CN112945213B - Angle-based heliostat space positioning system and method - Google Patents
Angle-based heliostat space positioning system and method Download PDFInfo
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- CN112945213B CN112945213B CN202110136549.3A CN202110136549A CN112945213B CN 112945213 B CN112945213 B CN 112945213B CN 202110136549 A CN202110136549 A CN 202110136549A CN 112945213 B CN112945213 B CN 112945213B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a heliostat space positioning system and method based on angles, which comprises an alignment unit, a rotation unit, a calculation control unit and a marker, wherein the alignment unit is used for aligning heliostats; the alignment unit is arranged on the rotating unit and is used for aligning the center of the marker; the rotating unit is arranged on the heliostat and used for adjusting the posture of the aligning unit so as to align the aligning unit to the center of the marker; the calculation control unit controls the alignment unit to collect data, calculates alignment deviation, controls the rotation unit to rotate, records angle data of the rotation unit and calculates heliostat spatial position information; the calculation control unit exchanges data with the alignment unit and the rotation unit in a wired or wireless mode; at least 3 markers are arranged at the positions higher than the heliostats. The method for positioning the heliostat space is realized by utilizing a plurality of markers with known spatial positions based on the relative relation between the angle of the heliostat relative to each marker and the spatial position.
Description
Technical Field
The invention belongs to the field of solar thermal power generation, and particularly relates to a heliostat space positioning system and method based on angles.
Background
In the tower type photo-thermal power station, solar energy with enough optical power density is converged by thousands of heliostats, so that conversion from the optical energy to the thermal energy is realized. A control system of the heliostat accurately reflects sunlight at different times to a target area based on spatial position information of the heliostat. If the spatial position information of the heliostat is not accurate enough, the direction of the sunlight reflected by the heliostat is deviated, and the deviation is increased along with the distance between the heliostat and a target point. Conventional heliostat correction methods consider heliostat spatial position information as a known quantity, so this error is difficult to correct effectively and can be incorporated into other errors, affecting the ultimate control accuracy of the heliostat.
The existing heliostat spatial position information acquisition mode is mapping. And covering the whole heliostat field area by the measurement control nets of different levels to establish a coordinate system, and then measuring and drawing the spatial position information of each heliostat. Although the method can ensure higher positioning accuracy, a large amount of time is consumed for surveying and mapping each heliostat, measurement errors are easily introduced due to long-time repeated manual operation, and a large amount of time is consumed for rechecking a large amount of surveying and mapping data. Therefore, a heliostat space positioning method is needed, which performs space positioning operation on each heliostat in parallel on the premise of ensuring space positioning accuracy.
Disclosure of Invention
Aiming at the characteristics of large quantity of heliostats and high space positioning requirement in a tower type photo-thermal power station, the invention utilizes a plurality of markers with known space positions and realizes a heliostat space positioning method with high precision and high efficiency based on the relative relation between the angle of the heliostat relative to each marker and the space position.
The invention relates to an angle-based heliostat space positioning system which at least comprises an alignment unit, a rotation unit, a calculation control unit and a marker. The alignment unit is mounted on the rotation unit for aligning the center of the marker. The rotating unit is installed on the heliostat, can be an independent double-shaft rotating mechanism, and can also be a rotating mechanism of the heliostat, and is used for adjusting the posture of the aligning unit so as to align the aligning unit to the center of the marker. The function of the calculation control unit comprises controlling the alignment unit to collect data, calculating alignment deviation, controlling the rotation unit to rotate, recording the angle data of the rotation unit and calculating the space position information of the heliostat. The calculation control unit exchanges data with the alignment unit and the rotation unit in a wired or wireless mode. The system at least comprises a marker, the marker is arranged at a position higher than the heliostat, and the spatial position information of the center of the marker is obtained by mapping.
