CN111367323A - Heliostat monitoring control system based on computer vision - Google Patents
Heliostat monitoring control system based on computer vision Download PDFInfo
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- CN111367323A CN111367323A CN202010299674.1A CN202010299674A CN111367323A CN 111367323 A CN111367323 A CN 111367323A CN 202010299674 A CN202010299674 A CN 202010299674A CN 111367323 A CN111367323 A CN 111367323A
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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
- F24S80/00—Details, accessories or component parts of solar heat collectors not provided for in groups F24S10/00-F24S70/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S23/00—Arrangements for concentrating solar-rays for solar heat collectors
- F24S23/70—Arrangements for concentrating solar-rays for solar heat collectors with reflectors
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20081—Training; Learning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20084—Artificial neural networks [ANN]
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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 invention discloses a heliostat monitoring control system based on computer vision, which comprises a heat collection tower and heliostats surrounding the heat collection tower, wherein the heliostats reflect sunlight to a heat collection bin at the top end of the heat collection tower under the action of a movement mechanism; in the implementation of the invention, the heliostat arrays are monitored by utilizing the optical collecting device loaded by the aircrafts, and the large-area heliostat arrays can be monitored by using a small number of aircrafts.
Description
Technical Field
The invention relates to the field of solar power generation control equipment, in particular to a heliostat monitoring control system based on computer vision.
Background
The solar power generation mode of the heliostat-heat collecting tower is generally applied along with the continuous maturity of a steering control device, but a capacitive or resistive sensor is needed for monitoring the posture of the heliostat, the accuracy of the sensor is very sensitive to the ambient temperature, and the problem of inaccurate detection can be caused in gobi desert areas with huge day-night temperature difference and rich photo-thermal resources.
And the capacitive or resistive sensor needs to be installed in each heliostat, and large and medium-sized power plants need to monitor thousands of heliostats, so that the cost is huge.
In order to reduce cost, computer vision technology is used in the prior art to collect image recognition data of heliostat clusters. An on-line detection and correction method for heliostat reflection angle based on image detection is disclosed in the patent with the publication number of CN102506811B, firstly, a camera is used for shooting a heliostat to be corrected and a solar facula image in the heliostat, the obtained image is processed, whether the solar facula image is positioned at the central position of the heliostat is judged, and if the solar facula image is positioned at the central position, the camera is judged to be aligned with the heliostat to be corrected; otherwise, calculating the reflection angle deviation theta of the heliostat according to the offset of the sun facula image and the central position of the heliostat, and controlling the normal direction of the heliostat to rotate to theta/2 towards the direction of eliminating the deviation; and secondly, calculating a deflection angle theta 'between the heliostat alignment camera and the heliostat alignment heat collector, and rotating the heliostat aligned with the camera to the direction of the heat collector by theta'/2. The heliostat is detected by a camera with a fixed machine position in the scheme, and the method is not suitable for large and medium-sized power plants distributed for several square kilometers.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides a heliostat monitoring control system based on computer vision, which can monitor a heliostat cluster with a large area.
In order to achieve the technical purpose and achieve the technical effect, the invention is realized by the following technical scheme:
a heliostat monitoring control system based on computer vision comprises a heat collection tower and heliostats surrounding the heat collection tower, wherein the heliostats reflect sunlight to a heat collection bin at the top end of the heat collection tower under the action of a movement mechanism;
the aircraft carries out coordinate positioning on the position and the flight attitude of the aircraft;
an optical acquisition device in the aircraft acquires optical information of the heliostat;
positioning the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft;
and adjusting the heliostat according to the position and the rotation posture of the heliostat.
