provided with a camera, a GPS positioning module and a wireless communication module; the heliostat field control system controls the heliostat to be in a standby state and a sun tracking state; the image processing system receives an image signal shot by a camera loaded by the unmanned aerial vehicle, and processes the image signal so as to identify an abnormal heliostat; the heliostat field control system controls heliostats in an area needing to be inspected of the heliostat field to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the area needing to be inspected to the unmanned aerial vehicle control system; unmanned aerial vehicle control system formulates unmanned aerial vehicle flight route and the point of shooing according to above-mentioned coordinate, and unmanned aerial vehicle flies to the point of shooing according to the flight route and hovers, and the unmanned aerial vehicle camera is shot to the below directly to image signal transmission to image processing system will shoot.
Description
Technical Field
The invention relates to the field of solar power generation, in particular to a heliostat field inspection system and a method based on an unmanned aerial vehicle.
Background
The solar tower type photo-thermal power generation is characterized in that sunlight is reflected to a heat absorber of a central heat absorption tower in a concentrated mode through a heliostat field formed by a top-view mirror, fused salt in the heat absorber is heated, and the fused salt and water exchange heat in a steam generation system to form high-temperature and high-pressure water vapor to drive a steam turbine to generate power. The number of the mirrors in the heliostat field and the working state directly influence the heat projected to the heat absorber, so that the inspection work of the heliostat field and timely discovery of the damaged or attitude-abnormal heliostats are particularly important for power generation of the whole optical thermal power station.
Currently, the inspection work of a heliostat field of a photo-thermal power station mainly depends on ground inspection robots and manual inspection. In order to improve the efficiency of the tower-type photothermal power station as much as possible, the installation density of heliostat fields is large, so that the distance between different heliostats is reduced under the normal operation condition. Therefore, ground inspection work during work becomes very difficult due to the uncertainty of the gap between the mirrors. On the other hand, in order to improve the inspection efficiency, the input quantity of the inspection robot needs to be increased, and the cost is also increased. And the manual inspection can greatly increase the workload, the inspection time is prolonged, and the efficiency is low.
Therefore, how to carry out the inspection work during the operation of the heliostat field and how to rapidly complete the inspection work of the heliostat field are the problems to be solved at present.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a heliostat field inspection system and a method based on an unmanned aerial vehicle. The technical scheme of the invention is as follows:
a heliostat field inspection system based on an unmanned aerial vehicle comprises the unmanned aerial vehicle, an unmanned aerial vehicle control system, an image processing system and a heliostat field control system; wherein:
the unmanned aerial vehicle is provided with a camera, a GPS positioning module and a wireless communication module;
the unmanned aerial vehicle control system sends an instruction to the unmanned aerial vehicle through the wireless communication module, controls the flight route and the flight speed of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to hover at a specified position and height;
the heliostat field control system controls the heliostat to be in a standby state and a sun tracking state;
the image processing system receives an image signal shot by a camera loaded by the unmanned aerial vehicle, and processes the image signal so as to identify an abnormal heliostat;
the heliostat field control system controls heliostats in an area needing to be inspected of the heliostat field to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the area needing to be inspected to the unmanned aerial vehicle control system;
the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system; and the image processing system receives the signals and performs image signal processing to identify abnormal heliostats.
Optionally, the heliostat field may also be patrolled by the unmanned aerial vehicle when in a sun-tracking state.
Optionally, the hovering position of the unmanned aerial vehicle during inspection is right above the mirror field, the hovering height is 0.2-1.3 times that of the heat absorption tower, and the number of the shot mirrors is 3-500.
Optionally, the number of the drones is 1-8.
Optionally, the processing result of the image processing system may show whether the heliostat is in an abnormal state, where the abnormal state of the heliostat is whether the attitude of the heliostat is significantly deviated from the attitude of surrounding heliostats or the heliostat mirror surface is damaged.
A heliostat field inspection method based on an unmanned aerial vehicle comprises the following steps:
s1: establishing a heliostat field inspection system based on a drone according to any one of claims 1 to 7;
s2: dividing a heliostat field into a plurality of inspection areas;
s3: the unmanned aerial vehicle patrols different areas at different time periods; wherein:
the heliostat field control system controls heliostats in an area needing to be inspected of the heliostat field to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the area needing to be inspected to the unmanned aerial vehicle control system;
s4: the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system;
s5: the image processing system receives the signals and performs image signal processing to identify abnormal or damaged heliostats;
s6: and the image processing system sends the processing information to the heliostat control system, and the heliostat control system regulates and controls the heliostat with abnormal posture.
