CN114115365A - Sun tracking system and method based on mobile unstable platform - Google Patents
Sun tracking system and method based on mobile unstable platform Download PDFInfo
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Abstract
The invention discloses a sun tracking system based on a mobile unstable platform, which comprises a two-dimensional turntable, a single-arm probe, a large-view-field fisheye imaging system, a lower computer control system, an industrial personal computer and a GPS module, wherein the two-dimensional turntable is connected with the single-arm probe; the front end of the single-arm probe is provided with two parallel light cylinders which are a measuring light cylinder and an imaging light cylinder respectively; the imaging optical cylinder is a small-view-field precise tracking imaging system, the measuring optical cylinder is used for collecting sunlight data and transmitting the collected data to the lower computer control system; the large-view-field fish eye imaging system is used for capturing azimuth information of the sun and transmitting the azimuth information of the sun to the industrial personal computer; the industrial personal computer is used as an integrated operation platform to coordinate and control the operation of each device, and the lower computer control system controls the two-dimensional rotary table to rotate so as to realize the automatic tracking and signal measurement of the sun. Also discloses a sun tracking method based on the mobile unstable platform. The invention can solve the limitation problem that the sun tracking system in the prior art cannot move for tracking.
Description
Technical Field
The invention relates to the technical field of sun tracking under the unstable movement of a direct solar radiation intensity measuring instrument in atmospheric science, in particular to a sun tracking system and a method based on a movable unstable platform.
Background
In atmospheric science, the atmospheric transmittance can be obtained by measuring the direct radiation intensity of the sun in a narrow-band narrow-view field, is an important parameter for representing the atmospheric optical characteristics, has certain influence on infrared radiation, laser transmission, target imaging and the like, and plays an important role in atmospheric mode research. The traditional solar tracking system of the ground-based stabilized platform adopts a coarse and fine tracking technology combining an astronomical view daily track tracking method and a four-quadrant method, and the method is based on the condition that the stabilized platform and the north-south directions can be positioned, measurement can be carried out on the fixed platform only, and the mobile tracking of the sun cannot be completed under the mobile unstable platform. In addition, the four-quadrant method is to track the sun by using the four-quadrant light intensity distribution of the four-quadrant detector, and the method has too small tracking field angle and can only track a target which changes slowly.
Therefore, it is desirable to provide a new solar tracking system based on a mobile unstable platform and a method thereof to solve the above problems.
Disclosure of Invention
The invention aims to solve the technical problem of providing a solar tracking system based on a mobile unstable platform and a method thereof, which can solve the problem that the solar tracking system in the prior art cannot be used for mobile tracking.
In order to solve the technical problems, the invention adopts a technical scheme that: the solar tracking system based on the mobile unstable platform comprises a two-dimensional rotary table, a single-arm probe positioned on one side of the two-dimensional rotary table, a large-view-field fisheye imaging system positioned on the top surface of the two-dimensional rotary table, a lower computer control system, an industrial personal computer and a GPS module;
the front end of the single-arm probe is provided with two parallel light cylinders which are a measuring light cylinder and an imaging light cylinder respectively; the imaging optical cylinder is a small-view-field precise tracking imaging system and is used for setting a tracking interval and transmitting the coordinate difference between the sun and the tracking interval to an industrial personal computer through precise tracking imaging; the measuring light cylinder is used for collecting sunlight data and transmitting the collected data to the lower computer control system;
the large-view-field fish eye imaging system is used for capturing azimuth information of the sun and transmitting the azimuth information of the sun to the industrial personal computer; the GPS module is used for acquiring real-time dimension information when the mobile unstable platform moves and transmitting the dimension information to the industrial personal computer for assisting data tracking and data inversion; the industrial personal computer is used as an integrated operation platform to coordinate and control the operation of each device, converts the acquired pixel pitch of the sun direction into the motor driving step number of the two-dimensional turntable, transmits the motor driving step number to the lower computer control system through serial port communication, and controls the rotation of the two-dimensional turntable by the lower computer control system to realize automatic tracking and signal measurement of the sun.