The alignment unit of the present invention includes two implementations. The first alignment method comprises the following steps: the alignment unit includes an imaging optical path (aperture or lens) that images incident light onto the digital image sensor, and a digital image sensor that performs an alignment operation by recognizing pixel coordinates of the center of the marker in the image. And a second alignment mode: the alignment unit includes a laser transmitter that transmits laser pulses of fixed energy to the marker and a laser receiver that receives the laser pulses reflected by the marker and measures the energy of the received laser pulses.
The invention also discloses a heliostat space positioning method based on the angle, which comprises the following steps:
(1) Establishing a mirror field coordinate system, taking the projection of the center of the heat absorber or the center of the heat absorber on a horizontal plane as an original point, wherein the X axis points to the south, the Y axis points to the east, and the Z axis points to the sky;
(2) Obtaining marks by mappingSpatial position information [ Tx, ty, tz ] of object center] tnum Wherein Tx represents a value of the marker center in the X-axis direction, ty represents a value of the marker center in the Y-axis direction, tz represents a value of the marker center in the Z-axis direction, and tnum represents a marker number;
(3) The calculation control unit controls the rotation unit to rotate the alignment unit to the initial position facing the tnum-numbered marker, and the implementation method of the process can be two,
the method comprises the following steps: aligning the alignment unit near the center of the tnum marker in a manual aiming mode;
the method 2 comprises the following steps: the calculation control unit calculates heliostat spatial position information [ Hx ] according to the design drawing 0 ,Hy 0 ,Hz 0 ] hnum And the mapped marker center spatial position information [ Tx, ty, tz [ ]] tnum Calculating an initial alignment vector:
in the formula: nx 0 Indicating the initial value of the alignment vector in the direction of the X-axis, ny 0 Denotes the initial value of the alignment vector in the Y-axis direction, nz 0 Denotes an initial value of an alignment vector in the Z-axis direction, hnum denotes a heliostat number, hx 0 Showing a design value, hy, of the center of the heliostat in the X-axis direction 0 Design value in Hz in Y-axis direction representing center of heliostat 0 The design value of the center of the heliostat in the Z-axis direction is represented, and the modulus is represented.
As shown in FIG. 2, the calculation control unit converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein
Representing the value of the angle of rotation about the Y-axis,
indicating a value of the angle of rotation about the Z-axis, and a calculation control unit controlling the rotation unit in accordance with
Rotating;
(4) After the alignment unit rotates to the initial position, the calculation control unit controls the rotation unit to realize accurate alignment of the rotation unit, and the implementation modes of the process can be two types:
the first method comprises the following steps:
a) The calculation control unit controls the alignment unit to acquire the image of the marker. Obtaining the pixel coordinate position of the marker image in the image through image identification, and calculating the pixel deviation between the image coordinate of the center of the marker image and the image center
Wherein i represents the image acquisition times, hnum represents the heliostat number, delta H represents the deviation value of the mark image center and the image center row direction, and delta L represents the deviation value of the mark image center and the image center column direction;
b) Based on the deviation value between the image center of the marker and the image center
Calculating the deviation value of the rotation angle of the rotation unit
And
in the formula: pix denotes the digital image sensor pixel size, f denotes the focal length of the imaging beam path,
indicating the deviation angle around the Y axis obtained by the ith image recognition,
representing the deviation angle around the Z axis obtained by the ith image recognition;
c) The calculation control unit corrects the rotation angle of the rotation unit
And
in the formula (I), the compound is shown in the specification,
indicates the rotation angle value around the Y axis of the i +1 th time after correction,
indicating the rotation angle value around the Y axis at the ith time before correction;
d) Repeating the steps a) to c) until the image center of the marker is coincident with the image center, and storing the rotation angle value of the rotating unit when the marker is accurately aligned with the tnum by the calculation control unit
Wherein
Representing the value of the angle of rotation about the Y-axis at the time of accurate alignment,
indicating the value of the angle of rotation about the Z-axis when precisely aligned.
