WO2014091628A1 - 光源位置検出装置、光源追尾装置、制御方法およびプログラム - Google Patents
光源位置検出装置、光源追尾装置、制御方法およびプログラム Download PDFInfo
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims description 20
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7861—Solar tracking systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
- H01L31/04—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof adapted as photovoltaic [PV] conversion devices
- H01L31/042—PV modules or arrays of single PV cells
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/71—Circuitry for evaluating the brightness variation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/75—Circuitry for compensating brightness variation in the scene by influencing optical camera components
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/45—Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
- F24S30/452—Vertical primary axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
- Y02E10/52—PV systems with concentrators
Definitions
- the present invention relates to a light source position detection device, a light source tracking device, a control method, and a program.
- a sun tracking sensor using a 4-split photodiode, an optical position sensor including one element, or the like is known.
- sunlight is imaged on the 4-divided photodiode, and the processing circuit outputs an X, Y coordinate position signal.
- Automatic tracking of the sun is enabled by using the X, Y coordinate position signal output by the sun tracking sensor.
- an error of ⁇ 0.1 ° by the sun tracking sensor is integrated because the light is collected by the funnel lens, so that the light emitted from the sun can be accurately measured by the solar cell
- the cells can not be irradiated and conversion efficiency is reduced.
- the light collected by the Fresnel lens may be collected at a position different from that of the solar battery cell, which may damage the device due to an abnormal temperature rise.
- it is required to further improve the accuracy of detecting the position of the sun.
- the position of the sun decreases depending on the hiding condition, and there is a problem that the position of the sun can not be detected.
- the position of the sun can be detected to a certain extent depending on the degree of hiding of the sun, the light emitted from the sun is scattered by the clouds, so that the light quantity is detected even in parts other than the sun. Therefore, when the sun hides in the cloud, there is a problem that the position of the sun can not be detected with high accuracy due to the influence of the light quantity scattered by the cloud.
- the present invention has been made in view of the above-described problems, and an object thereof is to detect the position of a light source with high accuracy. In addition, it is an object of the present invention to detect the position of a light source with high accuracy even if the light source is hidden by a cloud, for example.
- a light collecting portion for collecting light emitted from the light source to be detected
- an image pickup device for receiving the light collected by the light collecting portion, and light received by the image pickup device
- a control unit that detects the position of the light source to be detected based on light reception information for each pixel, and the control unit changes the shutter speed of the imaging element according to the amount of light emitted from the light source to be detected And adjusting the amount of light received by the image sensor.
- a light source tracking device comprises a light source sensor having a light collecting portion for collecting light emitted from a light source to be detected and an image pickup element for receiving the light collected by the light collector; A control unit that detects the position of the detection target light source based on the received light reception information for each pixel, and outputs a drive signal based on the detected position of the detection target light source; and the light source sensor based on the drive signal Moving the light source to track the light source to be detected, and the control unit changes the shutter speed of the image pickup element according to the amount of light emitted from the light source to be detected, and the image pickup element receives light.
- a control method of a light source tracking device includes a light collecting unit for collecting light emitted from a light source to be detected, an image pickup device for receiving light collected by the light collecting unit, and light receiving by the image pickup device.
- a control unit for detecting the position of the detection target light source based on received light reception information for each pixel, and the control unit is configured to control the amount of light emitted from the detection target light source.
- the shutter speed of the image pickup device is changed according to the above to adjust the amount of light received by the image pickup device.
- a program includes a light collecting unit for collecting light emitted from a light source to be detected, an image pickup device for receiving the light collected by the light collecting unit, and each pixel received by the image pickup device.
- a program for controlling a light source position detection apparatus comprising: a control unit that detects the position of the detection target light source based on light reception information, the control unit corresponding to the amount of light emitted from the detection target light source.
- the program is a program for changing the shutter speed of the image pickup device and adjusting the amount of light received by the image pickup device.
- the position of the light source can be detected with high accuracy.
- the position of the light source can be detected with high accuracy even when the light source is hidden by a cloud, for example.
- FIG. 1 is a view showing an example of an appearance configuration of a light source tracking device 10.
- the light source tracking device 10 has a base 11, a first drive stand 12, a second drive stand 13, a light source sensor 30, and the like.
- the base 11 is, for example, grounded to the ground, and rotatably supports the first drive base 12 about a vertical axis (v-axis).
- the first drive stand 12 is rotated about a vertical axis (v-axis) by a direction tracking motor 26 described later.
- the first drive stand 12 rotatably supports the second drive stand 13 about a horizontal axis (h axis).
- the second drive stand 13 is rotated about a horizontal axis (h axis) by an elevation angle tracking motor 28 described later.
- the light source sensor 30 is attached to the second drive stand 13 via the reference surface 13 a of the second drive stand 13.
- a mounting portion 14 for mounting a pyranometer, a sun photometer, or the like is installed on the second drive stand 13.
- the light source tracking device 10 can direct the light source sensor 30 in an arbitrary direction by rotating the first drive base 12 and the second drive base 13 respectively.
- FIG. 2 is a diagram showing an example of the internal configuration of the light source tracking device 10.