In a preferred embodiment of the invention, the two-dimensional rotary table comprises a base box, a rotating part, a speed reducer, a stepping motor and a zero positioning device;
the rotating part comprises a horizontal rotating box body vertically arranged on the base box, and the single-arm probe is parallel to the base box and is arranged on the side surface of the horizontal rotating box body;
the speed reducer and the stepping motor are arranged in the horizontal rotating box body and are used for directly driving the single-arm probe to rotate in the horizontal and pitching directions;
the zero position positioning device is arranged in the horizontal rotating box body and used for positioning the zero position of the horizontal rotating box body.
In a preferred embodiment of the invention, the large-field-of-view fisheye imaging system comprises a spherical attenuating mirror, a fisheye lens and a first digital CCD image sensor.
In a preferred embodiment of the invention, the imaging light cylinder comprises an attenuation filter, a first lens and a second digital CCD image sensor, and the solar facula in the small field of view is imaged on the second digital CCD image sensor through lens imaging.
In a preferred embodiment of the present invention, the measuring light cylinder includes a dust-proof window mirror, a field stop group, a lens, a field stop for eliminating stray light after solar radiation passes through the dust-proof window mirror, and a lens for eliminating stray light.
In a preferred embodiment of the invention, the single-arm probe further comprises a filter wheel, a filter wheel motor and a photoelectric detector, wherein the filter wheel is provided with a plurality of optical filters with different wave bands;
during measurement, the filter wheel motor rotates to enable the filters with different wave bands to be aligned to the detection light path, the photoelectric detector obtains the solar spectrum with 400-1100 nm discrete wave bands, and the photoelectric detector transmits radiation signals to the industrial personal computer through the lower computer control system.
Furthermore, the sun tracking system also comprises a gyro stable platform which is positioned at the lower part of the two-dimensional rotary table and used for filtering high-frequency vibration under the movable unstable platform.
In order to solve the technical problem, the invention adopts another technical scheme that: the solar tracking method based on the mobile unstable platform is provided, and the solar tracking system based on the mobile unstable platform comprises the following steps:
s1: setting a square area M by taking the central coordinates (x ', y') of the field of view of the second CCD image sensor of the imaging optical cylinder as the center;
s2: the two-dimensional turntable of an industrial control mechanism correctly returns to the initial position in two degrees of freedom in the horizontal and pitching directions; after a user issues a rough tracking command through an industrial personal computer, a fisheye image is obtained by a large-view-field fisheye imaging system, and a solar azimuth angle is calculated; reading time in the industrial personal computer and real-time longitude and latitude information of a GPS module, and calculating a solar altitude angle according to an astronomical view daily track method; converting the solar altitude angle and the solar azimuth angle into the driving steps of a pitching motor and a horizontal motor, and driving the motors to enable the imaging light cylinder to face the approximate direction of the sun;
s3, the imaging optical cylinder obtains the sun image and transmits the sun image to the industrial personal computer, the sun image is detected, whether the image has the sun facula or not is detected, if no, the step S2 is circulated;
s4: if the sun spot exists, the central coordinates (x, y) of the sun are calculated by using an image processing technology, and meanwhile, the horizontal and pitching pixel distance delta x is x-x ', and the delta y is y-y', and the distance between the two pixels is converted into the motor driving step number; when the pixel pitch is larger than M/2, the motor is driven rapidly, so that the solar facula enters a square area, and when the pixel pitch is smaller than M/2, the motor is finely adjusted, so that the pixel pitch between the center of the solar facula and the center of the view field of the second CCD image sensor is within +/-5 pixels of the set value, and the sun is aimed at;
s5: and continuing tracking, circulating the steps S3 and S4, tracking the sun all the day under the offshore mobile platform with the tracking accuracy higher than 1 angular division, and returning the two-dimensional turntable to the initial position in two degrees of freedom in the horizontal direction and the pitching direction when the tracking is finished.
In a preferred embodiment of the present invention, in step S2, the method for calculating the solar azimuth angle comprises:
and calculating the distortion coefficient of the fisheye lens in a mode of detecting the angular point by adopting a black and white chessboard, inputting the acquired lens distortion coefficient into a fisheye lens model, correcting an image, and calculating the solar azimuth angle.