Furthermore, an optical collecting device in the aircraft collects optical information of the heliostat, positions the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft, and comprises,
an optical acquisition device in the aircraft acquires images of the heliostat below to obtain the image shape, the image size and the image position of the heliostat;
obtaining a space angle of the heliostat relative to an optical acquisition device in the aircraft and a space angle relative to the aircraft according to the image position of the heliostat and the image acquisition visual angle width of the optical acquisition device;
obtaining the rotation attitude of the heliostat relative to the aircraft according to the image shape of the heliostat and the space angle of the heliostat relative to the aircraft;
obtaining the rotation attitude of the heliostat according to the rotation attitude of the heliostat relative to the aircraft and the flight attitude of the aircraft;
obtaining the distance between the heliostat and the aircraft according to the image size of the heliostat and the focal length of the optical acquisition device;
and obtaining the coordinates of the heliostat by combining the coordinate positioning of the aircraft according to the distance of the heliostat relative to the aircraft and the space angle of the heliostat relative to the aircraft.
Further, the obtaining the rotation attitude of the heliostat relative to the aircraft according to the image shape of the heliostat and the space angle of the heliostat relative to the aircraft comprises,
the convolutional neural network is trained using images of different angles of the heliostat,
identifying the image collected by the optical collection device by using a convolutional neural network to obtain the shape and distribution of the heliostat in the image,
and obtaining the rotation attitude of the heliostat relative to the aircraft according to the shape of the reflecting surface in the image.
Further, the deriving the rotational attitude of the heliostat relative to the aircraft according to the shape of the heliostat in the image includes,
the rotational attitude of the heliostat relative to the aircraft is represented by two intersecting angles,
[α,β]
calculating the scaling of the heliostat image compared with the real object in four directions in the rectangular coordinate system, recording the scaling as,
a set of mappings between angles of intersection and scaling is established,
inputting the shape of the heliostat in the image, and calculating the scaling of the heliostat image in four directions in a rectangular coordinate system compared with a real object
According to a mapping set
The rotating attitude of the aircraft can be obtained by reverse thrust [ α]；
A rectangular coordinate system is established on a heliostat image, the heliostat has projected proportional deformation compared with a body in the image, and due to the fact that the angle and the distance between each point of the heliostat and an optical acquisition device are different, the scaling ratio in each direction in the rectangular coordinate system is different, the scaling ratio in each direction is different, the one-to-one correspondence exists with the rotation postures of the heliostats, and the corresponding rotation postures of the heliostats can be deduced from the scaling ratios in different directions according to the correspondence.
Furthermore, when the optical collection device collects the images of the heliostats, only the heliostats with the edges not shielded are collected.
Furthermore, an optical collecting device in the aircraft collects optical information of the heliostat, positions the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft, and comprises,
the optical collecting device collects the reflected light of the heliostat;
and positioning the position and the rotating posture of the heliostat according to the reflected light of the heliostat.
Further, the positioning of the heliostat position and the rotational attitude according to the reflected light of the heliostat includes,
the heliostats are annularly arranged by taking the heat collecting tower as a circle center to form an annular array of the heliostats;
the aircraft flies on a layered conical orbit surface between the annular array of the heliostat and the heat collection bin;
the optical collecting device collects the reflection angle of the reflected light of the heliostat;
collecting coordinates of an aircraft;
obtaining the angle of the heliostat according to the reflection angle of the reflected light, and further obtaining the rotation attitude of the heliostat;
obtaining heliostat coordinates according to the reflection angle of the reflected light, the coordinates of the aircraft and the arrangement surface of the heliostats,
in the scheme, the reflection light of the heliostat can be obtained through the reflection light reflection angle and the coordinates of the aircraft, and the intersection point of the reflection light of the heliostat and the arrangement surface of the heliostat is the coordinates of the heliostat.
Further, the aircraft flies on a layered conical orbit surface between the annular array of heliostats and the heat collection bin, and comprises,
aircrafts are arranged on the layered conical track surface between each heliostat annular array and the heat collection bin.
Further, the aircraft collects the temperature of the aircraft, and when the temperature exceeds a safe value, the flight height is reduced or/and the aircraft is far away from the heat collecting bin.
Further, the aircraft carries out coordinate positioning on the position and flight attitude of the aircraft, including,
an optical acquisition device in the aircraft acquires light spot reflected light of the heat collection bin and direct solar rays in real time;
obtaining real-time coordinates of the aircraft according to the space angle of the light spot reflected light of the heat collection bin, the coordinates of the heat collection bin and the space angle of the direct solar rays,
in the three-dimensional space, a straight line can be determined by a space angle and a fixed point, the coordinate of a point can be determined by two crossed straight lines, and the coordinate of the aircraft can be calculated by light rays respectively passing through the heat collection bin and the preset positioning light source in the scheme.