- the light source tracking device 10 includes a CPU 21, a memory 22, a clock unit 23, a power supply unit 24, a drive unit controller 25, an azimuth tracking motor 26, a driver 27, an elevation tracking motor 28, a driver 29, and a light source sensor 30.
- the light source tracking device 10 performs processing of detecting the position of the light source and processing of tracking the light source.
- the CPU 21, the memory 22, the clock unit 23, the power supply unit 24, and the light source sensor 30 function as a light source position detection device 41 that detects the position of the light source.
- the CPU 21 is an example of a control unit, and controls the entire light source tracking device 10.
- the CPU 21 executes a program stored in the memory 22 to perform processing for detecting the position of the light source and processing for causing the drive unit controller 25 to track the light source based on the detected position of the light source.
- the memory 22 includes nonvolatile memories such as ROM and EEPROM, volatile memories such as RAM, and the like.
- the non-volatile memory stores programs executed by the CPU 21 and thresholds and tables used when the CPU 21 performs processing. Volatile memory is used as a work memory of the CPU 21.
- the clock unit 23 clocks the current date and the current time.
- the CPU 21 obtains the current date and time information from the timekeeping unit 23 to determine the approximate amount of light emitted from the sun in the case of fine weather (when the sun is not hidden by clouds). Can.
- the power supply unit 24 supplies power for driving each component of the light source tracking device 10.
- the power supply unit 24 may be an AC power supply that receives power from a power plug, or may be a rechargeable battery or the like.
- the drive unit controller 25 moves the light source sensor 30 based on an instruction from the CPU 21. Specifically, the drive unit controller 25 controls the direction in which the light source sensor 30 points by driving the azimuth tracking motor 26 and the elevation angle tracking motor 28 via the driver 27 and the driver 29.
- the azimuth tracking motor 26 is an example as a drive unit, and as shown in FIG. 1, rotates the first drive base 12 about the vertical axis.
- the elevation angle tracking motor 28 is an example as a drive unit, and as shown in FIG. 1, rotates the second drive base 13 about a horizontal axis.
- the light source sensor 30 attached to the second drive base 13 also rotates about the horizontal axis.
- the light source sensor 30 receives the light emitted from the sun and transmits the received light reception information to the CPU 21.
- the light source sensor 30 also adjusts the amount of light received from the sun based on an instruction from the CPU 21.
- an external device 40 such as a personal computer (PC) can be connected to the light source tracking device 10, for example.
- the user can directly instruct the light source tracking device 10 via the external device 40, or rewrite a program, a threshold, a table and the like stored in the memory 22.
- the driving device for driving the direction of the light receiving surface of the solar cell panel as the external device 40 It can be connected.
- the light source tracking device 10 may have an input unit or the like that directly receives an instruction from the user.
- the light source sensor 30 includes a housing 31, a condenser lens 32, an imaging device 33, a light reduction filter 34, a visible light blocking / infrared light transmitting filter 35, and the like.
- the housing 31 is formed, for example, in a hollow shape, and supports the condenser lens 32, the image sensor 33, the light reduction filter 34, and the visible light blocking / infrared light transmitting filter 35 at predetermined positions.
- Reference surfaces 31 a and 31 b are formed on the outer surface of the housing 31.
- the reference surface 31 a is a surface along the direction orthogonal to the light receiving surface 33 a of the imaging device 33.
- the reference surface 31 b is a surface parallel to the light receiving surface 33 a of the image sensor 33.
- the light source sensor 30 can be attached to the second drive base 13 with high accuracy by attaching the light source sensor 30 to the second drive base 13 via the reference surface 31 a and the reference surface 31 b of the housing 31. Further, by forming the reference surface 31a and the reference surface 31b, the light source tracking device can be accurately attached to other light source tracking devices.
- the condensing lens 32 functions as a condensing part which condenses the light irradiated from the sun on the light receiving surface 33 a of the imaging device 33.
- the imaging device 33 may be, for example, a charge coupled device (CCD) or a complementary device (CMOS). Metal-Oxide Semiconductor) or the like can be used.
- the image sensor 33 may be of any suitable size and number of pixels depending on the light source.
- the imaging device 33 receives the light collected by the collecting lens 32 for each pixel, converts the received light into a charge and stores the light, and converts the stored charge into an electric signal.
- the imaging device 33 transmits the converted electrical signal to the CPU 21 as light reception information.
- the light reception information includes, for example, luminance information (or gradation information) of, for example, 0 to 255 which is increased or decreased according to the amount of light received for each pixel.
- the luminance “0” is the case where light is not received and the charge is not accumulated
- the luminance “255” is the case where light is received and the charge is accumulated up to the saturation amount. Since the CPU 21 can acquire luminance information for each pixel, the CPU 21 can detect at which position of the light receiving surface 33 a of the imaging device 33 light is collected.
- the imaging device 33 has a so-called electronic shutter mechanism.
- the image sensor 33 can adjust the amount of received light by changing the charge accumulation time by lengthening or shortening it.
- the process of changing the time for accumulating the charge corresponds to the process of changing the shutter speed.
- the change of the shutter speed is performed based on an instruction of the CPU 21. For example, when the pixel of the luminance “255” is included in the luminance information received by the CPU 21, it is difficult to detect the accurate position of the light source because the amount of charge saturation has been reached.
