CN108413987B - Heliostat calibration method, device and system - Google Patents
Heliostat calibration method, device and system Download PDFInfo
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- CN108413987B CN108413987B CN201810203475.9A CN201810203475A CN108413987B CN 108413987 B CN108413987 B CN 108413987B CN 201810203475 A CN201810203475 A CN 201810203475A CN 108413987 B CN108413987 B CN 108413987B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- 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
- F24S2050/25—Calibration means; Methods for initial positioning of solar concentrators or solar receivers
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Abstract
The embodiment of the invention discloses a heliostat calibration method, a heliostat calibration device and a heliostat calibration system. The method comprises the following steps: sending a motion control signal to a flying device, and controlling the flying device to move according to the motion control signal; wherein, the flying device is attached with an image acquisition device; in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device; determining the position information of the light spot profile reflected by each heliostat according to the image information; and determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat, and calibrating each heliostat. By adopting the technical scheme provided by the embodiment of the invention, the effects of high calibration efficiency and high precision of the heliostat, avoiding the interference of mechanical error caused by the rotation of the heliostat during calibration and reducing the calibration cost of the heliostat can be achieved.
Description
Technical Field
The embodiment of the invention relates to the technical field of solar power generation, in particular to a heliostat calibration method, device and system.
Background
With the rapid development of economy, human society increasingly attaches importance to energy problems, especially the problem of utilization of solar energy.
In a central tower collector power plant, a collector at the top of a heat collection tower receives sunlight reflected from a heliostat field. The heat collector converts the energy into high-pressure high-temperature steam to be output, and then the high-pressure high-temperature steam can be sent into the turbine to generate electricity. The heliostats are typically mounted to the ground around the tower. Each heliostat has a rigid reflective surface that tracks the sun, and the surface remains reflecting moving sunlight to the collector in the daytime using a sunny orientation. There is a need for highly accurate tracking of the sun that reduces the amount of reflected light that spills around the collector. Therefore, it is an urgent technical problem to be solved by those skilled in the art to provide a heliostat calibration system capable of accurately reflecting solar rays to a heat collector and realizing less loss.
In the prior art, a light target is often arranged on a heat collection tower, so that light spots reflected by heliostats irradiate on the light target, and then the positions of the light spots are read by an image acquisition device on the ground, so that one heliostat can be calibrated each time. The method has a complex processing mode and long time consumption, and greatly influences the calibration efficiency of the heliostat when the heliostat field comprises thousands of heliostats. And each calibration requires the heliostat to be turned through a certain angle, introducing interference from mechanical errors.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, and a system for calibrating a heliostat, which can achieve the effects of high calibration efficiency and high precision for the heliostat, avoiding interference of mechanical errors caused by rotation of the heliostat during calibration, and reducing calibration cost for the heliostat.
In a first aspect, an embodiment of the present invention provides a method for calibrating a heliostat, where the method includes:
sending a motion control signal to a flying device, and controlling the flying device to move according to the motion control signal; wherein, the flying device is attached with an image acquisition device;
in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device;
determining the position information of the light spot profile reflected by each heliostat according to the image information;
and determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat, and calibrating each heliostat.
Further, the flying device is attached with an image acquisition device, and the flying device comprises: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
Further, in the process of the movement of the flying device, the acquiring of the image information acquired by the image acquisition device includes:
collecting heliostat reflection images once every preset time in the movement process of the flight device;
and summarizing the heliostat reflection images to obtain image information collected by the image collection device.
Further, in the moving process of the flying device, acquiring the position information of the image acquisition device, including:
acquiring the position information of the image acquisition device through the positioning data of the positioning assembly;
the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack.
Further, the information acquiring module includes a second location information acquiring unit, and the second location information acquiring unit is specifically configured to:
and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position.
Further, determining the position information of the light spot profile reflected by each heliostat according to the image information, including:
determining a light spot profile of each heliostat reflection image according to the image information based on the position information of the image acquisition device when each heliostat reflection image is acquired;
and acquiring the centroid position of the light spot profile, and determining the centroid position as the position information of the light spot profile reflected by the heliostat.
Further, based on the position information of the image acquisition device when acquiring the heliostat reflection image each time, determining the light spot profile of each heliostat reflection image according to the image information, the method comprises the following steps:
determining the heliostat positions in the range of the reflecting light spots in the image information based on the position information of the image acquisition device when acquiring the heliostat reflection images each time, wherein the heliostat positions correspond to each numbered heliostat;
and determining the light spot profile of each numbered heliostat on the movement track of the flight device according to the image information acquired by the image acquisition device.
