CN112506233B - RFID-based heliostat reference position positioning method - Google Patents
RFID-based heliostat reference position positioning method Download PDFInfo
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- CN112506233B CN112506233B CN202011351438.6A CN202011351438A CN112506233B CN 112506233 B CN112506233 B CN 112506233B CN 202011351438 A CN202011351438 A CN 202011351438A CN 112506233 B CN112506233 B CN 112506233B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
Abstract
The application provides a heliostat reference position positioning method based on RFID, which comprises the following steps: step 1: reading the equipment configuration from the configuration storage area, and establishing a reference point physical angle mapping table corresponding to the reference point RFID number; step 2: initializing the angle of the heliostat, and reading angle data before power failure from a power failure data storage area for initializing the angle of the heliostat; and 3, step 3: detecting whether the current position is at the reference point position, and if not, executing the step 4; if the reference point sensing range is within the reference point sensing range, executing the step 6; and 4, step 4: judging the current position area of the heliostat, determining the rotation direction, and executing the step 5; and 5: searching edge positions on two sides of the reference point, reading the RFID number, and executing a step 8; step 6: rotating in the positive direction until the datum point sensing area exits, and executing the step 7; and 7: searching the edge positions of two sides of the reference point in the opposite direction, reading the RFID number, and executing the step 8; and 8: and stopping the machine and correcting the angle of the heliostat.
Description
Technical Field
The invention relates to the field of tower type solar power generation, in particular to a heliostat reference position positioning method based on RFID.
Background
Solar energy is increasingly applied as a clean renewable energy source, and particularly, a photo-thermal power generation technology is a new solar energy utilization technology following a photovoltaic power generation technology. Among several photo-thermal power generation technologies, tower-type solar thermal power generation adopts a large number of heliostats to gather sunlight on a heat absorber arranged on the top of a heat absorption tower, and heat a working medium to generate steam to drive a steam turbine to drive a generator to generate power. The whole heliostat field of the tower type solar thermal power generation heliostat comprises thousands of heliostats, so that the accurate control of each heliostat is realized, the heliostats can reflect sunlight to the heat absorber to the maximum extent, and the heliostat field has important significance for improving the reflection sunlight efficiency of the heliostats and the power generation efficiency.
The heliostat with the low power and the large mirror surface is adopted to become the future trend of the heliostat of the tower type solar thermal power generation project, because the heliostat with the low power and the large mirror surface effectively reduces the construction and operation cost of a power station, but the heliostat with the large mirror surface has the problem that the reduction ratio is large, and the integral rotating speed of the heliostat is slow relatively. Since the speed of positioning the reference position of the heliostat is reduced due to the reduction of the rotation speed of the heliostat, a reliable and efficient method for positioning the reference position of the heliostat needs to be designed.
Disclosure of Invention
The invention aims to provide a heliostat reference position positioning method based on RFID (radio frequency identification), which realizes the quick positioning of reference of each rotation direction of a heliostat in the whole heliostat field and provides reference and key data for the heliostat to execute strategic actions and a sun-tracking algorithm. And monitoring the position of each reference point when the reference point passes through the operation process, comparing the current angle of the heliostat with the angle corresponding to the current reference point, alarming when the angle deviation exceeds a set value, automatically resetting the reference position of the heliostat, and correcting the angle deviation.
The invention discloses a heliostat reference position positioning method based on RFID (radio frequency identification devices), which comprises the following steps of:
step 1: reading equipment configuration from a configuration storage area, acquiring the number of heliostat reference points and the RFID numbers of initial position zero points, and establishing a reference point physical angle mapping table corresponding to the reference point RFID numbers according to the number of the heliostat reference points and the initial position zero points;
step 2: initializing heliostat angles, reading angle data before power failure from a power failure data storage area for initializing the heliostat angles;
and step 3: detecting whether the current position is at the reference point position, and if not, executing the step 4; if the reference point sensing range is within the reference point sensing range, executing the step 6;
and 4, step 4: judging the current position area of the heliostat, determining the rotation direction, and executing the step 5;
and 5: searching the edge positions of two sides of the reference point, reading the RFID number, and executing the step 8;
step 6: rotating in the positive direction until the reference point sensing area is exited, and executing the step 7;
and 7: searching the edge positions of two sides of the reference point in the opposite direction, reading the RFID number, and executing the step 8;
and step 8: stopping the machine, correcting the angle of the heliostat and executing the step 9;
and step 9: and entering a normal operation monitoring mode.