Optionally, the step S5 further includes:
s51: the image processing system processes the heliostats to obtain boundary images of all the heliostats in the inspection area;
s52: carrying out region division on heliostats in the inspection region;
s53: comparing the similarity of the heliostats in any two divided adjacent areas, wherein the heliostat area with larger difference with the surrounding area is the abnormal area of the heliostat with abnormal posture or damage;
s54: comparing each heliostat in the abnormal area, wherein the heliostat with a larger difference with other heliostats is the heliostat with abnormal posture or damage.
Alternatively, in step S54, if the boundary image of the heliostat is incomplete, the heliostat is a broken heliostat.
Optionally, step S6 further includes:
manual replacement is scheduled for damaged heliostats identified by the image processing system.
Optionally, in step S2, when the heliostat field performs unmanned aerial vehicle inspection in the sun tracking state, the heliostat field is divided into four parts, namely, east, west, south and north, according to the orientation of the heliostat field relative to the heat absorption tower.
Optionally, in step S3, the unmanned aerial vehicle may inspect the mirror field of the west area at any time in the period of 7:00-12:00, inspect the mirror field of the north area at any time in the period of 10:00-15:00, inspect the mirror field of the east area at any time in the period of 13:00-18:00, and inspect the mirror field of the south area at any time in the period of 7:00-18: 00.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the GPS positioning module of the unmanned aerial vehicle is used for positioning the to-be-inspected mirror field area, so that the problems that the ground robot inspection is greatly influenced by the posture of the heliostat and the ground robot inspection is large in quantity are solved.
According to the unmanned aerial vehicle control system, the unmanned aerial vehicle inspection route is adjusted, the influence of geographical factors on manual inspection is avoided, and the inspection blind spot problem is effectively solved.
Shoot through the camera that unmanned aerial vehicle carried on and send the image of shooing to image processing system by unmanned aerial vehicle communication module, find gesture anomaly and the damaged heliostat of mirror surface, solved the artifical vision leak of patrolling and examining the existence, accomplished the difficult high degree operation of accomplishing of manual work.
The azimuth angle and the horizontal angle of the heliostat with abnormal posture are adjusted through the heliostat control system, the problem of complex manual adjustment is solved, the labor cost is saved, the working efficiency is improved, the automation degree of a heliostat field is improved, the stability is better, and the market application value is good.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a heliostat field inspection system based on an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a drone according to a particular embodiment of the invention;
fig. 3 is a schematic diagram of a heliostat field inspection system based on an unmanned aerial vehicle according to an embodiment of the invention;
fig. 4 is a flowchart of a heliostat field inspection method based on an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1 to 4, the present embodiment discloses a heliostat field inspection system and method based on an unmanned aerial vehicle. The specific description is as follows:
a heliostat field inspection system based on an unmanned aerial vehicle comprises an unmanned aerial vehicle 6, an unmanned aerial vehicle control system, an image processing system 7 and a heliostat field control system 8; wherein:
the unmanned aerial vehicle 6 is provided with a camera, a GPS positioning module and a wireless communication module;
the unmanned aerial vehicle control system sends an instruction to the unmanned aerial vehicle through the wireless communication module, controls the flight route and the flight speed of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to hover at a specified position and height;
the heliostat field control system 8 controls the heliostat to be in a standby state and a sun tracking state;
the image processing system receives an image signal shot by a camera loaded by the unmanned aerial vehicle, and processes the image signal so as to identify an abnormal heliostat;
the heliostat field control system 8 controls heliostats in a region of the heliostat field to be inspected to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the region to be inspected to the unmanned aerial vehicle control system;
the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system 7; the image processing system 7 receives the aforementioned signals and performs image signal processing to identify anomalous heliostats.
As in fig. 3, the sun 3 illuminates the heliostat field. The heliostat 1 is a heliostat with abnormal posture, and the heliostat 2 is a damaged heliostat. The heliostat 1 may cause damage to mechanical parts such as a stepping motor and a push rod or an excessive stroke gap during long-term operation. The heliostat 2 is also damaged due to cleaning, man-made and weather reasons, and sunlight reflected by the heliostats 1 and 2 cannot be reflected to the heat absorber 4 on the heat absorption tower 5, so that uneven energy distribution and energy loss are caused, and the generated energy is reduced and the heat absorber is deformed due to uneven heating. Heliostat 1 and heliostat 2 are both anomalous or broken heliostats to be identified by image processing system 7.
And when the heliostat field is in a sun-chasing state, the unmanned aerial vehicle can be used for polling.
The heliostats in the same area in different time periods have different postures and are divided according to the direction of the sun, and the heliostats in the areas corresponding to the time periods have larger horizontal angles, so that the heliostats with abnormal postures are easy to observe.