The invention has the beneficial effects that:
(1) the system has the advantages of high precision, mobile platform measurement, wide observation range, severe environment work and integrated control, and can invert atmospheric parameters such as atmospheric transmittance, water vapor content and the like according to direct radiation data; the sun tracking technology under the mobile unstable platform is used in a direct solar radiation intensity measuring instrument in the field of atmospheric science for the first time in China;
(2) the invention adopts a large-view-field fisheye imaging system and a double-CCD two-section coarse and fine tracking technology of an imaging light cylinder, can complete all-weather full-automatic mobile tracking on the sun under a mobile unstable platform, and has tracking precision higher than 1 angular division;
(3) the invention adopts the lens and the fish-eye lens for imaging, combines the astronomical view daily track tracking method and the image processing technology to achieve larger tracking view field and higher tracking precision, meets the requirement that the sun tracking system is used for moving measurement under the condition of moving an unstable platform, and can also be applied to other occasions with higher requirement on the sun tracking precision under the moving state.
Drawings
FIG. 1 is a block diagram of a mobile unstable platform based sun tracking system according to the present invention;
FIG. 2 is a schematic view of an optical bench of the present invention;
FIG. 3 is a flow chart of the mobile unstable platform based sun tracking method;
fig. 4 is a graph of the tracking effect of the present invention.
The parts in the drawings are numbered as follows: 1. the gyroscope stabilizing platform comprises a gyroscope stabilizing platform, 2, a two-dimensional turntable, 21, a horizontal rotating box body, 3, a single-arm probe, 31, a measuring light cylinder, 311, a dustproof window mirror, 312, a field diaphragm group, 3121, an aperture diaphragm, 313, a second lens, 32, an imaging light cylinder, 321, an attenuating filter, 322, a first lens, 323, a second digital CCD image sensor, 33, a filter wheel, 331, a filter, 34, a photoelectric detector, 4, a large-field fisheye imaging system, 5, a lower computer control system, 6, an industrial personal computer, 7 and a GPS module.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1, an embodiment of the present invention includes:
the utility model provides a sun tracking system based on remove unstable platform, includes top stable platform 1, sets up two-dimensional revolving stage 2 on top stable platform 1, installs the one-arm probe 3 in 2 one sides of two-dimensional revolving stage, installs the big visual field fisheye imaging system 4, lower computer control system 5, industrial computer 6 and GPS module 7 at 2 top surfaces of two-dimensional revolving stage. The single-arm probe 3 can rotate on two orthogonal dimensions of a horizontal axis and a pitching axis under the driving of the two-dimensional turntable 2, and stable and accurate tracking of a target in a full airspace is realized. The sun tracking system can be used for mobile measurement under a marine mobile platform, measuring marine water vapor and aerosol, and can also be suitable for measurement of a vehicle-mounted platform.
Referring to fig. 2, two parallel optical cylinders, namely a measuring optical cylinder 31 and an imaging optical cylinder 32, are mounted at the front end of the single-arm probe 3; the imaging optical cylinder 32 is a small-view-field precise tracking imaging system and is used for setting a tracking interval and transmitting the coordinate difference between the sun and the tracking interval to an industrial personal computer through precise tracking imaging; the measuring light cylinder 31 is used for collecting sunlight data and transmitting the collected data to the lower computer control system 5; the large-view-field fisheye imaging system 4 is used for capturing azimuth information of the sun and transmitting the azimuth information of the sun to the industrial personal computer 6; the industrial personal computer 6 is used as an integrated operation platform to coordinate and control the operation of each device, converts the acquired pixel pitch of the sun direction into the motor driving step number of the two-dimensional turntable 2, transmits the motor driving step number to the lower computer control system through serial port communication, and controls the rotation of the two-dimensional turntable 2 through the lower computer control system 5 to realize the automatic tracking and signal measurement of the sun.