- the CPU 21 can acquire light reception information suitable for detecting the position of the light source by increasing the shutter speed of the imaging element 33 (shortening the charge accumulation time).
- the CPU 21 can acquire light reception information suitable for detecting the position of the light source by slowing the shutter speed of the imaging element 33 (increasing the charge accumulation time).
- the light reduction filter 34 is a filter that reduces the amount of light that is collected by the collection lens 32 and emitted to the imaging device 33.
- the amount of light emitted from the sun is the largest (for example, in the case of fine weather in summer)
- it is a filter that reduces the amount of light accumulated in the image sensor 33 so as not to reach the saturation amount.
- the light reduction filter is not limited to the light reduction filter 34, and may be a heat ray cut filter.
- the visible light blocking / infrared light transmitting filter 35 is a filter that blocks visible light in light emitted from the sun and transmits infrared light.
- the visible light blocking / infrared light transmission filter 35 is an infrared light imaging means for focusing infrared light on the light receiving surface 33 a of the imaging element 33 without focusing visible light on the light receiving surface 33 a of the imaging element 33
- the sun is hidden by clouds, light emitted from the sun is diffused by the clouds. Even if diffused visible light is received, it is difficult to accurately detect the position of the sun.
- infrared light since infrared light has a long wavelength compared with visible light, it is hard to be scattered by a cloud, and the property which permeate
- the visible light blocking / infrared light transmitting filter 35 blocks the visible light diffused by the cloud, and causes the light receiving surface 33 a of the imaging element 33 to emit the infrared light transmitted through the cloud.
- the imaging device 33 also has a spectral sensitivity of infrared light on the longer wavelength side than visible light, the CPU 21 detects the position of the sun from the infrared light even when the sun is hidden by a cloud. It is possible to acquire light reception information suitable for
- the flowchart of FIG. 4 is realized by the CPU 21 executing a program stored in the memory 22.
- the light emitted from the sun is assumed to be condensed at any position on the light receiving surface 33 a of the image sensor 33 of the light source sensor 30.
- step S10 the CPU 21 acquires the light quantity of the light source via the imaging device 33. Specifically, the CPU 21 instructs the imaging element 33 to capture an image at a predetermined shutter speed stored in advance in the memory 22.
- the imaging device 33 receives the light of the sun irradiated through the condenser lens 32, the dark filter 34, and the visible light blocking / infrared light transmitting filter 35 at the instructed shutter speed, and transmits the received light information to the CPU 21. Do.
- step S11 the CPU 21 changes the shutter speed of the image sensor 33 according to the amount of light emitted from the sun, and adjusts the amount of light received by the image sensor 33. Specifically, the CPU 21 determines the shutter speed based on the luminance information among the light reception information received from the image sensor 33 in step S10.
- the memory 22 stores, for example, a table in which the maximum value of brightness and the optimum shutter speed according to the maximum value of brightness are associated. In this table, for example, when the maximum value of the brightness is close to "255" (when the brightness is large), a fast shutter speed is associated, and when the maximum value of the brightness is close to "0" (when the brightness is small) A slow shutter speed is associated.
- the CPU 21 obtains the maximum value of the brightness and refers to the table stored in the memory 22 to determine the shutter speed associated with the maximum value of the brightness. Therefore, when the amount of light emitted from the sun is large, the maximum value of the luminance is increased, and thus the CPU 21 determines a high shutter speed. On the other hand, when the sun is hidden by clouds and the amount of light emitted from the sun is small, the maximum value of the luminance is small, and thus the CPU 21 determines a slow shutter speed.
- a brightness average value may be used.
- the CPU 21 determines that the shutter speed is high when the average luminance value of the pixels is large, and determines that the shutter speed is low when the average luminance value of the pixels is small. For example, the CPU 21 determines, as the shutter speed, the shutter speed so that the maximum value of the luminance is larger than a predetermined threshold A used in step S13 described later and is smaller than 255. Is preferred.
- step S12 the CPU 21 instructs the image sensor 33 to capture an image at the shutter speed determined in step S11.
- the image pickup device 33 receives the light of the sun irradiated through the condenser lens 32, the light reduction filter 34, and the visible light blocking / infrared light transmitting filter 35 at the instructed shutter speed, and the light receiving information including the luminance information Is sent to the CPU 21.
- step S13 the CPU 21 executes clipping processing to cut out part of the luminance information received from the imaging device 33.
- FIG. 5A is a view showing a subject image formed on the light receiving surface 33 a of the image sensor 33 and in which a part of the sun is hidden by clouds.
- the horizontal direction is taken as the x axis
- the vertical direction as the y axis.
- 5 (b) and 5 (c) are graphs showing luminance information of pixels along line II in FIG. 5 (a).
- FIG. 5B and FIG. 5C since the shutter speed is adjusted to the optimum at step S11 described above, luminance information suitable for detecting the position of the light source is acquired.
- FIG. 5B and FIG. 5C since the shutter speed is adjusted to the optimum at step S11 described above, luminance information suitable for detecting the position of the light source is acquired.
- FIG. 5B and FIG. 5C since the shutter speed is adjusted to the optimum at step S11 described above, luminance information suitable for detecting the position of the
- FIG. 5B shows luminance information in the case of forming an image including visible light without using the visible light blocking / infrared light transmission filter 35.