The hovering position of the unmanned aerial vehicle during inspection is right above the mirror field, the hovering height is 0.2-1.3 times that of the heat absorption tower, and the number of the shot mirrors is 3-500. The number of heliostats in a shooting lens of the unmanned aerial vehicle is more than 3, the shooting number can be changed by changing the flight height according to different requirements of inspection, and when the flight height is set, the reflected light of the heliostats close to a mirror field is concentrated to form a cone-shaped light cluster which corresponds to a cone-shaped area; setting a proper height (such as 0.3 times of the height of the heat absorption tower) to divide the conical area into two areas from bottom to top: a first region and a second region. The space above the second region is referred to as a third region (e.g., 1 time or more the height of the absorber tower).
The first region is a region with a weak light concentration degree, the third region is a region exceeding the height of the cone beam, and the second region is a region with a strong light concentration degree.
The unmanned aerial vehicle needs to fly in the first area or the third area, otherwise, the machine may be over-temperature.
The number of the unmanned aerial vehicles is 1-8.
The processing result of the image processing system can display whether the heliostat is in an abnormal state, and the abnormal state of the heliostat is that the posture of the heliostat has obvious deviation from the posture of surrounding heliostats or whether the heliostat mirror surface is damaged.
A heliostat field inspection method based on an unmanned aerial vehicle comprises the following steps:
s1: establishing the heliostat field inspection system based on the unmanned aerial vehicle;
s2: dividing a heliostat field into a plurality of inspection areas; in this embodiment, the unmanned aerial vehicle patrols and examines under the heliostat state of chasing the sun, and this kind of condition is according to the position relative to the heat absorption tower, divides the heliostat field into four parts of east-west south-north. The division is mainly based on the sun position, the sun is in the east in the morning, and the heliostats in the west area of the mirror field have larger horizontal angles.
S3: the unmanned aerial vehicle patrols different areas at different time periods; wherein:
the heliostat field control system controls heliostats in a heliostat field area needing to be patrolled to a specified elevation angle and azimuth angle, and sends heliostat coordinates in the area needing to be patrolled to the unmanned aerial vehicle control system.
In the embodiment, the unmanned aerial vehicle can inspect the mirror field of the west region at any time in the period of 7:00-12:00, can inspect the mirror field of the north region at any time in the period of 10:00-15:00, can inspect the mirror field of the east region at any time in the period of 13:00-18:00, and can inspect the mirror field of the south region at any time in the period of 7:00-18: 00.
According to the different angles of the mirror at different times of the sun in one day, the mirror in the east region in the morning needs a smaller horizontal angle for being placed on the heat absorption tower, and when the horizontal angle of the heliostat is smaller, a larger heliostat image can be obtained by downwards overlooking from the air, so that the mirror integrity under the current state can be observed.
S4: the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system; wherein:
the unmanned aerial vehicle 6 flies right above the inspection area according to an inspection route set in the inspection area, the height of the heat absorption tower is adjusted to be 0.2-1.3 times of the height of the heat absorption tower for hovering, a camera carried by the unmanned aerial vehicle is adjusted to enable the direction of a lens of the camera to be vertical and downward, images of the next group of heliostats are shot, and image signals are sent to the image processing system 7 through the wireless communication module.
S5: the image processing system receives the signals and performs image signal processing to identify abnormal or damaged heliostats; it further comprises:
s51: the image processing system processes the heliostats to obtain boundary images of all the heliostats in the inspection area; wherein: the image processing system decodes and grays the image signals of the heliostats to obtain the gray boundaries of the heliostats.
S52: carrying out region division on heliostats in the inspection region;
s53: comparing the similarity of the heliostats in any two divided adjacent areas, wherein the heliostat area with larger difference with the surrounding area is the abnormal area of the heliostat with abnormal posture or damage;
s54: comparing each heliostat in the abnormal area, wherein the heliostat with a larger difference with other heliostats is the heliostat with abnormal posture or damage. If the boundary image of the heliostat is incomplete, the heliostat is a damaged heliostat.
S6: the image processing system sends the processing information to the heliostat control system, the heliostat control system regulates and controls the heliostat with abnormal posture, and manual intervention can be added to replace certain damaged or aged components. Manual replacement is scheduled for damaged heliostats identified by the image processing system.
In the embodiment, the forming gap of the heliostat 1 with abnormal posture can be adjusted by the heliostat control system, or the damaged mechanical part can be replaced by manual intervention; the heliostat 2 that has been broken is replaced manually.
Except for the embodiment, the unmanned aerial vehicle can perform routing inspection under the condition that the heliostat follows the sun. The heliostat can also realize polling in a standby state or a protection state, at the moment, the heliostat control system controls all heliostats in a polling area to be flat, the unmanned aerial vehicle 6 can rise to the height of the heat absorption tower by 1.3 times, and a heliostat field image with a larger area can be obtained, so that the correction work can be completed in a short time.