Specifically, the two-dimensional rotary table 2 comprises a base box, a rotating part, a speed reducer, a stepping motor and a zero position positioning device, and horizontal pitching rotation of the platform is realized to track the sun and data acquisition is carried out by a light splitting signal measurement system. The rotating part comprises a horizontal rotating box body 21 vertically arranged on the base box, and the single-arm probe 3 is parallel to the base box and is arranged on the side surface of the horizontal rotating box body 21; the speed reducer and the stepping motor comprise two sets of equipment in horizontal and pitching directions, are arranged in the horizontal rotating box body 21 and are used for directly driving the single-arm probe 3 to rotate in the horizontal and pitching directions; the zero position positioning device is also arranged in the horizontal rotating box body 21 and is used for positioning the zero position of the horizontal rotating box body 21. The gyro stabilizing platform 1 is installed at the high-frequency vibration under the filtering and moving platform at the lower part of the base box, and is used for correcting the sea wave jolt through the gyro stabilizing platform 1 so as to prevent the sea wave jolt from causing measurement errors, thereby ensuring the stability of equipment on the sea rocking platform. In order to ensure the detection precision, the sea state grade of the sea state detector used for sea time measurement does not exceed 4-grade sea state.
The top of the horizontal rotating box 21 is provided with a large-view-field fisheye imaging system 4 which comprises a spherical attenuating mirror, a fisheye lens and a first digital CCD image sensor. Preferably, the field angle of the fisheye lens is larger than 180 degrees, and the sun can be captured by the fisheye lens in the sky. In the example, the CCD target surface size of the large-field fisheye imaging system is 8.8mm in width, 6.6mm in height, and the field angle of the fisheye lens is 280 degrees.
The imaging light cylinder 32 comprises an attenuation filter 321, a first lens 322 and a second digital CCD image sensor 323, the solar facula in the small field of view is imaged on the second digital CCD image sensor 323 through lens imaging, a tracking interval is set, and the coordinate difference between the sun and the tracking interval is transmitted to the industrial personal computer 6.
Further, the inner wall of the imaging light cylinder 32 is blackened, the front end of the imaging light cylinder is provided with an opening and is embedded with an attenuation filter 321, the inside of the imaging light cylinder contains a first lens 322, the rear end of the imaging light cylinder is provided with an opening and is provided with an external thread, and the second digital CCD image sensor 323 is positioned inside the single-arm probe 3 and is provided with a lens ring with an internal thread which is connected with the external thread at the rear end of the imaging light cylinder 32. Preferably, the target surface of the second digital CCD image sensor 323 of the imaging optical cylinder 32 has a width of 8.5mm and a height of 7.1mm, and the field angle of the imaging through the small hole is 12.86 °; the clear aperture of the imaging light cylinder 32 is 28mm, and the focal length of the lens is 26 mm.
The light splitting signal measuring system comprises a dustproof window mirror 311, a field diaphragm group 312, a second lens 313, optical filters 331 of different wave bands arranged on a filter wheel 33 sequence, a filter wheel motor and a photoelectric detector 34. The dustproof window mirror 311, the field stop group 312 and the second lens 313 are located in the measuring light cylinder 31, and the filter wheel 33, the filter wheel motor and the photoelectric detector 34 are located inside the single-arm probe 3. The single-arm probe 3 is provided with a dust-proof window lens 311, and the field stop 312 and the second lens 313 for eliminating stray light after solar radiation passes through the dust-proof window lens 311 can effectively eliminate the stray light. Preferably, the focal length of the measuring light path is designed to be 68.7mm, the diameter of the photoelectric detection photosensitive surface is 3.6mm, and the receiving field of view is limited to be 3 degrees by the aperture stop 3121 at the front end of the photosensitive surface. The filters 331 with different wave bands arranged on the filter wheel 33 sequence are added in the light path to select the incident sunlight, the filters 331 with different wave bands are aligned to the detection light path through the rotation of the filter wheel motor during measurement, and the photoelectric detector 34 obtains the solar spectrum with 400-1100 nm discrete wave bands. The measured solar radiation signals are transmitted to the industrial personal computer 6 from the lower computer control system 5 through the RS422 communication transmission control protocol, and the industrial personal computer 6 reads the GPS module 7 to obtain longitude and latitude information and then carries out calculation, display and storage.
In this example, according to the requirement of integrated observation of the shipborne sun tracking system, 11 kinds of filters 331 with the bandwidth of 10nm, such as 400nm, 440nm, 500nm, 532nm, 610nm, 670nm, 780nm, 870nm, 940nm, 1050nm, 1064nm, are selected, and the measurement band can be customized according to the application requirement. 11 light filters and 1 black light-tight block for background measurement are uniformly and symmetrically distributed on the filter wheel 33, the light filters are driven by a hybrid stepping motor (namely a filter wheel motor), the positioning and switching of the light filters 331 on the rotary table are automatically controlled through a program, and the spectrum measurement of each waveband can be completed by rotating the rotary table for one circle.