Or a second type: the calculation control unit controls the rotation unit to rotate in a scanning mode, the laser transmitter continuously transmits laser pulses to be aligned with the range near the tnum marker, and meanwhile, the calculation control unit obtains laser pulse energy values from the laser receiver. When the energy value of the received laser pulse is maximum, the aligning unit is considered to be accurately aligned with the center of the marker, and the calculation control unit stores the rotation angle value of the rotating unit when the marking with the number of tnum is accurately aligned
(5) Repeating steps (2) - (4) until all the markers 4 are detectedOnce precisely aligned, the calculation control unit 3 records the rotation unit rotation angle value [ tnum, alpha, beta ] at the time of precise alignment] hnum ；
(6) Calculating the relative deviation between the markers by the calculation control unit:
in the formula:
denotes the distance between the projection of the tnum1 marker and the tnum2 marker on the X-Y plane, delta alpha tnum1_tnum2 ＝|α tnum1 -α tnum2 | represents the angle value around the Y axis when the hnum heliostat aligns to the center of the tnum1 marker
Angle around Y axis when aligning with tnum2 marker
Angle of (Δ β) tnum1_tnum2 ＝|β tnum1 -β tnum2 | represents the value of the angle around the Z axis when the hnum heliostat aligns with the center of the tnum1 marker
Value of angle around Z axis when aligning with tnum2 marker
The included angle of (c) is, | | represents the operation of taking the absolute value;
(7) As shown in FIG. 4, the marker center coordinates [ Tx, ty, tz ] of tnum No. 1 are obtained based on the marker number] tnum1 Tnum2 marker center coordinates [ Tx, ty, tz] tnum2 Setting up discrete sequences on the X-axis
Wherein: x is an element [ min (Tx) tnum1 ,Tx tnum2 ),max(Tx tnum1 ,Tx tnum2 )] hnum In the formula, min () represents a minimum value, and max () represents a maximum value.
Computing X-axis direction discrete sequences
Corresponding Y-axis direction discrete sequence
And
obtaining a curve equation by means of curve fitting:
and
in the formula:
representing discrete sequences corresponding to the Y-axis direction
The curve of (a) is fitted to the equation,
representing discrete sequences corresponding to the Y-axis direction
The curve fitting equation of (1);
(8) Repeating the step (7), and obtaining a curve fitting equation set corresponding to any two markers through calculation of the calculation control unit
Solving the intersection points of the fitting curves by all the equations in the connected curve fitting equation set, wherein the intersection points [ Hx, hy ] with the most fitting curves correspond to the intersection points] hnum The numerical value of the hnum heliostat in the X-axis direction and the numerical value of the hnum heliostat in the Y-axis direction are obtained;
(9) Based on a sequence of values of angles around the Y-axis when aligning all the markers
Numerical value of hnum heliostat in X-axis direction and numerical value [ Hx, hy ] in Y-axis direction] hnum Calculating corresponding Z-axis direction numerical value sequence [ Hz ]] hnum The mean value of the sequence was taken (mean ([ Hz ]] hnum ) Is the numerical value of the hnum heliostat in the Z-axis direction, namely the spatial position information of the hnum heliostat is [ Hx, hy, mean ([ Hz)])] hnum ；
(10) The spatial position information based on the hnum heliostat is [ Hx, hy, mean ([ Hz ]])] hnum And spatial position information [ Tx, ty, tz ] of the center of the tnum-numbered marker] tnum And calculating an alignment vector:
in the formula: nx represents a numerical value of the alignment vector in the X-axis direction, ny represents a numerical value of the alignment vector in the Y-axis direction, nz represents a numerical value of the alignment vector in the Z-axis direction, hx represents a numerical value of the heliostat center obtained through calculation in the X-axis direction, hy represents a numerical value of the heliostat center obtained through calculation in the Y-axis direction, and Hz represents a numerical value of the heliostat center obtained through calculation in the Z-axis direction.
The calculation control unit converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein
Representing the value of the angle of rotation about the Y-axis,
indicating the rotation angle around Z axis and then calculating the rotation angle [ tnum, alpha, beta ] of the rotating unit in accurate alignment recorded by the control unit] hnum Checking the correctness of the calculation result of the spatial information of the heliostat of hnum number;
(11) And (5) repeating the steps (2) to (9) and calculating the spatial position information of all the heliostats to be measured.
