CN219957900U - All-sky imager parameter calibration device based on determining coordinate point - Google Patents
All-sky imager parameter calibration device based on determining coordinate point Download PDFInfo
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- CN219957900U CN219957900U CN202321493365.3U CN202321493365U CN219957900U CN 219957900 U CN219957900 U CN 219957900U CN 202321493365 U CN202321493365 U CN 202321493365U CN 219957900 U CN219957900 U CN 219957900U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
The utility model relates to the field of calibration of meteorological instruments, in particular to a parameter calibration device of a full-sky imager based on a determined coordinate point, which comprises the full-sky imager, a top plate, a bottom plate and an upright post, wherein the top plate and the bottom plate are arranged in parallel, the upright post is used for connecting the top plate and the bottom plate, the full-sky imager is arranged at the center position of the bottom plate, a positioner is arranged on the lower surface of the top plate, the upright post comprises a fixed rod connected with the bottom plate, a telescopic rod connected with the top plate, and a locker used for limiting the relative position of the fixed rod and the telescopic rod is arranged between the fixed rod and the telescopic rod.
Description
Technical Field
The utility model relates to the field of calibration of meteorological instruments, in particular to a parameter calibration device of an all-sky imager based on a determined coordinate point.
Background
The full-sky imager is a continuous automatic monitoring instrument for full sky cloud in daytime, is a full-automatic full-color sky imaging system, and provides real-time processing and displaying of the sky state in daytime. When solar energy is utilized to generate power, weather change, particularly shielding of clouds on the sun, is an important factor influencing the efficiency of the tower type solar photo-thermal power station, and is an important ring of daily operation of the tower type solar photo-thermal power station because the weather change directly influences the direct solar radiation value and further influences the power generation efficiency of the power station, so that the cloud area around the sun above the power station is monitored, and the change of the power generation efficiency of a lens field is predicted.
In order to predict the change of the cloud domain around the sun and further realize the prediction of the change of the solar radiation value, and further effectively regulate and control the power generation of the mirror field, the existing tower type solar photo-thermal power station mostly adopts an all-sky imager to monitor the foundation cloud picture. The basis for accurate cloud image prediction of the foundation cloud image of the full-sky imager is the calibration of the full-sky imager.
Common methods for calibrating the full-sky imager include a well-known checkerboard calibration method, a moon azimuth calibration method based on the full-sky imager calibration method of moon azimuth disclosed in patent CN114663490A, a single-image deep learning method based on deep learning and used for calibrating a single-image ultra-wide angle fisheye camera disclosed in patent CN113628276A, wherein the moon azimuth calibration method and the checkerboard calibration method take longer time when being calibrated, and the single-image deep learning method has slightly poorer precision when being calibrated.
Therefore, a person skilled in the art needs to solve the problems of long time consumption and poor precision in the calibration process of the existing all-sky imager, and can realize the quick and accurate calibration of the all-sky imager.
Disclosure of Invention
Aiming at the problems existing in the prior art, the utility model aims at: the full-sky imager calibration equipment is provided, and the full-sky imager is calibrated by utilizing the imaging of the determined coordinate point in the full-sky imager, so that the quick and accurate calibration can be realized.
In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows: the utility model provides a full sky imager parameter calibration device based on confirm coordinate point, includes full sky imager, still includes roof and bottom plate that is parallel to each other to and be used for connecting roof and bottom plate's stand, full sky imager installs the central point of bottom plate put, the lower surface of roof is provided with the locator, the stand includes the dead lever of being connected with the bottom plate, the telescopic link of being connected with the roof, be provided with the locker that is used for prescribing a limit to dead lever and telescopic link relative position between dead lever and the telescopic link.
According to the parameter calibration device of the all-sky imager based on the determined coordinate point, the locator is an equidistant square array with the preset position on the top plate, and the color of the square array is different from the colors of other positions of the top plate.
The above-mentioned full sky imager parameter calibration device based on confirm coordinate point, the locator includes the lamp strip that sets up on the roof, be provided with the light source piece of following the lamp strip motion on the lamp strip, the lamp strip includes horizontal lamp strip and the longitudinal lamp strip of mutually perpendicular crossing, the intersection of horizontal lamp strip and longitudinal lamp strip is in the central point of roof.
The above all-sky imager parameter calibration device based on the determined coordinate point, wherein the positioner comprises a track arranged on the top plate and a sliding block moving in the track, the track comprises a transverse track and a longitudinal track which are mutually perpendicularly crossed, the sliding block comprises a transverse sliding block moving in the transverse track and a longitudinal sliding block moving in the longitudinal track, and the crossing point of the transverse track and the longitudinal track is at the center position of the top plate.
The parameter calibration device of the all-sky imager based on the determined coordinate point, wherein the top plate and the bottom plate are square plates with the same area, and the upright posts are perpendicular to the bottom plate.
According to the parameter calibration device of the all-sky imager based on the determined coordinate points, four upright posts are arranged on four corners of the top plate.
The parameter calibration device of the all-sky imager based on the coordinate point is characterized in that the locker uses a hydraulic pump, a pneumatic pump or a strapping tape.