In a possible implementation manner, the angle of the heliostat when the power is down is stored in an internal FLASH of the heliostat controller and/or an external memory, and is used for initializing the angle of the heliostat after the power is up.
In one possible implementation, each reference point on the heliostat is tagged with an RFID code.
In one possible implementation, the method includes reading the RFID code of the current reference point when the reference location on the heliostat is located.
In one possible implementation, the reference points on the heliostats are arranged at equal intervals and equal angles according to number.
In one possible implementation, each reference point on the heliostat corresponds to an angle of a physical position of the heliostat, and the positioning angle of the heliostat of the current reference point is determined by reading the RFID code of the current reference point.
In one possible implementation, the number of the reference points on the heliostat is N, where N is divisible by 360 and N is not less than 4.
In a possible implementation manner, when the heliostat performs reference position positioning, reference points are searched nearby, the position of each reference point is monitored when the heliostat passes through the reference point each time, and the current angle of the heliostat is compared with the angle corresponding to the current reference point.
In one possible implementation, the method includes performing reference position positioning again when the deviation of the angle of the heliostat passing through the reference point position from the actual angle corresponding to the reference point is larger than a limit value.
In a possible implementation manner, the RFID tags at the reference positions of the heliostats are sequentially increased in the heliostat operation direction with the south-positive direction as a point 1.
The beneficial effects of the invention are:
1. according to the method, the plurality of reference points are numbered by the RFID, each reference point corresponds to one physical angle of the heliostat, the reference point corresponding to the original initial zero point does not need to be searched again during reference position positioning, the reference point can be directly searched nearby, and the efficiency of reference position positioning is effectively improved;
2. the invention divides the area between two adjacent reference points into two areas equally for quick reference position location, and increases the location efficiency of one time reference position based on the original reference position;
3. according to the invention, each datum point uses an RFID label, and if a datum point fails, the datum position can still be effectively and reliably positioned, so that large-angle deviation caused by misjudgment is avoided, the risk of system operation is reduced, and the reliability of the system is improved;
4. the invention adopts the function of monitoring the operation reference, is convenient for processing the angle under the condition of abnormal angle deviation and timely correcting the angle, and improves the reliability of the operation of the mirror field;
5. according to the method, a power-down position information storage mode is adopted, so that the reference point can be quickly found after the heliostat is powered on again, and quick reference positioning is realized;
6. the invention can configure the reference zero points of a plurality of reference point clocks through configuration, is convenient for flexible layout of the heliostat zero points in each area, is convenient for actual installation of a mirror field, and is convenient for the mirror field to realize a strategy of quickly tracking the sun.
Drawings
FIG. 1 is a general flow chart of a heliostat reference position positioning method based on RFID;
FIG. 2 is a flowchart of a normal operation monitoring mode of a RFID-based heliostat reference position positioning method;
FIG. 3 is an exemplary diagram of a reference point layout for an RFID-based heliostat reference position location method;
fig. 4 is an exemplary diagram of reference point search area division of a reference point positioning method for heliostat based on RFID.
Detailed Description
The present invention will be described in detail below by way of specific embodiments with reference to the accompanying drawings. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the invention.
As shown in fig. 1, the heliostat reference position positioning method based on RFID of the present invention mainly includes the following steps:
step 1: reading equipment configuration from a configuration storage area, acquiring the number of heliostat reference points and the RFID numbers of initial position zero points, and establishing a reference point physical angle mapping table corresponding to the reference point RFID numbers according to the number of the heliostat reference points and the initial position zero points;
step 2: initializing the angle of the heliostat, and reading angle data before power failure from a power failure data storage area for initializing the angle of the heliostat;
and step 3: detecting whether the current position is at the reference point position, and if not, executing the step 4; if the reference point sensing range is within the reference point sensing range, executing the step 6;
and 4, step 4: judging the current position area of the heliostat, determining the rotation direction, and executing the step 5;
and 5: searching the edge positions of two sides of the reference point, reading the RFID number, and executing the step 8;
and 6: rotating in the positive direction until the reference point sensing area is exited, and executing the step 7;
and 7: searching the edge positions of two sides of the reference point in the opposite direction, reading the RFID number, and executing the step 8;
and 8: stopping the machine, correcting the angle of the heliostat and executing the step 9;
and step 9: and entering a normal operation monitoring mode.