The invention has the beneficial effects that:
(1) In the invention, only a plurality of marker centers are mapped without establishing measurement control networks of different levels, thus the consumed working hours are less and the space positioning efficiency is high;
(2) According to the heliostat space positioning method based on the angle, each heliostat independently performs space positioning, mutual interference among the heliostats is avoided, and space positioning efficiency is improved through parallel operation;
(3) According to the invention, the spatial position measurement of the heliostats is completed through the positioning system arranged on each heliostat, so that the occurrence of errors caused by manual operation is effectively avoided, data rechecking is easily carried out according to the measured spatial position information of the heliostats and the central position information of the marker, and the correctness of the calculation of the spatial position information of the heliostats is ensured.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is an exploded view of an embodiment of the present invention;
FIG. 3 is a schematic diagram of pixel deviation based on the second alignment method according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of curve fitting according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings and specific examples.
Example 1
As shown in fig. 1, the heliostat spatial positioning system based on angle of the invention at least comprises an alignment unit 1, a rotation unit 2, a calculation control unit 3 and a marker 4. The aligning unit 1 is mounted on the rotating unit 2 for aligning the center of the marker 4. The rotating unit 2 is installed on the heliostat and is used for adjusting the posture of the aligning unit 1 so that the aligning unit can be aligned with the center of the marker 4. The calculation control unit 3 has the functions of controlling the alignment unit 1 to collect data, calculating alignment deviation, controlling the rotation unit 2 to rotate, recording angle data of the rotation unit 2 and calculating heliostat spatial position information. The calculation control unit 3 exchanges data with the alignment unit 1 and the rotation unit 2 in a wired or wireless manner. The system at least comprises 3 markers 4, the markers 4 are arranged at positions higher than the heliostat, and the spatial position information of the centers of the markers 4 is obtained through mapping.
The rotating unit 2 may be an independent dual-axis rotating mechanism, or may be a rotating mechanism of the heliostat itself.
The alignment unit 1 comprises an imaging optical path (aperture or lens) which images the incident light onto the digital image sensor, and a digital image sensor, the alignment operation being achieved by identifying the pixel coordinates in the image of the center of the marker 4.
Example 2
An angle-based heliostat spatial positioning system adopts the same structure as that of embodiment 1, and is different in that the alignment unit 1 includes a laser transmitter and a laser receiver, the laser transmitter transmits a laser pulse of fixed energy to a marker 4, and the laser receiver receives the laser pulse reflected by the marker 4 and measures the received laser pulse energy.
Example 3
An angle-based heliostat spatial positioning method comprises the following steps:
(1) Establishing a mirror field coordinate system, taking the projection of the center of the heat absorber or the center of the heat absorber on a horizontal plane as an original point, wherein the X axis points to the south, the Y axis points to the east, and the Z axis points to the sky;
(2) Obtaining the spatial position information [ Tx, ty, tz ] of the center of the marker by mapping] tnum Wherein Tx represents a value of the marker center in the X-axis direction, ty represents a value of the marker center in the Y-axis direction, tz represents a value of the marker center in the Z-axis direction, and tnum represents a marker number;
(3) The calculation control unit 3 controls the rotating unit 2 to align the aligning unit to the vicinity of the center of the tnum marker in a manual aiming mode;
(4) After the alignment unit 1 rotates to the initial position, the calculation control unit 3 controls the rotation unit 2 to realize accurate alignment of the rotation unit:
a) The calculation control unit 3 controls the alignment unit 1 to acquire the marker image. Obtaining the pixel coordinate position of the marker image in the image through image identification, and calculating the pixel deviation between the image coordinate of the center of the marker image and the image center
Wherein i represents the image acquisition times, hnum represents the heliostat number, delta H represents the deviation value of the mark image center and the image center row direction, and delta L represents the deviation value of the mark image center and the image center column direction;
b) Based on the deviation value between the image center of the marker and the image center
Calculating the deviation value of the rotation angle of the rotation unit
And
wherein Pix represents the pixel size of the digital image sensor, f represents the focal length of the imaging optical path,
indicating the deviation angle around the Y axis obtained by the ith image recognition,
representing the deviation angle around the Z axis obtained by the ith image recognition;
c) The calculation control unit corrects the rotation angle of the rotation unit
And
in the formula (I), the compound is shown in the specification,
indicates the rotation angle value around the Y axis at the i +1 th corrected time,
indicating the rotation angle value around the Y axis at the ith time before correction;
d) Repeating the steps a) to c) until the image center of the marker coincides with the image center, and storing the rotation angle value of the rotating unit when the tnum marker is accurately aligned by the calculation control unit
Wherein
Representing the value of the angle of rotation about the Y-axis when accurately aligned,
indicating the value of the angle of rotation about the Z-axis when accurately aligned.