In a second aspect, an embodiment of the present invention further provides a calibration apparatus for a heliostat, including:
the motion control signal sending module is used for sending a motion control signal to the flying device and controlling the flying device to move according to the motion control signal; the flight device is attached with an image acquisition device, and the motion control signal comprises the motion speed and the motion direction;
the information acquisition module is used for acquiring the image information acquired by the image acquisition device and acquiring the position information of the image acquisition device in the movement process of the flight device;
the vision algorithm module is used for determining the position information of the light spot profile reflected by each heliostat according to the image information;
and the heliostat calibration module is used for determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat and calibrating each heliostat.
Further, the flying device is attached with an image acquisition device, and the flying device comprises: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
Further, the information acquiring module includes an image information acquiring unit, and the image information acquiring unit is specifically configured to:
collecting heliostat reflection images once every preset time in the movement process of the flight device;
and summarizing the heliostat reflection images to obtain image information collected by the image collection device.
Further, the information obtaining module includes a first location information obtaining unit, where the first location information obtaining unit is specifically configured to:
acquiring the position information of the image acquisition device through the positioning data of the positioning assembly;
the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack.
Further, the information acquiring module includes a second location information acquiring unit, and the second location information acquiring unit is specifically configured to:
and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position.
Further, the visual algorithm module comprises:
the light spot profile determining unit is used for determining the light spot profile of each heliostat reflection image according to the image information based on the position information of the image collecting device when the heliostat reflection image is collected each time;
and the vision algorithm unit is used for acquiring the centroid position of the light spot profile and determining the centroid position as the position information of the light spot profile reflected by the heliostat.
Further, the spot profile determining unit includes:
the heliostat positioning subunit is used for determining the position of the heliostat within the range of the reflecting light spot in the image information based on the position information of the image acquisition device during each acquisition of the reflected image of the heliostat, and the heliostat positioning subunit corresponds to each numbered heliostat;
and the light spot profile determining unit is used for determining the light spot profile of each numbered heliostat on the movement track of the flying device according to the image information acquired by the image acquisition device.
In a third aspect, an embodiment of the present invention further provides a calibration system for a heliostat, including a heat collecting tower, on which a heat collector is disposed, the heat collector being configured to receive solar rays reflected by the heliostat; the heliostat field is composed of at least one heliostat and is used for reflecting solar rays to the heat collector; further comprising:
the flying device is used for carrying the image acquisition device through the detachable plumb frame to acquire images in the movement process;
the image acquisition device consists of at least one image collector, is arranged on the detachable vertical frame and is used for acquiring image information;
the communication device is used for controlling the communication connection of the device with the flying device and the image acquisition device;
the control device is used for executing the calibration method of the heliostat provided by the embodiment of the invention.
Further, the system further comprises:
the automatic dimming device is used for protecting the image acquisition device;
the shell of the flying device is made of a light-reflecting heat-resistant material;
the positioning device is arranged at least one position on the flying device, the image acquisition device and the plumb rack;
the communication device is also used for acquiring the positioning data of the positioning device.
The embodiment of the invention controls the flying device to move according to the motion control signal by arranging the flying device and sending the motion control signal to the flying device; wherein, the flying device is attached with an image acquisition device; in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device; determining the position information of the light spot profile reflected by each heliostat according to the image information; according to the position information of the light spot profile reflected by each heliostat, the calibration parameters of each heliostat are determined, and each heliostat is calibrated, so that the calibration efficiency and the precision of the heliostat are high, the interference of mechanical errors caused by the rotation of the heliostat during calibration is avoided, and the calibration cost of the heliostat is reduced.
Drawings
FIG. 1 is a flow chart of a method for calibrating heliostats provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a flight path of a flight device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a flight process of the flight device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a calibration device for heliostats according to a second embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the steps as a sequential process, many of the steps can be performed in parallel, concurrently or simultaneously. In addition, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Therefore, the invention aims to solve the technical problems that the conventional heliostat calibration technology is low in efficiency and calibration precision, or a calibration mechanism is complex, the operation and maintenance cost is high, and the maintenance is difficult, and provides the heliostat calibration method for the solar power station, which is high in calibration efficiency, simple and convenient in control system, and high in system reliability.
Example one
Fig. 1 is a flowchart of a heliostat calibration method according to an embodiment of the present invention, where the present embodiment is applicable to a case of heliostat calibration, and the method may be executed by a heliostat calibration apparatus according to an embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and may be integrated in a calibration system of a heliostat.