According to the parameter calibration device of the all-sky imager based on the determined coordinate point, the all-sky imager uses the fisheye camera.
According to the parameter calibration device of the all-sky imager based on the determined coordinate point, the distance meter for measuring the height between the top plate and the bottom plate is arranged on the bottom plate.
The all-sky imager parameter calibration device based on the determined coordinate point has the beneficial effects that: the full-sky imager is arranged at the center of the base, a coordinate system can be established by taking the center of the upper surface of the base as an origin, a positioning body is arranged on the top plate in advance, the horizontal coordinate X and the vertical coordinate Y of the center of each square can be determined, and the vertical coordinate Z of the center of each square can be determined by using the range finder, so that the full-sky imager can be calibrated by rapidly and accurately utilizing the imaging of the determined coordinate point in the full-sky imager.
Drawings
FIG. 1 is a first schematic view of a three-dimensional structure of the present utility model;
FIG. 2 is a second schematic view of a three-dimensional structure according to the present utility model;
fig. 3 is a third schematic view of a three-dimensional structure of the present utility model.
Reference numerals illustrate: the full sky imager 10, roof 20, locator 21, square array 210, lamp strip 211, light source piece 212, bottom plate 30, fisheye camera 31, stand 40, dead lever 41, telescopic link 42.
Detailed Description
In order to enable those skilled in the art to better understand the technical scheme of the present utility model, the technical scheme of the present utility model will be described below with reference to the detailed description and the accompanying drawings.
As shown in fig. 1-3, a parameter calibration device for an all-sky imager based on a certain coordinate point is suitable for parameter calibration or calibration using an all-sky imager or a fisheye camera, and comprises an all-sky imager 10, a top plate 20 and a bottom plate 30 arranged in parallel with each other, and a column 40 for connecting the top plate and the bottom plate. Square plates with the same practical area of the bottom plate and the top plate.
The all-sky imager is installed in the central point of bottom plate, and the lower surface of roof is provided with locator 21, and the bottom plate is used for fixed all-sky imager's relative position on the roof, determines all-sky imager's vertical projection on the roof in the central point department of roof.
The positioner may be configured in different modes according to different needs, including but not limited to the following three configurations.
The first structure is: the positioner is an equidistant square array 210 which is arranged on the top plate in advance, the color of the square array is different from the colors of other positions of the top plate, and when the square array selects the colors, including but not limited to black, the square array can be conveniently distinguished as long as the color difference between the rows of the square and the other positions of the top plate is ensured.
The second structure is as follows: the locator includes the lamp strip 211 that sets up on the roof, is provided with the light source piece 212 of following the lamp strip motion on the lamp strip, and the lamp strip includes horizontal lamp strip and the longitudinal lamp strip of mutually perpendicular cross, and the intersection of horizontal lamp strip and longitudinal lamp strip is in the central point of roof put, and the light source piece is at the uniform velocity rectilinear motion on the lamp strip.
The third structure is: the positioner comprises a track arranged on the top plate and a sliding block moving in the track, wherein the track comprises a transverse track and a longitudinal track which are mutually and perpendicularly crossed, the sliding block comprises a transverse sliding block moving in the transverse track and a longitudinal sliding block moving in the longitudinal track, the crossing point of the transverse track and the longitudinal track is positioned at the center of the top plate, the transverse sliding block can only slide in the transverse track, the longitudinal sliding block can only slide in the longitudinal track, and the transverse sliding block and the longitudinal sliding block respectively do uniform linear motion in the transverse track and the longitudinal track.
The stand is provided with four on the four angles of bottom plate and roof, and the stand is perpendicular with the bottom plate, and the stand is used for adjusting the distance between roof and the bottom plate, is provided with the distancer that is used for measuring the height between roof and the bottom plate on the bottom plate.
The stand includes the dead lever 41 that is connected with the bottom plate, the telescopic link 42 that is connected with the roof, is provided with the locker that is used for prescribing a limit to dead lever and telescopic link relative position between dead lever and the telescopic link between dead lever, and the locker uses the hydraulic pump, or the pneumatic pump, or the strapping, after having adjusted the distance between roof and the bottom plate, the relative position between dead lever and the dead lever is locked to the locker to keep the height of vertical coordinate Z unchanged, distance between distancer measurement bottom plate and the roof.
In use, the all-sky imager uses a fisheye camera 31. Assuming that the point under the camera coordinate system is (x, y, z) and the pixel coordinate is (u, v), the projection formula is:
wherein, xi is the distance between the camera center and the sphere center of the full-sky imager, u and v are the horizontal and vertical coordinates of the image, and f x 、f y The focal lengths in the x and y directions of the all-sky imager, respectively, and d is the distance of the point (x, y, z) from the center of the all-sky imager camera.
The whole sky imager is placed in the base center position of the calibrating device, and the camera center of the whole sky imager is basically coincident with the base center. Under the full-sky imager camera coordinate system, the camera center coordinates are (0, 0), and the calibration device base center is (deltax, deltay, deltaz). In the calibration device coordinate system, the central coordinate of a mark square is (x, y, z), and then in the all-sky imager camera coordinate system, the coordinates are (x+Δx, y+Δy) a z+Δz). Substitution (1) can be obtained:
wherein f x 、f y And xi, deltax, deltay and deltaz are parameters to be calibrated.