The benefit effects of the invention are:
1. the heliostat arrays are monitored by the aid of the optical collecting devices loaded on the aircrafts, and the large-area heliostat arrays can be monitored by the aircrafts with small quantity.
2. And comparing the established comparison library according to the telescopic proportion change of the heliostat images in different directions, so as to quickly position the rotation attitude and the position of the heliostat.
3. The optical acquisition device only needs to measure the angle of the light and combine the known parameters to carry out operation, and compared with complex pattern recognition operation, the operation amount is greatly reduced, and the response speed of the system is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the spatial distribution of the aircraft, heliostats and heat collection towers in the computer vision based heliostat monitoring and control system of the invention;
FIG. 2 is a partially enlarged schematic view of the spatial distribution of the aircraft, heliostats and heat collection towers;
FIG. 3 is a schematic view of the spatial positioning of an aircraft according to the invention;
FIG. 4 is a schematic view of the spatial positioning of the heliostat position and rotational attitude of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
as shown in the figures 1-2 of the drawings,
a heliostat monitoring control system based on computer vision comprises a heat collection tower and heliostats surrounding the heat collection tower, wherein the heliostats reflect sunlight to a heat collection bin at the top end of the heat collection tower under the action of a movement mechanism;
the aircraft carries out coordinate positioning on the position and the flight attitude of the aircraft;
an optical acquisition device in the aircraft acquires images of the heliostat below to obtain the image shape, the image size and the image position of the heliostat;
obtaining a space angle of the heliostat relative to an optical acquisition device in the aircraft and a space angle relative to the aircraft according to the image position of the heliostat and the image acquisition visual angle width of the optical acquisition device;
the convolutional neural network is trained using images of different angles of the heliostat,
identifying the image collected by the optical collection device by using a convolutional neural network to obtain the shape and distribution of the heliostat in the image,
the rotational attitude of the heliostat relative to the aircraft is represented by two intersecting angles,
[α,β]
α, one spatial rotation angle of the heliostat, β, the other spatial rotation angle of the heliostat,
calculating the scaling of the heliostat image compared with the real object in four directions in the rectangular coordinate system, recording the scaling as,
a rectangular coordinate system is established in a heliostat image, the heliostat has projected proportional deformation compared with a body in the image, and due to different angles and distances between each point of the heliostat and an optical acquisition device, the scaling ratios in each direction in the rectangular coordinate system are different, and the scaling ratios in each direction are different and have one-to-one correspondence with the rotation postures of the heliostat, so that the corresponding rotation postures of the heliostat can be deduced from the scaling ratios in different directions according to the correspondence;
a set of mappings between angles of intersection and scaling is established,
inputting the shape of the heliostat in the image, and calculating the scaling of the heliostat image in four directions in a rectangular coordinate system compared with a real object
According to a mapping set
The rotating attitude of the aircraft can be obtained by reverse thrust [ α]，
If the heliostat image is compared with the scaling of the real object in four directions in the rectangular coordinate system
Not in set a, the closest one is selected as the alternative;
obtaining the rotation attitude of the heliostat according to the rotation attitude of the heliostat relative to the aircraft and the flight attitude of the aircraft;
obtaining the distance between the heliostat and the aircraft according to the image size of the heliostat and the focal length of the optical acquisition device;
and obtaining the coordinates of the heliostat by combining the coordinate positioning of the aircraft according to the distance of the heliostat relative to the aircraft and the space angle of the heliostat relative to the aircraft.
And adjusting the heliostat according to the position and the rotation posture of the heliostat.
In the operation, compare traditional mode, utilize the aircraft to load optical collection device and monitor the heliostat array, the aircraft that the quantity is not many can monitor the heliostat array of large tracts of land.