As shown in fig. 1, the calibration method of the heliostat includes:
s110, sending a motion control signal to a flying device, and controlling the flying device to move according to the motion control signal; wherein, image acquisition device is attached to the flying device.
The flying device can be an unmanned aerial vehicle, a larger-scale helicopter or other devices capable of flying in a heliostat field. And controlling the flying device to move according to the motion control signal, wherein the control signal comprises uniform flying, accelerating, decelerating, lifting or lowering and the like. The flight path of the control flying device can be a straight line or a curve.
For example, fig. 2 is a schematic view of a flight trajectory of a flying device according to an embodiment of the present invention, and as shown in fig. 2, the flight trajectory of the flying device may be a line between the heat collecting tower 10 with the heat collector 20 and a heliostat field composed of a plurality of heliostats 30. The flight trajectory may be a straight line, for example, when the heliostat 30 is calibrated with only one heat collecting tower 10, the flight trajectory may be a circle centered on the heat collecting tower 10, when the heliostat 30 is calibrated with a plurality of heat collecting towers 10, and when the heliostats are linearly arranged or arranged in a matrix, the heliostats 30 in one direction of the plurality of heat collecting towers 10 may be calibrated respectively, so that the calibration efficiency of the heliostats may be greatly improved, and excessive consumption of time and manpower in the calibration process of the heliostats may be reduced.
The mode of attaching the image acquisition device to the flying device can be a self-carrying mode, and can also be a mode of carrying an additional device and additionally installing the additional device on the flying device. The additional device can be stably connected below or on the side of the flying device or hinged on the flying device, so that the additional device with the image acquisition device can vertically face downwards no matter the flying device is horizontal or inclined, the calculation amount in the subsequent calibration process is reduced, and the data processing speed can be improved. When a plurality of image acquisition devices exist, the arrangement mode of the image acquisition devices can be uniform arrangement or nonuniform arrangement, and the image acquisition devices can be arranged in a straight line or curve mode or in an array mode.
In this embodiment, optionally, the flying device is attached with an image capturing device, which includes: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
Wherein, the plumb rack can be articulated with between the flying device, can guarantee like this that the direction of plumb rack is vertical downwards all the time.
Exemplarily, fig. 3 is a schematic view of a flight process of a flight device according to a first embodiment of the present invention, as shown in fig. 3, the flight device 40 may be an unmanned aerial vehicle, the plumb bob 50 may be a single-sided frame or a double-sided frame with a certain rigidity, which is made of a metal material or a polymer composite material, and the double-sided frame is taken as an example in fig. 3. The plumb stand 50 may be provided with an image pickup device 60. The plumb bob 50 and the flying device 40 may be hingedly connected. The advantage that sets up like this is at the in-process of flight device along the horizontal direction motion, and the plumb frame takes image acquisition device to remove, can form the effect similar to image acquisition device array when image acquisition device changes along with the position, when improving heliostat calibration efficiency, has also saved the cost of heliostat calibration.
And S120, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device in the movement process of the flight device.
The image acquisition device can continuously acquire image information and can also discontinuously acquire the image information. The image information may be the sum of all images acquired by all image acquisition devices.
In this embodiment, optionally, in the movement process of the flying device, acquiring image information acquired by the image acquisition device includes: collecting heliostat reflection images once every preset time in the movement process of the flight device; and summarizing the heliostat reflection images to obtain image information collected by the image collection device. The preset time may be determined by the moving speed of the flying device, or may be related to the requirement of the heliostat calibration method provided in the embodiment, and may be set to 2s, 5s or 10s, for example. In this embodiment, every preset time, all image acquisition devices gather heliostat reflection image once simultaneously, and the benefit of setting up like this can make the control to the heliostat more convenient, can obtain an image acquisition result similar to virtual image array simultaneously, is favorable to the analysis to heliostat reflection image more.
The position information of the image acquisition device can be acquired by a Positioning component, for example, a Global Positioning System (GPS) or a Beidou Positioning System is adopted, and the Positioning can be performed in other manners.