- FIG. 5 (b) among the light emitted from the sun, visible light is scattered by the clouds, so that high brightness appears even in the cloud portions. Therefore, although the actual energy center of gravity of the sun is at the position of the arrow T, the center of gravity is detected as the position of the arrow F1 due to the scattering of visible light.
- FIG. 5C shows luminance information when the visible light is blocked and the infrared light is transmitted and imaged by using the visible light blocking / infrared light transmitting filter 35. As shown in FIG.
- the CPU 21 performs clipping processing to cut out luminance information equal to or lower than a predetermined threshold value among the acquired luminance information.
- the process which CPU21 performs specifically is demonstrated.
- the horizontal direction of the light receiving surface 33a is the x axis
- the vertical direction is the y axis
- the luminance of the pixel at the coordinates (x, y) is f (x, y).
- f (x, y) is equal to or less than the predetermined threshold A
- the threshold A is preferably a value that can cut off the luminance generated by the scattered light from the cloud.
- 5D is a graph showing luminance information in which the luminance equal to or less than a predetermined threshold A is zero. As shown in FIG. 5D, by performing the clipping process, the position of the detected gravity center can be made to coincide with the arrow T of the actual energy gravity center of the sun.
- step S14 the CPU 21 calculates the energy center of gravity of the sun. Specifically, the CPU 21 calculates the barycentric coordinates (Xg, Yg) by the following equation 1 using f (x, y) after the clipping process. By this processing, the CPU 21 can detect the position of the sun with high accuracy.
- step S15 the CPU 21 performs processing for causing the drive unit controller 25 to track the light source based on the detected position of the sun. Specifically, the CPU 21 calculates distances in the x direction and the y direction between the central coordinates of the light receiving surface 33 a of the image sensor 33 and the coordinates of the center of gravity of the sun. Subsequently, the CPU 21 calculates the inclination angle of the optical axis of the sun with respect to the light source sensor 30 based on the calculated distance. The CPU 21 may calculate the inclination angle by referring to a table stored in the memory 22 and in which the distance in the x direction and the y direction is associated with the inclination angle, and based on the distances in the x direction and the y direction.
- FIG. 6 is a diagram showing a state in which the coordinates of the energy gravity center of light emitted from the sun are apart from the center coordinates by a distance of ⁇ x.
- the CPU 21 calculates ⁇ x as an inclination angle of the optical axis of the sun from ⁇ x.
- the CPU 21 transmits the information of the tilt angle calculated to track the sun to the drive unit controller 25.
- the drive unit controller 25 transmits a drive signal to the azimuth tracking motor 26 and the elevation angle tracking motor 28 based on the information on the tilt angle transmitted from the CPU 21.
- the azimuth tracking motor 26 and elevation angle tracking motor 28 move the first drive stand 12 and the second drive stand 13 according to the drive signal.
- the movement of the first drive base 12 and the second drive base 13 causes the optical axis of the sun to accurately coincide with the center coordinates of the light source sensor 30, thereby completing the process of tracking the sun.
- the light source tracking device 10 can track the sun with high accuracy by continuously continuing the processing from step S10 to step S15.
- FIG. 7 is a graph in which the positions when the conventional light source tracking device using the light position sensor and the light source tracking device 10 of the present embodiment detect the same light source are plotted.
- the horizontal axis is the position when the light source is moved at a predetermined interval
- the vertical axis is the position of the light source detected by each light source tracking device.
- the broken line in the graph is the regression line of the plot output by the conventional light source tracking device
- the solid line in the graph is the regression line of the plot output by the light source tracking device 10 of the present embodiment.
- the light source tracking device 10 according to the present embodiment can reduce the error of the inclination angle of the light source with respect to the optical axis to ⁇ 0.001 ° or less, and can demonstrate that the position of the light source can be detected with high accuracy.
- the pyranometer tracks the sun with high accuracy, so that the amount of solar radiation can be measured accurately.
- the tilt angle calculated by the CPU 21 is transmitted to the driving device of the solar cell panel, the solar cell panel can always be tracked with high accuracy so as to be orthogonal to the sun, so the conversion efficiency is improved. It can be done.
- an error is integrated by being collected by the Fresnel lens, so that the solar cell can be accurately irradiated with light by the error of the conventional light source tracking device. I can not By using the light source tracking device 10 according to the present embodiment, the error can be extremely reduced, so that the present invention can be applied to a concentrating solar cell panel.
- step S10 of the above-described embodiment the case has been described where the CPU 21 instructs the imaging element 33 to capture an image at a predetermined shutter speed stored in advance in the memory 22.
- the memory 22 may store in advance a table in which time information of the current date and time and the shutter speed are associated with each other. For example, a long shutter speed is associated with winter time and morning and evening time, and a short shutter speed is associated with summer time and daytime on this table.
- the CPU 21 obtains time information of the current date and time from the timekeeping unit 23, and obtains a shutter speed associated with the time information by referring to the table stored in the memory 22. . Subsequently, the CPU 21 can acquire light reception information suitable for determining the shutter speed in step S11 by instructing the acquired shutter speed to the imaging element 33.