(5) Repeating the steps (2) - (4) until all the markers 4 are accurately aligned once, and the calculation control unit 3 records the rotation angle values [ tnum, alpha, beta ] of the rotation units during accurate alignment] hnum ；
(6) Calculating the relative deviation between the markers by the calculation control unit:
in the formula (I), the compound is shown in the specification,
denotes the distance between the projection of the tnum1 marker and the tnum2 marker on the X-Y plane, delta alpha tnum1_tnum2 ＝|α tnum1 -α tnum2 | represents the angle value around the Y axis when the hnum heliostat aligns to the center of the tnum1 marker
Angle around Y axis when aligning with tnum2 marker
Angle of (a) of tnum1_tnum2 ＝|β tnum1 -β tnum2 | represents the angle value around the Z axis when the hnum heliostat aligns to the center of the tnum1 marker
Angle value around Z axis when aligning with tnum2 marker
The included angle of (c) is, | | represents the operation of taking the absolute value;
(7) As shown in FIG. 4, tnum # 1 marker center coordinates [ Tx, ty, tz ] are obtained based on the marker number] tnum1 Tnum2 marker center coordinates [ Tx, ty, tz] tnum2 Arranging discrete sequences on the X-axis
Wherein: x is an element [ min (Tx) tnum1 ,Tx tnum2 ),max(Tx tnum1 ,Tx tnum2 )] hnum Where min () represents the minimum value and max () represents the maximum value.
Computing X-axis direction discrete sequences
Corresponding Y-axis direction discrete sequence
And
obtaining a curve equation by means of curve fitting:
and
in the formula
Representing discrete sequences corresponding to the Y-axis direction
The curve of (a) is fitted to the equation,
representing discrete sequences corresponding to the Y-axis direction
A curve fitting equation of (c);
(8) Repeating the step (7), and obtaining a curve fitting equation set corresponding to any two markers through calculation of the calculation control unit
All the equations in the series curve fitting equation set solve the intersection point of the fitting curve, and the intersection point [ Hx, hy ] with the most fitting curves is corresponding to] hnum The numerical value of the hnum heliostat in the X-axis direction and the numerical value of the hnum heliostat in the Y-axis direction are obtained;
(9) Sequence of angular values about the Y-axis based on alignment of all markers
Numerical value of hnum heliostat in X-axis direction and numerical value [ Hx, hy ] in Y-axis direction] hnum Calculating corresponding Z-axis direction numerical value sequence [ Hz ]] hnum The mean value of the sequence was taken (mean ([ Hz ]] hnum ) Is the numerical value of the hnum heliostat in the Z-axis direction, namely the spatial position information of the hnum heliostat is [ Hx, hy, mean ([ Hz ]])] hnum ；
(10) Based on hnum number heliostatThe spatial position information of the mirror is [ Hx, hy, mean ([ Hz ]])] hnum And spatial position information [ Tx, ty, tz ] of the center of the tnum-numbered marker] tnum And calculating an alignment vector:
in the formula, nx represents a numerical value of the alignment vector in the X-axis direction, ny represents a numerical value of the alignment vector in the Y-axis direction, nz represents a numerical value of the alignment vector in the Z-axis direction, hx represents a numerical value of the heliostat center obtained through calculation in the X-axis direction, hy represents a numerical value of the heliostat center obtained through calculation in the Y-axis direction, and Hz represents a numerical value of the heliostat center obtained through calculation in the Z-axis direction.