The method for the unmanned aerial vehicle inspection of the tower type photothermal power station can adjust inspection time and inspection speed according to actual weather conditions, find the conditions of damage and obvious errors generated in a heliostat field and ensure that the photothermal mirror field can work more safely and efficiently.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (11)
1. A heliostat field inspection system based on an unmanned aerial vehicle is characterized by comprising the unmanned aerial vehicle, an unmanned aerial vehicle control system, an image processing system and a heliostat field control system; wherein:
the unmanned aerial vehicle is provided with a camera, a GPS positioning module and a wireless communication module;
the unmanned aerial vehicle control system sends an instruction to the unmanned aerial vehicle through the wireless communication module, controls the flight route and the flight speed of the unmanned aerial vehicle, and controls the unmanned aerial vehicle to hover at a specified position and height;
the heliostat field control system controls the heliostat to be in a standby state and a sun tracking state;
the image processing system receives an image signal shot by a camera loaded by the unmanned aerial vehicle, and processes the image signal so as to identify an abnormal heliostat;
the heliostat field control system controls heliostats in an area needing to be inspected of the heliostat field to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the area needing to be inspected to the unmanned aerial vehicle control system;
the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system; and the image processing system receives the signals and performs image signal processing to identify abnormal heliostats.
2. The system of claim 1, wherein said heliostat field is also accessible for inspection by said drone while in a solar tracking position.
3. The system according to claim 1, wherein the hovering position of the unmanned aerial vehicle during inspection is right above the mirror field, the hovering height is 0.2-1.3 times that of the heat absorption tower, and the number of the shot mirrors is 3-500.
4. The system of claim 1, wherein the number of drones is 1-8.
5. The system of claim 1, wherein the processing result of the image processing system can indicate whether the heliostat is in an abnormal state, and the abnormal state of the heliostat is whether the attitude of the heliostat is significantly different from the attitude of the surrounding heliostats or the heliostat mirror is damaged.
6. A heliostat field inspection method based on an unmanned aerial vehicle is characterized by comprising the following steps:
s1: establishing a heliostat field inspection system based on unmanned aerial vehicles according to any one of claims 1-5;
s2: dividing a heliostat field into a plurality of inspection areas;
s3: the unmanned aerial vehicle patrols different areas at different time periods; wherein:
the heliostat field control system controls heliostats in an area needing to be inspected of the heliostat field to a specified altitude angle and azimuth angle, and sends coordinates of the heliostats in the area needing to be inspected to the unmanned aerial vehicle control system;
s4: the unmanned aerial vehicle control system formulates an unmanned aerial vehicle flight route and a photographing point according to the coordinates, the unmanned aerial vehicle flies to the photographing point according to the flight route to hover, a camera of the unmanned aerial vehicle photographs right below the unmanned aerial vehicle, and a photographed image signal is sent to the image processing system;
s5: the image processing system receives the signals and performs image signal processing to identify abnormal or damaged heliostats;
s6: and the image processing system sends the processing information to the heliostat control system, and the heliostat control system regulates and controls the heliostat with abnormal posture.
7. The method according to claim 6, wherein the step S5 further comprises:
s51: the image processing system processes the heliostats to obtain boundary images of all the heliostats in the inspection area;
s52: carrying out region division on heliostats in the inspection region;
s53: comparing the similarity of the heliostats in any two divided adjacent areas, wherein the heliostat area with larger difference with the surrounding area is the abnormal area of the heliostat with abnormal posture or damage;
s54: comparing each heliostat in the abnormal area, wherein the heliostat with a larger difference with other heliostats is the heliostat with abnormal posture or damage.
8. The method according to claim 7, wherein in step S54, if the boundary image of a heliostat is incomplete, the heliostat is a broken heliostat.
9. The method according to claim 6, wherein step S6 further comprises:
manual replacement is scheduled for damaged heliostats identified by the image processing system.
10. The method according to claim 6, wherein in step S2, when the heliostat field is in a sun-tracking state for unmanned aerial vehicle inspection, the heliostat field is divided into four parts, namely east-west, south-north, according to the orientation relative to the heat absorption tower.
11. The method of claim 10, wherein in step S3, the drone is powered at 7:00-12: the western region mirror field can be patrolled at any time in the 00 time period, and the inspection method is characterized in that: 00-15: and 00, the north area mirror field can be inspected at any time, and the inspection is carried out at 13:00-18: the eastern region mirror field can be patrolled and examined at any time in the 00 time interval, and the inspection is carried out in the following steps: 00-18: and 5, the south area mirror field can be inspected at any time at the 00 section.
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| CN114355977A (en) * | 2022-01-04 | 2022-04-15 | 浙江大学 | Tower type photo-thermal power station mirror field inspection method and device based on multi-rotor unmanned aerial vehicle |
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