- step S10 and step S11 may be repeated until it is possible to acquire light reception information suitable for detecting the position of the sun. That is, after the shutter speed is determined in step S11, the process returns to step S10, and the image sensor 33 is instructed to capture an image at the determined shutter speed. Thereafter, the CPU 21 can proceed to step S12 when the light reception information suitable for detecting the position of the sun can be acquired.
- the condenser lens 32 itself may be a lens that causes infrared light transmitting through a cloud to form an image on the image pickup device 33 without forming visible light on the image pickup device 33.
- FIG. 8 is a view showing the configuration of a light source sensor 50 according to the second embodiment.
- the light source sensor 50 includes a housing 51, an imaging device 33, and the like.
- the housing 51 is formed, for example, in a hollow shape, and a pinhole 51 a is formed as a light collecting portion for collecting the light emitted from the sun on the light receiving surface 33 a of the imaging device 33.
- the pinhole 51 a also has a function of reducing the amount of light emitted to the imaging device 33.
- the reference surfaces 31a and 31b similar to those of the first embodiment are formed on the outer surface of the housing 51.
- the position of the sun is detected with high accuracy as in the first embodiment. be able to.
- the configuration of the light source sensor 50 can be simplified as compared with the first embodiment, the manufacturing cost can be reduced.
- FIG. 9 is a view showing the configuration of a light source sensor 60 according to the third embodiment.
- the light source sensor 60 includes a housing 31, a wide-angle lens 61, an imaging device 33, and the like.
- the wide-angle lens 61 can condense light on the light receiving surface 33 a of the image sensor 33 even if the light is irradiated at a large angle (for example, 50 °) of the inclination angle of the optical axis of the sun. By using the wide-angle lens 61 in this manner, the light source sensor 60 of this embodiment can detect the position of the sun over a wide range.
- the light source sensor 60 of the present embodiment is used when detecting a light source (for example, missile) that moves faster than the sun, or when installing the light source tracking device 10 on the water surface (for example, a ship) Preferred.
- the light source sensor 60 of the present embodiment may be configured in a plurality in combination with the light source sensor 30 of the first embodiment or the light source sensor 50 of the second embodiment.
- the light source sensor 30 (first light source sensor) and the light source sensor 60 (second light source sensor) may be arranged in parallel and attached to the second drive stand 13.
- the CPU 21 first detects and follows the rough position of the sun based on the light reception information acquired from the light source sensor 60 (after step S10 to step S15 described above), and then the light reception information acquired from the light source sensor 30 The exact position of the sun can be detected and tracked based on the above (steps S10 to S15 described above).
- the light source tracking device 10 By configuring the light source tracking device 10 in this manner, the light source can be detected quickly and accurately even if the light source is detected faster than the sun or the light source tracking device 10 is installed on the water surface (for example, a ship). It can track.
- the wide-angle lens 61 for example, a fisheye lens may be used.
- the present invention is not limited to this case.
- the CPU 21 may calculate, for example, the center of gravity (geometric center of gravity) of the figure when viewing the shape (outline) of the sun as a figure.
- binarization processing may be executed instead of the clipping processing in step S13 of the flowchart of FIG. That is, in step S13, the CPU 21 executes the binarization process based on the luminance information received from the imaging device 33.
- the CPU 21 calculates the barycentric coordinates (Xg, Yg) according to the above equation 1 using f (x, y) after the binarization processing. By this processing, the CPU 21 can calculate the position of the geometrical center of gravity of the sun.
- the user can set whether to calculate the energy center of gravity or to calculate the geometric center of gravity via the PC of the external device 40 or the like.
- the CPU 21 calculates an energy centroid or a geometric centroid according to the setting.
- the user may set whether to calculate the energy centroid or the geometric centroid according to the purpose of tracking the light source.
- the present invention has been described above with various embodiments, the present invention is not limited to only these embodiments, and may be modified within the scope of the present invention, or each embodiment may be combined. It is.
- the light source is the sun has been described in the above embodiment, the present invention is not limited to this case. Any light source can be applied as long as the light source emits light.
- the imaging device 33 transmits the luminance information of 0 to 255 for each pixel has been described, but the invention is not limited to this case, for example, the luminance information of 0 to 127, 0 to 511, etc. is transmitted. You may
- the light source tracking device 10 has the drive unit controller 25.
- the drive unit controller 25 may be omitted by including the function of the drive unit controller 25 in the CPU 21.
- a program for realizing the above-described processing is supplied to the light source tracking device 10 via a network or various storage media, and the CPU 21 of the light source tracking device 10 reads out and executes the supplied program.
- Ru may be a storage medium storing a program.
- the present invention can be used for a light source position detection device, a light source tracking device, and the like.