In order to reduce the influence of stray light on the measurement data as much as possible, the inside of the measurement light cylinder 31 and the multi-stage field stop 312 are all subjected to blackening treatment, so that the diffused stray light outside the field angle cannot enter the light path. The photoelectric detector 34 simultaneously observes 11 discrete wave band solar spectrums of 400-1100 nm, and radiation signals are transmitted to the industrial personal computer 6 through an RS422 transmission protocol. The industrial personal computer 6 is used as an integrated operation platform of the sun tracking system, coordinates and controls the operation of each device, and stores and displays atmospheric measurement data in real time.
The lower computer control system 5 takes an AVR acquisition control module as a core, and can complete various functions of automatic temperature control, data acquisition, communication and the like of the sun tracking system. To achieve a sufficiently high measurement accuracy, a high performance photovoltaic detector element (photodetector 34) is used, and its operating temperature can be controlled, and a variable gain amplifier is used to achieve a large dynamic range. The lower computer control system 5 enables distributed control of the measurement components.
The working principle of the sun tracking system is as follows:
sunlight acquires fisheye images through the large-view-field fisheye imaging system 4, the distortion coefficient of the lens is calculated in a mode of carrying out corner detection on a black-white chessboard, the acquired lens distortion coefficient is input into a fisheye lens model for image correction, and the sun azimuth angle is calculated. And reading the time in the industrial personal computer 6 and the real-time longitude and latitude information of the GPS module 7, and calculating the solar altitude according to an astronomical view daily track method. The solar altitude and azimuth are converted into the driving steps of a pitching motor and a horizontal motor, the motor drives the horizontal rotating box body 21 and the single-arm probe 3 to rotate, so that the imaging light cylinder 32 faces the approximate direction of the sun, and then sunlight passes through the attenuation filter 321 and then passes through the first lens 322 with the focal length of 26mm, and then the sunlight is imaged on the target surface of the second CCD image sensor 323. The clear aperture of the imaging light cylinder 32 is 28mm, the target surface of the second CCD image sensor 323 has a width of 8.5mm and a height of 7.1 mm.
The lower computer control system 5 realizes displacement control and speed adjustment of the motor through a serial port communication protocol, and the mobile unstable platform sun tracking system can control the load such as the carrying measuring optical cylinder 31 to rotate on two orthogonal dimensions of a horizontal shaft and a pitching shaft, so that the load is stabilized in a set inertia space, and stable and accurate tracking of a target can be completed. The pitching and horizontal motors directly drive the single-arm probe 3 at the same time, an intermediate transmission mechanism is not needed, errors introduced by an intermediate transmission chain are eliminated, and the two-dimensional turntable 2 has a tracking angle resolution superior to 27 arc seconds.
The invention makes the sun tracking technology under the mobile unstable platform used in the direct solar radiation intensity measuring instrument in the atmospheric science field for the first time in China, and adopts the double CCD two-stage coarse and fine tracking technology of the large-view-field fisheye imaging system and the imaging optical cylinder, thereby realizing all-weather full-automatic tracking under the mobile unstable platform, and the tracking precision is higher than 1 angular point.
The embodiment of the invention also provides a sun tracking method based on the mobile unstable platform, and the sun tracking system based on the mobile unstable platform comprises the following steps:
s1: in the laboratory, the coordinates (x ', y') of the center of the field of view of the second CCD image sensor 323 are found by using parallel light, and a square area mxm is set with the center of the field of view 323 of the second CCD image sensor;
s2: the industrial personal computer 6 controls the two-dimensional rotary table 2 to return to the initial position correctly in two degrees of freedom in the horizontal direction and the pitching direction so as to accurately position the direction between the two-dimensional rotary table 2 and the sun. After a user issues a rough tracking command through the industrial personal computer 6, the large-view-field fisheye imaging system 4 acquires a fisheye image, and the fisheye lens has a short focal length, so that the image is distorted, the scene except the center is kept unchanged, and other scenes which are horizontal or vertical are changed correspondingly. And calculating the distortion coefficient of the lens by adopting a mode of carrying out corner detection on a black and white chessboard, inputting the acquired lens distortion coefficient into a fisheye lens model, carrying out image correction, and calculating the solar azimuth angle. And reading the time in the industrial personal computer 6 and the real-time longitude and latitude information of the GPS module 7, and calculating the solar altitude according to an astronomical view daily track method. The solar altitude and azimuth are converted into the driving steps of the pitch motor and the horizontal motor, and the driving motor makes the imaging light cylinder 32 face the approximate sun azimuth. The conversion process is converted from the subdivision of the motor drive.