The calculation control unit converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein
Representing the value of the angle of rotation about the Y-axis,
indicating the rotation angle around Z axis and then calculating the rotation angle [ tnum, alpha, beta ] of the rotating unit in accurate alignment recorded by the control unit] hnum Checking the correctness of the calculation result of the spatial information of the hnum heliostat;
(11) And (5) repeating the steps (2) to (9) and calculating the spatial position information of all the heliostats to be measured.
Example 4
An angle-based heliostat spatial positioning method, which adopts the same method as embodiment 3, and is characterized in that:
(3) The calculation control unit 3 controls the rotation unit 2 so that the alignment unit 1 rotates to the initial position toward the tnum-numbered marker:
the calculation control unit 3 calculates heliostat spatial position information [ Hx ] according to the design drawing 0 ,Hy 0 ,Hz 0 ] hnum And the mapped marker center spatial position information [ Tx, ty, tz [ ]] tnum Calculating an initial alignment vector:
in the formula: nx 0 Indicating the initial value of the alignment vector in the direction of the X-axis, ny 0 Denotes the initial value of the alignment vector in the Y-axis direction, nz 0 Denotes an initial value of an alignment vector in the Z-axis direction, hnum denotes a heliostat number, hx 0 Showing a design value, hy, of the center of the heliostat in the X-axis direction 0 Design value in Hz in Y-axis direction representing center of heliostat 0 The design value of the center of the heliostat in the Z-axis direction is represented, and the modulus is represented.
As shown in fig. 2, the calculation control unit 3 converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein
Representing the value of the angle of rotation about the Y-axis,
representing the value of the angle of rotation about the Z axis, and the calculation control unit 3 controls the rotation unit 2 in accordance with
Rotating;
(4) After the alignment unit 1 rotates to the initial position, the calculation control unit 3 controls the rotation unit 2 to realize the accurate alignment of the counter-rotation unit:
the calculation control unit 3 controls the rotation unit 2 to rotate in a scanning mode, the laser emitter continuously emits laser pulses to be aligned with the range near the tnum mark, and meanwhile, the calculation control unit obtains laser pulse energy values from the laser receiver. The alignment unit is considered accurate when the energy value of the received laser pulse is maximumAligning the center of the marker, and storing the rotation angle value of the rotation unit when the precise alignment of the tnum marker is performed by the calculation control unit
Claims (3)
1. An angle-based heliostat space positioning method is characterized by comprising the following steps:
(1) Establishing a mirror field coordinate system, taking the projection of the center of the heat absorber or the center of the heat absorber on a horizontal plane as an original point, wherein the X axis points to the south, the Y axis points to the east, and the Z axis points to the sky;
(2) Obtaining the spatial position information [ Tx, ty, tz ] of the center of the marker by mapping] tnum Wherein Tx represents a value of the marker center in the X-axis direction, ty represents a value of the marker center in the Y-axis direction, tz represents a value of the marker center in the Z-axis direction, and tnum represents a marker number;
(3) The rotation unit is installed on the heliostat, the alignment unit is installed on the rotation unit, and the calculation control unit controls the rotation unit to enable the alignment unit to rotate to the initial position facing to the tnum marker;
(4) When the alignment unit rotates to the initial position, the calculation control unit controls the rotation unit to realize accurate alignment of the rotation unit;