In the step 1, after the heliostat is powered on, the device configuration is read from the configuration storage area, the number of reference points of the heliostat and the RFID number of the zero point of the initial position are obtained, and a reference point physical angle mapping table corresponding to the reference point RFID number is established according to the number of the reference points and the initial zero point.
And 2, after the heliostat is powered on, reading angle data before power failure from the power failure data storage area for angle initialization of the heliostat.
And 3, judging whether the heliostat is in the reference point sensing area or not by the level signal of the reference point detection port signal pin through the heliostat. Taking a hall switch as an example, when the heliostat is in the reference point sensing area, the signal pin of the reference point detection port is at a low level, and the heliostat controller judges whether the heliostat is currently in the reference point sensing area by judging whether the signal pin is at the low level.
And 4, judging the rotation direction of the nearest reference point by the heliostat according to the position of the current angle in the area divided by the reference point.
And 5, when the heliostat searches for the reference point, the heliostat needs to rotate to search the edge positions of two sides of the reference point sensing area, and the RFID number of the reference point is read for calculating the angle correction of the heliostat in the step 8.
And 8, calculating heliostat angle correction according to the acquired position and the RFID data.
And 9, after the reference position of the heliostat is positioned, entering a conventional operation monitoring mode, wherein the current state of the heliostat can be used for normal operation of the system.
And respectively recording the positions A1 and A2 of the reference point sensing area, and reading the RFID numbers of the two points as m and n. If the RFID numbers m and n are consistent, calculating the center position A0 of the reference point, wherein A0 is (A1 + A2)/2; and reading the angle corresponding to the RFID number n as Zn. And calculating deviation Err of A0 and Zn (Err is A0-Zn, when the initial reference point is found after the heliostat rotates forwards for a circle, calculating an angle deviation value, and subtracting the Err value by 360 degrees), correcting the current angle of the heliostat (if the current angle of the heliostat is Ar when the heliostat is shut down, correcting the angle of the heliostat to be Ar-Err), and reporting that the positioning of the reference position of the heliostat is completed.
As shown in fig. 2, after the heliostat enters the normal operation monitoring mode, the edge of the sensing area of the reference point is detected by detecting the level jump of the signal pin during the rotation operation. When a first jumping signal is detected, recording the current angle as A1, and reading the reference point RFID number as m; and waiting for the detection of the jumping signal on the other side, recording the angle as A2, and reading the reference point RFID with the number as n. Judging whether the two data RFID numbers are consistent, if not, recording the current angle value as A1, recording the RFID number as m, and re-capturing the second point jump signal position; if the angle values are consistent, calculating a median value A0 of the angles A1 and A2, namely (A1 + A2)/2, comparing the angle values Zn corresponding to the RFID number n in the reference point angle mapping table with the angle A0, calculating a difference value Err between the angle values A0 and A2, wherein the Err is A0-Zn, judging whether the deviation value Err is within an allowable range of the deviation value LimitErr, if not, reporting an angle value deviation fault, and starting to execute the reference position positioning process again from the step 3 of the main process.
As shown in fig. 3, the heliostat reference points are arranged at first point positions arranged in a south-positive direction, and the following embodiment takes 4 reference points as an example to illustrate the arrangement method of the heliostat reference points. When the reference points of the heliostat are arranged with 4 reference points, the first point reference point RFID number in the direction of true south is marked DMK01, the angular value is 360 °/4, i.e. 90 °, since there are a total of 4 reference points, and the angular deviation between two adjacent reference points. The heliostat is in the positive rotating direction along the clockwise direction, so that the position of the second point reference point is in the positive west direction, and the reference point RFID number is marked as DMK02; the position of the third reference point is in the positive north direction, and the RFID number of the reference point is marked as DMK03; the position of the fourth reference point is in the east direction and the reference point RFID number is DMK04.
Assuming that the configuration due south direction is a heliostat physical angle 0 degree position, the heliostat physical angle corresponding to the reference point of the RFID number DMK01 is 0 degree, the heliostat physical angle corresponding to the reference point of the RFID number DMK02 is 90 degrees, the heliostat physical angle corresponding to the reference point of the RFID number DMK03 is 180 degrees, and the heliostat physical angle corresponding to the reference point of the RFID number DMK04 is 270 degrees.