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Abstract
Description
本発明の光源追尾装置は、検出対象光源から照射される光を集光する集光部および前記集光部により集光された光を受光する撮像素子を有する光源センサと、前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出し、検出された前記検出対象光源の位置に基づいて駆動信号を出力する制御部と、前記駆動信号に基づいて前記光源センサを移動させ前記検出対象光源を追尾する駆動部と、を有し、前記制御部は、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整することを特徴とする。
本発明の光源追尾装置の制御方法は、検出対象光源から照射される光を集光する集光部と、前記集光部により集光された光を受光する撮像素子と、前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出する制御部と、を有する光源位置検出装置の制御方法であって、前記制御部は、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整することを特徴とする。
本発明のプログラムは、検出対象光源から照射される光を集光する集光部と、前記集光部により集光された光を受光する撮像素子と、前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出する制御部と、を有する光源位置検出装置を制御するためのプログラムであって、前記制御部に、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整する処理を実行させるためのプログラムである。
(第1の実施形態)
図1は、光源追尾装置10の外観構成の一例を示す図である。
図1に示すように、光源追尾装置10は、基台11、第1の駆動台12、第2の駆動台13、光源センサ30などを有している。
基台11は、例えば地面に接地され、第1の駆動台12を鉛直軸(v軸)周りに回動自在に支持する。
第2の駆動台13は、後述する仰角追尾モータ28によって水平軸(h軸)周りを回動する。また、第2の駆動台13は、第2の駆動台13の基準面13aを介して光源センサ30が取り付けられる。また、第2の駆動台13には、光源追尾装置10を例えば気象観測センサとして用いる場合に、日射計やサンフォトメータなどを取り付けるための取付け部14が設置されている。
光源追尾装置10は、第1の駆動台12および第2の駆動台13がそれぞれ回動することで光源センサ30を任意の方向に指向させることができる。
図2に示すように、光源追尾装置10は、CPU21、メモリ22、計時部23、電源部24、駆動部コントローラ25、方位追尾モータ26、ドライバ27、仰角追尾モータ28、ドライバ29、光源センサ30などを有している。光源追尾装置10は、光源の位置を検出する処理と、光源を追尾する処理とを行う。また、光源追尾装置10のうち、CPU21、メモリ22、計時部23、電源部24、光源センサ30は、光源の位置を検出する光源位置検出装置41として機能する。
メモリ22には、ROMやEEPROMなどの不揮発性メモリ、RAMなどの揮発性メモリなどが含まれている。不揮発性メモリは、CPU21が実行するプログラムや、CPU21が処理を行うときに用いる閾値やテーブルなどが記憶されている。揮発性メモリは、CPU21のワークメモリとして用いられる。
電源部24は、光源追尾装置10の各構成部を駆動させるための電力を供給する。電源部24は、電源プラグから受電する交流電源であってもよく、充電式バッテリなどであってもよい。
方位追尾モータ26は、駆動部としての一例であり、図1に示すように、第1の駆動台12を鉛直軸回りに回動させる。第1の駆動台12の回動に伴い、第1の駆動台12を介して第2の駆動台13に取り付けられた光源センサ30も同様に鉛直軸回りに回動する。
仰角追尾モータ28は、駆動部としての一例であり、図1に示すように、第2の駆動台13を水平軸回りに回動させる。第2の駆動台13の回動に伴い、第2の駆動台13に取り付けられた光源センサ30も同様に水平軸回りに回動する。
また、光源追尾装置10には、例えばパーソナルコンピュータ(PC)などの外部機器40が接続可能である。例えば、ユーザは外部機器40を介して光源追尾装置10に対して直接命令したり、メモリ22内に記憶されたプログラム、閾値およびテーブルなどを書き換えたりすることができる。また、光源追尾装置10を、例えば太陽電池パネルの受光面が太陽に直交するように追尾するために用いる場合には、外部機器40として、太陽電池パネルの受光面の向きを駆動させる駆動装置に接続することができる。
その他、光源追尾装置10は、ユーザからの指示を直接受け付ける入力部などを有していてもよい。
光源センサ30は、筐体31、集光レンズ32、撮像素子33、減光フィルタ34、可視光遮断/赤外光透過フィルタ35などを有している。
筐体31は、例えば中空状に形成され、集光レンズ32、撮像素子33、減光フィルタ34および可視光遮断/赤外光透過フィルタ35を所定の位置に支持する。筐体31の外面には、基準面31a、31bが形成される。基準面31aは、撮像素子33の受光面33aに直交する方向に沿った面である。基準面31bは、撮像素子33の受光面33aと平行な面である。光源センサ30を筐体31の基準面31aおよび基準面31bを介して第2の駆動台13に取り付けることで、光源センサ30を第2の駆動台13に精度よく取り付けることができる。また、基準面31aおよび基準面31bを形成することで他の光源追尾装置にも精度よく取り付けることができる。
集光レンズ32は、太陽から照射される光を撮像素子33の受光面33aに集光する集光部として機能する。
Metal-Oxide Semiconductor)などを用いることができる。撮像素子33は、光源に応じて好適なサイズおよび画素数のものを用いることができる。
撮像素子33は、集光レンズ32により集光された光を画素毎に受光し、受光した光を電荷に変換して蓄積し、蓄積した電荷を電気信号に変換する。撮像素子33は、変換された電気信号を受光情報としてCPU21に送信する。受光情報には、例えば画素毎の受光した光量に応じて増減する例えば0~255の輝度情報(あるいは階調情報)が含まれる。ここで、輝度「0」とは光を受光しておらず電荷が蓄積されていない場合であり、輝度「255」とは光を受光し電荷の飽和量まで蓄積された場合である。CPU21は、画素毎に輝度情報を取得できることから、撮像素子33の受光面33aのうち何れの位置に光が集光したかを検出することができる。