(5) Repeating the steps (2) to (4) until all the markers are accurately aligned once, and recording the rotation angle values [ tnum, alpha, beta ] of the rotating units during accurate alignment by the computing control unit] hnum ；
(6) Calculating the relative deviation between the markers by the calculation control unit:
in the formula (I), the compound is shown in the specification,
indicates that the marker tnum1 and the marker tnum2 are inDistance between X-Y plane projections, Δ α tnum1_tnum2 ＝|α tnum1 -α tnum2 | represents the value of the angle around the Y axis when the hnum heliostat aligns with the center of the tnum1 marker
Angle value around Y axis when aligning with tnum2 marker
Angle of (Δ β) tnum1_tnum2 ＝|β tnum1 -β tnum2 | represents the angle value around the Z axis when the hnum heliostat aligns to the center of the tnum1 marker
Value of angle around Z axis when aligning with tnum2 marker
The included angle of (c) is expressed by absolute value operation;
(7) Deriving tnum marker # 1 marker center coordinates [ Tx, ty, tz ] based on marker number] tnum1 Tnum2 marker center coordinates [ Tx, ty, tz] tnum2 Setting up discrete sequences on the X-axis
Wherein: x is an element [ min (Tx) tnum1 ,Tx tnum2 ),max(Tx tnum1 ,Tx tnum2 )] hnum In the formula, min () represents taking the minimum value, and max () represents taking the maximum value;
computing X-axis direction discrete sequences
Corresponding Y-axis direction discrete sequence
And
obtaining a curve equation by means of curve fitting:
in the formula:
representing discrete sequences corresponding to the Y-axis direction
The curve-fitting equation of (a) is,
representing discrete sequences corresponding to the Y-axis direction
The curve fitting equation of (1);
(8) Repeating the step (7), and obtaining a curve fitting equation set corresponding to any two markers through calculation of the calculation control unit
All the equations in the series curve fitting equation set solve the intersection point of the fitting curve, and the intersection point [ Hx, hy ] with the most fitting curves is corresponding to] hnum The numerical value of the hnum heliostat in the X-axis direction and the numerical value of the hnum heliostat in the Y-axis direction are obtained;
(9) Based on a sequence of values of angles around the Y-axis when aligning all the markers
Numerical value of hnum heliostat in X-axis direction and numerical value of hnum heliostat in Y-axis direction[Hx,Hy] hnum Calculating corresponding Z-axis direction numerical value sequence [ Hz ]] hnum The mean value mean of the sequence ([ Hz ] Hz)] hnum ) Is the numerical value of the hnum heliostat in the Z-axis direction, namely the spatial position information of the hnum heliostat is [ Hx, hy, mean ([ Hz ]])] hnum ；
(10) The space position information based on the hnum heliostat is [ Hx, hy, mean ([ Hz ]])] hnum And spatial position information [ Tx, ty, tz ] of the center of the tnum-numbered marker] tnum And calculating an alignment vector:
in the formula: nx represents a numerical value of the alignment vector in the X-axis direction, ny represents a numerical value of the alignment vector in the Y-axis direction, nz represents a numerical value of the alignment vector in the Z-axis direction, hx represents a numerical value of the heliostat center obtained through calculation in the X-axis direction, hy represents a numerical value of the heliostat center obtained through calculation in the Y-axis direction, and Hz represents a numerical value of the heliostat center obtained through calculation in the Z-axis direction;
the calculation control unit converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein:
representing the value of the angle of rotation about the Y-axis,
indicating the rotation angle around Z axis and then calculating the rotation angle [ tnum, alpha, beta ] of the rotating unit in accurate alignment recorded by the control unit] hnum Checking the correctness of the calculation result of the spatial information of the hnum heliostat;
(11) And (5) repeating the steps (2) to (9) and calculating the spatial position information of all the heliostats to be measured.