Taking 4 reference points as an example, if different reference points are selected as the physical angle 0 ° of the heliostat, the corresponding reference point angle mapping table is as follows:
as shown in fig. 4, the present embodiment takes 4 reference points as an example to describe the reference point search area division rule of the reference position locating method. In the embodiment, a south orientation reference point DMK01 is selected as a physical angle 0 ° for explanation, and if the clockwise direction is the positive rotation direction of the heliostat, the angle corresponding to the RFID number DMK02 reference point is 90 °, the angle corresponding to the RFID number DMK03 reference point is 180 °, and the angle corresponding to the RFID number DMK04 reference point is 270 °; a90-degree area between two adjacent reference points is divided into two areas in half, namely each area is 45 degrees (the junction position of each area can determine positive and negative rotation by self and is the nearest distance), and one circle of the heliostat can be divided into 8 areas. As can be seen from the figure, when the current angle of the reference detection port of the heliostat is in the area 3, the reference point closest to the detection port of the heliostat is DMK02, and the heliostat should be reversed in order to find the reference point faster; when the current angle of the heliostat reference detection port is in the area 4, the reference point closest to the heliostat detection port is DMK04, and the heliostat should rotate forward in order to find the reference point more quickly. Similarly, when the reference detection port of the heliostat is in the area 1, 5 or 7, the heliostat should be reversed in order to find the reference point more quickly; when the heliostat reference detector is in zone 2 or 6 or 8, the heliostat should be rotated forward for faster reference point finding. The Err value should be subtracted by 360 ° again when calculating the angular deviation value when the heliostat angle looks for datum 01 in zone 8 (i.e. the last zone).
The zone division and positive and negative rotation comparison table is shown as the following table:
other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
It should be understood that reference to "a plurality" herein means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
It will be understood by those skilled in the art that all or part of the steps for implementing the embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a magnetic or optical disk, and the like.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like that are made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. An RFID-based heliostat reference position positioning method is characterized by comprising the following steps:
step 1: reading equipment configuration from a configuration storage area, acquiring the number of heliostat reference points and the RFID numbers of initial position zero points, and establishing a reference point physical angle mapping table corresponding to the reference point RFID numbers according to the number of the heliostat reference points and the initial position zero points;
step 2: initializing heliostat angles, reading angle data before power failure from a power failure data storage area for initializing the heliostat angles;
and 3, step 3: detecting whether the current position is at the reference point position, and if not, executing the step 4; if the reference point sensing range is within the reference point sensing range, executing the step 6;
and 4, step 4: judging the current position area of the heliostat, determining the rotation direction, and executing the step 5;
and 5: searching the edge positions of two sides of the reference point, reading the RFID number, and executing the step 8;
and 6: rotating in the positive direction until the reference point sensing area is exited, and executing the step 7;
and 7: searching the edge positions of two sides of the reference point in the opposite direction, reading the RFID number, and executing the step 8;
and step 8: and stopping the machine and correcting the angle of the heliostat.
2. The RFID-based heliostat reference position positioning method of claim 1, wherein the angles at which the heliostat is powered down are stored in a heliostat controller internal FLASH and/or in an external memory, the angles being used for initialization of heliostat angles after power up.
3. The RFID-based heliostat reference position location method of claim 1, wherein each reference point on the heliostat is affixed with an RFID code.
4. The RFID-based heliostat reference position location method of claim 3, comprising reading the RFID code of the current reference point at reference position location on the heliostat.
5. The RFID-based heliostat reference position positioning method of claim 1, wherein the reference points on the heliostat are arranged in equal number, at equal intervals and at equal angles.
6. The RFID-based heliostat reference position locating method of any of claims 1 to 5, wherein each reference point on the heliostat corresponds to an angle of a physical position of a heliostat and the locating angle of the heliostat of the current reference point is determined by reading the RFID code of the current reference point.
7. The RFID-based heliostat reference position locating method of any of claims 1 to 5, wherein the number of reference points on the heliostat is N, N being divisible by 360, N being not less than 4.
8. The RFID-based heliostat reference position locating method of any of claims 1 to 5, wherein the heliostat locates reference positions by finding reference points nearby and monitoring the position of each reference point each time the heliostat passes a reference point, comparing the current angle of the heliostat with the angle corresponding to the current reference point.
9. An RFID-based heliostat reference position location method according to any of claims 1 to 5, comprising re-referencing when the heliostat passes through the reference point location with an actual angle corresponding to the reference point differing by more than a defined value.
10. The RFID-based heliostat reference position locating method of any of claims 1 to 5, wherein the RFID tags of the heliostat reference positions take the south-bound direction as the 1 st point and are sequentially increased according to the heliostat operation direction.
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