例えば、CPU21が受信した輝度情報に輝度「255」の画素が含まれている場合、電荷の飽和量に達しているため、正確な光源の位置を検出することが困難になる。この場合、CPU21は、撮像素子33のシャッタスピードを速く(電荷の蓄積時間を短く)することで、光源の位置を検出するのに適した受光情報を取得することができる。
一方、CPU21が受信した輝度情報のうち小さな輝度が多い場合にはノイズが混在している場合があるため、正確な光源の位置を検出することが困難になる。この場合、CPU21は、撮像素子33のシャッタスピードを遅く(電荷の蓄積時間を長く)することで、光源の位置を検出するのに適した受光情報を取得することができる。
図5(b)および図5(c)は、図5(a)のI-I線に沿った画素の輝度情報をグラフで示した図である。なお、図5(b)および図5(c)では、上述したステップS11により最適なシャッタスピードに調整されているために、光源の位置を検出するのに適した輝度情報が取得されている。
図5(b)は、可視光遮断/赤外光透過フィルタ35を用いず、可視光も含めて結像された場合の輝度情報を示している。図5(b)に示すように、太陽から照射される光のうち可視光は雲により散乱することで、雲の部分でも高い輝度が現れる。したがって、実際の太陽のエネルギー重心は矢印Tの位置であるが、可視光の散乱により矢印F1の位置として重心が検出されてしまう。
一方、図5(c)は、可視光遮断/赤外光透過フィルタ35を用いて、可視光を遮断し赤外光を透過させ結像された場合の輝度情報を示している。図5(c)に示すように、可視光を遮断することにより雲により散乱する光が遮断されると共に、赤外光により雲を透過することから太陽の部分のみに高い輝度が現れる。したがって、実際の太陽のエネルギー重心の矢印Tに近接した位置である矢印F2の位置が重心として検出される。
このように、可視光遮断/赤外光透過フィルタ35を用いることで、太陽が雲に隠れた場合でも、雲による可視光の散乱を防止することができる。
図6は、太陽から照射された光のエネルギー重心の座標が中心座標からΔxの距離だけ離れている状態を示す図である。この場合、CPU21は、Δxから太陽の光軸の傾き角としてθxを算出する。
光源追尾装置10は、ステップS10~ステップS15までの処理を常時、継続させることで、太陽を高精度に追尾することができる。
図7に示すように、従来の光源追尾装置により出力されたプロットは回帰直線上に位置せず、相関を示す決定係数R2が、R2=0.5087であり、低い相関関係であった。一方、本実施形態の光源追尾装置10により出力されたプロットはほぼ回帰直線上であり、相関を示す決定係数R2が、R2=0.9975であり、非常に高い相関関係であった。本実施形態の光源追尾装置10は、光源の光軸に対する傾き角の誤差を±0.001°以下にすることができ、高精度に光源の位置を検出できることを実証できた。
また、上述した実施形態では、赤外光結像手段として、可視光遮断/赤外光透過フィルタ35を用いる場合について説明したが、この場合に限られない。例えば、集光レンズ32自体が、可視光を撮像素子33に結像させることなく、雲を透過する赤外光を撮像素子33に結像させるレンズであってもよい。
第1の実施形態では、太陽から照射される光を撮像素子33の受光面33aに集光させる集光部として集光レンズ32を用いる場合について説明した。本実施形態では、集光部としてピンホールを用いる場合について説明する。
光源センサ50は、筐体51、撮像素子33などを有している。
筐体51は、例えば中空状に形成され、太陽から照射される光を撮像素子33の受光面33aに集光させる集光部としてのピンホール51aが形成されている。ピンホール51aは、撮像素子33に照射される光量を減光させる機能も有している。また、筐体51の外面には、第1の実施形態と同様の基準面31a、31bが形成される。
第1の実施形態および第2の実施形態では、集光部として集光レンズ32またはピンホール51aを用いる場合について説明した。本実施形態では、集光部として広角レンズを用いる場合について説明する。
光源センサ60は、筐体31、広角レンズ61、撮像素子33などを有している。
広角レンズ61は、太陽の光軸の傾き角が大きな角度(例えば50°)で照射される光であっても撮像素子33の受光面33aに集光させることができる。このように広角レンズ61を用いることで、本実施形態の光源センサ60では、広い範囲に亘って太陽の位置を検出することができる。
第1の実施形態では、CPU21が太陽のエネルギー重心を算出する場合について説明したが、この場合に限られない。CPU21は、例えば太陽の形状(輪郭)を図形として見たときの図形の重心(幾何学的な重心)を算出してもよい。幾何学的な重心を算出する場合には、図4のフローチャートのステップS13のクリッピング処理に代えて二値化処理を実行すればよい。
すなわち、ステップS13において、CPU21は、撮像素子33から受信した輝度情報に基づいて二値化処理を実行する。具体的にはCPU21は、所定の閾値Aを境界として、f(x,y)が所定の閾値A以下の場合には、f(x,y)=0とし、所定の閾値Aよりも大きい場合にはf(x,y)=1とする処理を全ての画素について行う。
ステップS14では、CPU21は、二値化処理後のf(x,y)を用いて、重心座標(Xg、Yg)を上述した数1により算出する。この処理により、CPU21は、太陽の幾何学的な重心の位置を算出することができる。
例えば、上述した実施形態では、光源を太陽とする場合について説明したが、この場合に限られない。光を照射する光源であれば、どのような光源であっても適用することができる。
また、上述した実施形態では、撮像素子33が画素毎に0~255の輝度情報を送信する場合について説明したが、この場合に限られず、例えば0~127、0~511などの輝度情報を送信してもよい。
また、上述した実施形態では、光源追尾装置10が駆動部コントローラ25を有する場合について説明したが、CPU21に駆動部コントローラ25の機能を含めることで、駆動部コントローラ25を省略してもよい。