And comparing the established comparison library according to the telescopic proportion change of the heliostat images in different directions, so as to quickly position the rotation attitude and the position of the heliostat.
Example two:
as shown in the figures 1-4 of the drawings,
a heliostat monitoring control system based on computer vision comprises a heat collection tower and heliostats surrounding the heat collection tower, wherein the heliostats reflect sunlight to a heat collection bin at the top end of the heat collection tower under the action of a movement mechanism;
an optical acquisition device in the aircraft acquires light spot reflected light of the heat collection bin and a preset positioning light source in real time;
obtaining real-time coordinates of the aircraft according to the spatial angle of the light spot reflected light of the heat collection bin, coordinates of the heat collection bin, the spatial angle of light rays of a preset positioning light source and coordinates of the preset positioning light source,
in the scheme, the coordinates of the aircraft can be calculated by light rays respectively passing through the heat collection bin and the preset positioning light source;
the optical collecting device collects the reflected light of the heliostat;
the heliostats are annularly arranged by taking the heat collecting tower as a circle center to form an annular array of the heliostats;
the aircraft flies on a layered conical orbit surface between the annular array of the heliostat and the heat collection bin;
the aircraft collects the temperature of the aircraft, and when the temperature exceeds a safety value, the flying height is reduced or/and the aircraft is far away from the heat collection bin;
aircrafts are arranged on the layered conical track surface between each heliostat annular array and the heat collection bin;
the optical collecting device collects the reflection angle of the reflected light of the heliostat;
collecting coordinates of an aircraft;
obtaining the angle of the heliostat according to the reflection angle of the reflected light, and further obtaining the rotation attitude of the heliostat;
obtaining heliostat coordinates according to the reflection angle of the reflected light, the coordinates of the aircraft and the arrangement surface of the heliostats,
in the three-dimensional space, a straight line can be determined by a space angle and a fixed point, and the coordinate of an intersection point can be determined by a straight line and a plane intersected with the straight line;
and adjusting the heliostat according to the position and the rotation posture of the heliostat.
In the operation, compare traditional mode, optical pickup assembly only need measure the angle of light and combine known parameter to carry out the operation, compare complicated figure identification operation, greatly reduced operand improves the response speed of system.
In the description herein, references to the terms "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a heliostat monitoring control system based on computer vision, includes the heat collection tower and around the heliostat of heat collection tower, the heliostat reflects the sunlight to the thermal-arrest storehouse of thermal-arrest top of the tower end under motion mechanism's action, still includes the optics collection system who carries out image acquisition to the heliostat cluster, its characterized in that: the optical acquisition device is arranged on an aircraft flying above the heliostat cluster;
the aircraft carries out coordinate positioning on the position and the flight attitude of the aircraft;
an optical acquisition device in the aircraft acquires optical information of the heliostat;
positioning the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft;
and adjusting the heliostat according to the position and the rotation posture of the heliostat.
2. The monitoring control system of claim 1, wherein: the optical collecting device in the aircraft collects optical information of the heliostat, and positions the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft, comprising,
an optical acquisition device in the aircraft acquires images of the heliostat below to obtain the image shape, the image size and the image position of the heliostat;
obtaining a space angle of the heliostat relative to an optical acquisition device in the aircraft and a space angle relative to the aircraft according to the image position of the heliostat and the image acquisition visual angle width of the optical acquisition device;
obtaining the rotation attitude of the heliostat relative to the aircraft according to the image shape of the heliostat and the space angle of the heliostat relative to the aircraft;
obtaining the rotation attitude of the heliostat according to the rotation attitude of the heliostat relative to the aircraft and the flight attitude of the aircraft;
obtaining the distance between the heliostat and the aircraft according to the image size of the heliostat and the focal length of the optical acquisition device;
and obtaining the coordinates of the heliostat by combining the coordinate positioning of the aircraft according to the distance of the heliostat relative to the aircraft and the space angle of the heliostat relative to the aircraft.