S3: the imaging optical cylinder 32 acquires a sun image and transmits the sun image to the industrial personal computer 6, the sun image is detected, whether the sun spot exists in the image or not is detected, and if the sun spot does not exist, the step S2 is repeated;
s4: if the solar facula exists, the central coordinates (x, y) of the area in the solar facula are calculated by utilizing a gray scale gravity center method of an image processing technology, the central coordinates of the solar facula are compared with the central coordinates of the view field of the second CCD image sensor 323, the horizontal and pitching pixel pitch delta x is x-x ', the delta y is y-y', and the two pixel pitch is converted into the motor driving steps. Likewise, the conversion is calculated from a subdivision of the motor drive. Judging the size relation between the distance between the two pixels and M/2, and when the distance between the two pixels is larger than M/2, rapidly driving the motor to enable the solar facula to enter a square area; when the pixel pitch is smaller than M/2, finely adjusting the motor to enable the pixel pitch between the center of the solar facula and the center of the view field of the second CCD image sensor 323 to be within +/-5 pixels, aiming at the sun, and showing a tracking effect graph as shown in FIG. 4;
the angle of view from the sun is about 32 degrees, the diameter pixel of the solar facula on the target surface of the second CCD image sensor 323 is 215, the set tracking pixel is +/-5, and the actual tracking precision can be calculated as follows:
the two-dimensional rotary table 2 of the system is a hollow rotary platform composed of a stepping motor and a speed reducer, and the speed reduction ratio of the hollow rotary platform is 1: and 18, matching with a driver, and theoretically, the angular positioning precision of the motor system can reach 11.25 arc seconds. Considering errors of solar spot diameter pixels, motor step angles, shaking of the gyro stabilized platform 1 and the like, the lowest tracking accuracy of the system can be considered to be better than +/-1 angular point.
S5: and continuing tracking, circulating the steps S3 and S4, tracking the sun all weather under the offshore mobile platform with the tracking accuracy higher than 1 angular division, and controlling the horizontal rotating box body 21 and the single-arm probe 3 to return to the initial position by the two-dimensional turntable when the tracking is finished.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. A sun tracking system based on a mobile unstable platform is characterized by comprising a two-dimensional turntable, a single-arm probe positioned on one side of the two-dimensional turntable, a large-view-field fisheye imaging system positioned on the top surface of the two-dimensional turntable, a lower computer control system, an industrial personal computer and a GPS module;
the front end of the single-arm probe is provided with two parallel light cylinders which are a measuring light cylinder and an imaging light cylinder respectively; the imaging optical cylinder is a small-view-field precise tracking imaging system and is used for setting a tracking interval and transmitting the coordinate difference between the sun and the tracking interval to an industrial personal computer through precise tracking imaging; the measuring light cylinder is used for collecting sunlight data and transmitting the collected data to the lower computer control system;
the large-view-field fish eye imaging system is used for capturing azimuth information of the sun and transmitting the azimuth information of the sun to the industrial personal computer; the GPS module is used for acquiring real-time dimension information when the mobile unstable platform moves and transmitting the dimension information to the industrial personal computer for assisting data tracking and data inversion; the industrial personal computer is used as an integrated operation platform to coordinate and control the operation of each device, converts the acquired pixel pitch of the sun direction into the motor driving step number of the two-dimensional turntable, transmits the motor driving step number to the lower computer control system through serial port communication, and controls the rotation of the two-dimensional turntable by the lower computer control system to realize automatic tracking and signal measurement of the sun.