The above equation is built up for each marked square in turn. The equation is repeatedly constructed to reduce the error by changing the distance between the base and the top plate.
All equations are combined, and the parameters of the all-sky imager can be solved by using a least square method and other methods, so that calibration is realized.
When the full-sky imager is calibrated, the specific steps are as follows:
1. the calibration device is placed on a horizontal desktop (or ground), and the full sky imager is arranged at the center of a bottom plate of the calibration device.
2. And acquiring an image by using a full-sky imager, determining pixel patches corresponding to the locators in the image by using the color difference between the locators and the top plate, and determining the geometric center (u, v) of each locator in the image and the lower coordinates (x, y, z) of the corresponding calibration device coordinate system. The calculation method of the geometric center (u, v) of one locator in the image comprises the following steps:
wherein the subscript i represents each pixel point corresponding to one locator, and n represents the number of the pixel points.
3. Using the data collected in step 2 to build a system of equations, for one locator, the equations are:
4. and (3) changing the distance between the base and the top plate, and repeating the steps 2-3.
Solving f by combining the equation set established in the steps 3 and 4 x 、f y Waiting for calibration parameters. The solving method can adopt a least square method, a gradient descent method and the like.
When the second type of locator structure is used, the light source blocks are uniformly lightened from one end to the other end, which is equivalent to uniform movement of a luminous object from one end to the other end of the transverse (or longitudinal) light bar.
When the third positioner structure is used, the light source block is replaced by a sliding block which can run on the track at a constant speed, and the calibration principle is the same.
Video of light source block/slider motion is captured.
The coordinates (under the calibration device coordinate system) of the light source block/slider at the lateral and longitudinal edges of the light bar are known, the slider rate is known, and the full-sky imager frame rate (how many pictures are acquired per second) is known. The coordinates of the light source block/slide center in the corresponding calibration device coordinate system in each picture can be known.
The pixel coordinate calculation method of the light source block/slider center is the same as the main scheme. The simultaneous equations form and solution method are the same as the main scheme.
The above embodiments are only for illustrating the structural concept and features of the present utility model, and are intended to enable those skilled in the art to understand the contents of the present utility model and implement the same, not to limit the scope of the present utility model. All equivalent changes or modifications made in accordance with the essence of the present utility model should be included in the scope of the present utility model.
Claims (9)
1. All-sky imager parameter calibration device based on confirm coordinate point, including all-sky imager, its characterized in that: still including roof and the bottom plate that is parallel to each other to and be used for connecting the stand of roof and bottom plate, the central point who installs at the bottom plate is put to full sky imager, the lower surface of roof is provided with the locator, the stand includes the dead lever of being connected with the bottom plate, the telescopic link of being connected with the roof, be provided with the locker that is used for prescribing a limit to dead lever and telescopic link relative position between dead lever and the telescopic link.
2. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 1, wherein the device is characterized in that: the locator is an equidistant square array with positions arranged on the top plate in advance, and the color of the square array is different from the colors of other positions of the top plate.
3. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 1, wherein the device is characterized in that: the locator comprises a light bar arranged on the top plate, a light source block moving along the light bar is arranged on the light bar, the light bar comprises a transverse light bar and a longitudinal light bar which are mutually perpendicular to each other, and the intersection point of the transverse light bar and the longitudinal light bar is arranged at the center position of the top plate.
4. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 1, wherein the device is characterized in that: the positioner comprises a track arranged on the top plate and a sliding block moving in the track, wherein the track comprises a transverse track and a longitudinal track which are mutually perpendicular and intersected, the sliding block comprises a transverse sliding block moving in the transverse track and a longitudinal sliding block moving in the longitudinal track, and the intersection point of the transverse track and the longitudinal track is at the center position of the top plate.
5. The all-sky imager parameter calibration device based on the determined coordinate points according to any one of claims 1 to 4, wherein: the top plate and the bottom plate are square plates with the same area, and the upright posts are perpendicular to the bottom plate.
6. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 5, wherein the device is characterized in that: four stand is provided with four on four angles of roof.
7. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 6, wherein the device is characterized in that: the locker uses a hydraulic pump, or a pneumatic pump, or a strapping tape.
8. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 7, wherein the device is characterized in that: the full sky imager uses a fisheye camera.
9. The all-sky imager parameter calibration device based on the determined coordinate point according to claim 1, wherein the device is characterized in that: the bottom plate is provided with a distance meter for measuring the height between the top plate and the bottom plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202321493365.3U CN219957900U (en) | 2023-06-13 | 2023-06-13 | All-sky imager parameter calibration device based on determining coordinate point |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202321493365.3U CN219957900U (en) | 2023-06-13 | 2023-06-13 | All-sky imager parameter calibration device based on determining coordinate point |
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| CN202321493365.3U Active CN219957900U (en) | 2023-06-13 | 2023-06-13 | All-sky imager parameter calibration device based on determining coordinate point |
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