2. The angular-based heliostat spatial positioning method of claim 1, wherein step (3) is implemented as one of method 1 and method 2 as follows:
the method comprises the following steps: aligning the aligning unit near the center of the tnum marker in a manual aiming mode;
the method 2 comprises the following steps: the calculation control unit calculates heliostat space position information [ Hx ] on the design drawing 0 ,Hy 0 ,Hz 0 ] hnum And the mapped marker center spatial position information [ Tx, ty, tz [ ]] tnum Calculating an initial alignment vector:
in the formula: nx 0 Indicating the initial value of the alignment vector in the direction of the X-axis, ny 0 Indicating the initial value of the alignment vector in the direction of the Y-axis, nz 0 Denotes an initial value of an alignment vector in the Z-axis direction, hnum denotes a heliostat number, hx 0 Showing a design value, hy, of the center of the heliostat in the X-axis direction 0 Design value in Hz in Y-axis direction representing center of heliostat 0 The design value of the center of the heliostat in the Z-axis direction is represented, and the modulus operation is represented by | | |;
the calculation control unit converts the initial alignment vector into a rotation angle value of the rotation vector
Wherein:
representing the value of the angle of rotation about the Y-axis,
indicating a value of the angle of rotation about the Z-axis, and a calculation control unit controlling the rotation unit in accordance with
And (4) rotating.
3. The angular-based heliostat spatial positioning method of claim 1, wherein the step (4) is implemented in two ways:
the first one is:
a) The calculation control unit controls the alignment unit to collect the image of the marker image, obtains the pixel coordinate position of the marker image in the image through image recognition, and calculates the pixel deviation between the image coordinate of the center of the marker image and the image center
Wherein i represents the image acquisition times, hnum represents the heliostat number, delta H represents the deviation value of the mark image center and the image center row direction, and delta L represents the deviation value of the mark image center and the image center column direction;
b) Based on the deviation value between the image center of the marker and the image center
Calculating a rotation angle deviation value of a rotation unit:
in the formula: pix denotes the digital image sensor pixel size, f denotes the focal length of the imaging beam path,
indicating the deviation angle around the Y axis obtained by the ith image recognition,
representing the deviation angle around the Z axis obtained by the ith image recognition;
c) The calculation control unit corrects the rotation angle of the rotation unit
And
in the formula:
indicates the rotation angle value around the Y axis at the i +1 th corrected time,
indicating the rotation angle value around the Y axis at the ith time before correction;
d) Repeating the steps a) to c) until the image center of the marker coincides with the image center, and storing the rotation angle value of the rotating unit when the tnum marker is accurately aligned by the calculation control unit
Wherein
Representing the value of the angle of rotation about the Y-axis when accurately aligned,
representing the value of the angle of rotation about the Z axis at the time of accurate alignment;
or the second:
the calculation control unit controls the rotation unit to rotate in a scanning mode, the laser emitter continuously emits laser pulses to be aligned with the range near the tnum mark, and meanwhile, the calculation control unit obtains laser pulse energy values from the laser receiver; when the energy value of the received laser pulse is maximum, the aligning unit is considered to be accurately aligned with the center of the marker, and the calculation control unit stores the rotation angle value of the rotating unit when the tnum marker is accurately aligned
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| CN102393753A (en) * | 2011-09-27 | 2012-03-28 | 浙江中控太阳能技术有限公司 | Solar thermal power generation heliostat positioning system and method based on multiband light sources |
| CN102445949A (en) * | 2011-10-20 | 2012-05-09 | 浙江中控太阳能技术有限公司 | System and method for positioning heliostat |
| CN110793494A (en) * | 2020-01-06 | 2020-02-14 | 浙江中控太阳能技术有限公司 | Method and device for improving initial installation angle precision of heliostat |
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| CN102393753A (en) * | 2011-09-27 | 2012-03-28 | 浙江中控太阳能技术有限公司 | Solar thermal power generation heliostat positioning system and method based on multiband light sources |
| CN102445949A (en) * | 2011-10-20 | 2012-05-09 | 浙江中控太阳能技术有限公司 | System and method for positioning heliostat |
| CN110793494A (en) * | 2020-01-06 | 2020-02-14 | 浙江中控太阳能技术有限公司 | Method and device for improving initial installation angle precision of heliostat |
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