2. The mobile unstable platform based solar tracking system of claim 1, wherein the two-dimensional turntable comprises a base box, a rotating part, a reducer, a stepping motor, a zero positioning device;
the rotating part comprises a horizontal rotating box body vertically arranged on the base box, and the single-arm probe is parallel to the base box and is arranged on the side surface of the horizontal rotating box body;
the speed reducer and the stepping motor are arranged in the horizontal rotating box body and are used for directly driving the single-arm probe to rotate in the horizontal and pitching directions;
the zero position positioning device is arranged in the horizontal rotating box body and used for positioning the zero position of the horizontal rotating box body.
3. The mobile unstable platform based solar tracking system of claim 1, wherein the large field of view fisheye imaging system comprises a ball-type attenuator, a fisheye lens and a first digital CCD image sensor.
4. The mobile unstable platform based solar tracking system of claim 1, wherein the imaging light cylinder comprises an attenuating filter, a first lens and a second digital CCD image sensor, and the solar spot in the small field of view is imaged on the second digital CCD image sensor by lens imaging.
5. The mobile unsteady platform-based solar tracking system of claim 1, wherein the measurement optics cylinder comprises a dust-proof window mirror, a field stop group, and a lens, wherein the field stop for eliminating stray light and the lens are used for eliminating stray light after solar radiation passes through the dust-proof window mirror.
6. The solar tracking system based on the mobile unstable platform of claim 1, wherein the single-arm probe further comprises a filter wheel, a filter wheel motor and a photoelectric detector, and the filter wheel is provided with a plurality of optical filters with different wave bands;
during measurement, the filter wheel motor rotates to enable the filters with different wave bands to be aligned to the detection light path, the photoelectric detector obtains the solar spectrum with 400-1100 nm discrete wave bands, and the photoelectric detector transmits radiation signals to the industrial personal computer through the lower computer control system.
7. The mobile unstable platform based solar tracking system of any one of claims 1 to 6, further comprising a gyrostabiliser platform located below the two-dimensional turret for filtering high frequency vibrations below the mobile unstable platform.
8. A sun tracking method based on a mobile unstable platform, which is characterized in that the sun tracking system based on the mobile unstable platform of any one of claims 1 to 7 is adopted, and comprises the following steps:
s1: setting a square area M by taking the central coordinates (x ', y') of the field of view of the second CCD image sensor of the imaging optical cylinder as the center;
s2: the two-dimensional turntable of an industrial control mechanism correctly returns to the initial position in two degrees of freedom in the horizontal and pitching directions; after a user issues a rough tracking command through an industrial personal computer, a fisheye image is obtained by a large-view-field fisheye imaging system, and a solar azimuth angle is calculated; reading time in the industrial personal computer and real-time longitude and latitude information of a GPS module, and calculating a solar altitude angle according to an astronomical view daily track method; converting the solar altitude angle and the solar azimuth angle into the driving steps of a pitching motor and a horizontal motor, and driving the motors to enable the imaging light cylinder to face the approximate direction of the sun;
s3, the imaging optical cylinder obtains the sun image and transmits the sun image to the industrial personal computer, the sun image is detected, whether the image has the sun facula or not is detected, if no, the step S2 is circulated;
s4: if the sun spot exists, the central coordinates (x, y) of the sun are calculated by using an image processing technology, and meanwhile, the horizontal and pitching pixel distance delta x is x-x ', and the delta y is y-y', and the distance between the two pixels is converted into the motor driving step number; when the pixel pitch is larger than M/2, the motor is driven rapidly, so that the solar facula enters a square area, and when the pixel pitch is smaller than M/2, the motor is finely adjusted, so that the pixel pitch between the center of the solar facula and the center of the view field of the second CCD image sensor is within +/-5 pixels of the set value, and the sun is aimed at;
s5: and continuing tracking, circulating the steps S3 and S4, tracking the sun all the day under the offshore mobile platform with the tracking accuracy higher than 1 angular division, and returning the two-dimensional turntable to the initial position in two degrees of freedom in the horizontal direction and the pitching direction when the tracking is finished.
9. The mobile unstable platform based sun tracking method according to claim 8, wherein in step S2, the method for calculating the azimuth angle of the sun is:
and calculating the distortion coefficient of the fisheye lens in a mode of detecting the angular point by adopting a black and white chessboard, inputting the acquired lens distortion coefficient into a fisheye lens model, correcting an image, and calculating the solar azimuth angle.
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