3. The monitoring control system of claim 2, wherein: the method comprises the steps of obtaining the rotation attitude of the heliostat relative to an aircraft according to the image shape of the heliostat and the space angle of the heliostat relative to the aircraft, including,
the convolutional neural network is trained using images of different angles of the heliostat,
identifying the image collected by the optical collection device by using a convolutional neural network to obtain the shape and distribution of the heliostat in the image,
and obtaining the rotation attitude of the heliostat relative to the aircraft according to the shape of the reflecting surface in the image.
4. The monitoring control system of claim 3, wherein: the method for deriving the rotation attitude of the heliostat relative to the aircraft according to the shape of the heliostat in the image comprises the following steps,
the rotational attitude of the heliostat relative to the aircraft is represented by two intersecting angles,
[α,β]
calculating the scaling of the heliostat image compared with the real object in four directions in the rectangular coordinate system, recording the scaling as,
a set of mappings between angles of intersection and scaling is established,
inputting the shape of the heliostat in the image, and calculating the scaling of the heliostat image in four directions in a rectangular coordinate system compared with a real object
According to a mapping set
The rotating attitude of the aircraft can be obtained by reverse thrust [ α]。
5. The monitoring control system of claim 2, wherein: when the optical acquisition device acquires the images of the heliostats, only the heliostats with the edges not shielded are acquired.
6. The monitoring control system of claim 1, wherein: the optical collecting device in the aircraft collects optical information of the heliostat, and positions the heliostat position and the rotation attitude by combining the position and the flight attitude of the aircraft, comprising,
the optical collecting device collects the reflected light of the heliostat;
and positioning the position and the rotating posture of the heliostat according to the reflected light of the heliostat.
7. The monitoring control system of claim 6, wherein: the positioning of the heliostat position and the rotation attitude according to the reflected light of the heliostat comprises,
the heliostats are annularly arranged by taking the heat collecting tower as a circle center to form an annular array of the heliostats;
the aircraft flies on a layered conical orbit surface between the annular array of the heliostat and the heat collection bin;
the optical collecting device collects the reflection angle of the reflected light of the heliostat;
collecting coordinates of an aircraft;
obtaining the angle of the heliostat according to the reflection angle of the reflected light, and further obtaining the rotation attitude of the heliostat;
and obtaining heliostat coordinates according to the reflection angle of the reflected light, the coordinates of the aircraft and the heliostat laying surface.
8. The monitoring control system of claim 7, wherein: the aircraft flies on a layered conical orbit surface between the annular array of the heliostats and the heat collection bin, and also comprises,
aircrafts are arranged on the layered conical track surface between each heliostat annular array and the heat collection bin.
9. The monitoring control system of claim 1, wherein: the aircraft collects the temperature of the aircraft, and when the temperature exceeds a safe value, the flying height is reduced or/and the aircraft is far away from the heat collection bin.
10. The monitoring control system of claim 1, wherein: the aircraft carries out coordinate positioning on the position and the flight attitude of the aircraft, comprising,
an optical acquisition device in the aircraft acquires light spot reflected light of the heat collection bin and a preset positioning light source in real time;
and obtaining the real-time coordinates of the aircraft according to the space angle of the light spot reflected light of the heat collection bin, the coordinates of the heat collection bin, the space angle of the light of the preset positioning light source and the coordinates of the preset positioning light source.
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| DE102021125807A1 (en) | 2021-10-05 | 2023-04-06 | FH Aachen, Körperschaft des öffentlichen Rechts | Method of aligning a radiation-reflecting object |
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| CN110647172A (en) * | 2019-09-23 | 2020-01-03 | 浙江中控太阳能技术有限公司 | Heliostat focal length detection and optimization system |
| CN110716576A (en) * | 2019-11-07 | 2020-01-21 | 浙江中光新能源科技有限公司 | Heliostat field inspection system and method based on unmanned aerial vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113536655A (en) * | 2021-04-07 | 2021-10-22 | 北京聚树核科技有限公司 | Artificial intelligent deviation rectifying method and device for heliostat, electronic equipment and storage medium |
| DE102021125807A1 (en) | 2021-10-05 | 2023-04-06 | FH Aachen, Körperschaft des öffentlichen Rechts | Method of aligning a radiation-reflecting object |
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