本実施形態では、上述した処理を実現するプログラムを、ネットワークまたは各種記憶媒体を介して光源追尾装置10に供給し、光源追尾装置10のCPU21が供給されたプログラムを読み出して実行することでも実現される。本発明は、プログラムを記録した記憶媒体であってもよい。
Claims (13)
- 検出対象光源から照射される光を集光する集光部と、
前記集光部により集光された光を受光する撮像素子と、
前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出する制御部と、を有し、
前記制御部は、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整することを特徴とする光源位置検出装置。 - 前記制御部は、前記撮像素子から画素毎の受光情報に含まれる輝度情報を取得し、取得した輝度情報に基づいてシャッタスピードを変更することを特徴とする請求項1に記載の光源位置検出装置。
- 前記検出対象光源から照射された光のうち、可視光を前記撮像素子に結像させることなく、雲を透過する赤外光を前記撮像素子に結像させる赤外光結像手段を更に有することを特徴とする請求項1に記載の光源位置検出装置。
- 前記制御部は、前記検出対象光源から照射される光量に応じてシャッタスピードが変更された前記撮像素子から画素毎の輝度情報を取得し、取得した輝度情報のうち所定の閾値以下の輝度情報を0とするクリッピング処理をし、クリッピング処理後の輝度情報に基づいて、前記検出対象光源の位置を検出することを特徴とする請求項1に記載の光源位置検出装置。
- 前記制御部は、前記検出対象光源から照射される光量に応じてシャッタスピードが変更された前記撮像素子から画素毎の輝度情報を取得し、取得した輝度情報のうち所定の閾値を境界として二値化処理をし、二値化処理後の輝度情報に基づいて、前記検出対象光源の位置を検出することを特徴とする請求項1に記載の光源位置検出装置。
- 前記集光部は、集光レンズ、ピンホールまたは広角レンズの何れかであることを特徴とする請求項1に記載の光源位置検出装置。
- 前記撮像素子を支持する筐体を有し、
前記筐体は、前記撮像素子の受光面に直交する方向に沿った基準面および前記撮像素子の受光面と平行な基準面を有することを特徴とする請求項1に記載の光源位置検出装置。 - 前記赤外光結像手段は、可視光を遮断し赤外光を透過させる可視光遮断/赤外光透過フィルタであることを特徴とする請求項3に記載の光源位置検出装置。
- 前記赤外光結像手段は、赤外光を前記撮像素子に集光させる集光レンズであることを特徴とする請求項3に記載の光源位置検出装置。
- 検出対象光源から照射される光を集光する集光部および前記集光部により集光された光を受光する撮像素子を有する光源センサと、
前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出し、検出された前記検出対象光源の位置に基づいて駆動信号を出力する制御部と、
前記駆動信号に基づいて前記光源センサを移動させ前記検出対象光源を追尾する駆動部と、を有し、
前記制御部は、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整することを特徴とする光源追尾装置。 - 前記光源センサとして、第1の光源センサと第2の光源センサとを有し、
前記第1の光源センサは、前記集光部が集光レンズまたはピンホールであり、
前記第2の光源センサは、前記集光部が広角レンズであり、
前記制御部は、前記第2の光源センサの前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出し、検出された前記検出対象光源の位置に基づいて前記駆動部に制御部に駆動信号を出力した後、前記第1の光源センサの前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出し、検出された前記検出対象光源の位置に基づいて前記駆動部に駆動信号を出力することを特徴とする請求項10に記載の光源追尾装置。 - 検出対象光源から照射される光を集光する集光部と、
前記集光部により集光された光を受光する撮像素子と、
前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出する制御部と、を有する光源位置検出装置の制御方法であって、
前記制御部は、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整することを特徴とする制御方法。 - 検出対象光源から照射される光を集光する集光部と、
前記集光部により集光された光を受光する撮像素子と、
前記撮像素子により受光された画素毎の受光情報に基づいて前記検出対象光源の位置を検出する制御部と、を有する光源位置検出装置を制御するためのプログラムであって、
前記制御部に、前記検出対象光源から照射される光量に応じて前記撮像素子のシャッタスピードを変更し、前記撮像素子が受光する光量を調整する処理を実行させるためのプログラム。
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EP12889840.0A EP2933601B1 (en) | 2012-12-14 | 2012-12-14 | Light source position detection apparatus, light source tracking apparatus, control method, and program |
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JP2019138854A (ja) * | 2018-02-14 | 2019-08-22 | キヤノン電子株式会社 | 光源角度測定装置、光源位置検出装置、並びに人工衛星 |
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WO2020190952A1 (en) * | 2019-03-18 | 2020-09-24 | The Climate Corporation | System and method for automatic control of exposure time in an imaging instrument |
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