In this embodiment, optionally, in the process of the movement of the flying device, acquiring the position information of the image capturing device includes: acquiring the position information of the image acquisition device through the positioning data of the positioning assembly; the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack. The number of the positioning assemblies may be one or more, and in order to improve the accuracy of the position information of the image acquisition device, it is preferable that at least two positioning assemblies are provided. When the positioning assembly is arranged on the flying device, the positioning assembly can be arranged above and below the flying device, and also can be arranged at the head and the tail of the flying device. When the positioning assembly is arranged on the image acquisition devices, the positioning device can be arranged on each image acquisition device, or the positioning devices can be arranged on a plurality of fixed image acquisition devices, and the position information of each image acquisition device is determined according to the position relation among the image acquisition devices. When the positioning assembly is arranged on the plumb stand, the positioning assembly can also be arranged at each position on the plumb stand where the image acquisition device is arranged, and also can be arranged above and below the plumb stand or at other fixed positions, so that the position information of each image acquisition device can be determined according to the position relation between each image acquisition device and the plumb stand.
In this embodiment, optionally, in the process of the movement of the flying device, acquiring the position information of the image capturing device includes: and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position.
Preferably, the number of the positioning cameras is two or more, so that at least two positioning devices can acquire images of the flying device during the movement of the flying device, and position information of the flying device is acquired according to an image positioning method, for example, the position of the flying device can be determined according to the position of the positioning camera and the position and size of the flying device in the image of the positioning camera, and further the position information of each image acquisition device is determined. The advantage of setting up like this can fix a position flying device and image acquisition device according to the mode of static location for when the location result that obtains is more accurate, the maintenance of the positioning device of being convenient for.
In each of the above schemes, the image capturing devices may be numbered, and each image capturing device may be distinguished according to the number.
And S130, determining the position information of the light spot profile reflected by each heliostat according to the image information.
In the heliostat calibration process, a solar light source is adopted, so that the obtained light spot profile is approximately circular.
In this embodiment, optionally, determining, according to the image information, position information of the light spot profile reflected by each heliostat includes: determining a light spot profile of each heliostat reflection image according to the image information based on the position information of the image acquisition device when each heliostat reflection image is acquired; the centroid position of the light spot profile is obtained and determined as the position information of the light spot profile reflected by the heliostat, wherein the position information of the light spot profile reflected by the heliostat can be the central position of the light spot profile or the position of other characteristic points of the light spot profile, and for example, the position information of the light spot profile can be represented by coordinates of four points, namely the highest point, the lowest point, the leftmost point and the rightmost point of the light spot profile.
After the virtual image acquisition device array acquires the reflection image of the heliostat, whether the image acquisition device is in the range of the light spot profile reflected by the heliostat at the position can be determined according to the reflection brightness of each heliostat in the image acquired by each image acquisition device at each position. And summarizing all the images, and determining the light spot profile of each heliostat by combining position information of the image acquisition device at the image acquisition time. After the light spot profile is determined, the position information of the light spot profile reflected by the heliostat can be determined according to the centroid position of the light spot profile.
In this embodiment, optionally, determining, based on the position information of the image acquisition device when acquiring the heliostat reflection image each time, a light spot profile of each heliostat reflection image according to the image information includes: determining the heliostat positions in the range of the reflecting light spots in the image information based on the position information of the image acquisition device when acquiring the heliostat reflection images each time, wherein the heliostat positions correspond to each numbered heliostat; and determining the light spot profile of each numbered heliostat on the movement track of the flight device according to the image information acquired by the image acquisition device. According to the scheme, the calibration is carried out independently for each heliostat, the calibration working efficiency of each heliostat in a heliostat field is greatly improved, the effect of simultaneously correcting the heliostats around a plurality of heat collecting towers can be realized, the light spot profiles of each heliostat are distinguished by using serial numbers, and after the calibration coefficient of each heliostat is determined, the calibration can be carried out corresponding to each serial number of heliostat.
S140, determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat, and calibrating each heliostat.
In general, the heliostat can rotate along with the sun by the horizontal axis and the vertical axis in the process of rotating along with the sun, so that the solar rays are reflected on a heat collector of the heat collecting tower, and the utilization of solar energy is realized. After the position information of the heliostat light spot profile is determined, whether the heliostat has deviation or not can be determined according to the position of the heliostat, the position of the heat collector and the position information of the light spot profile, and if the heliostat has deviation, a set of correction coefficients of a horizontal axis and a vertical axis are determined to correct the heliostat.
The embodiment of the invention controls the flying device to move according to the motion control signal by arranging the flying device and sending the motion control signal to the flying device; wherein, the flying device is attached with an image acquisition device; in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device; determining the position information of the light spot profile reflected by each heliostat according to the image information; according to the position information of the light spot profile reflected by each heliostat, the calibration parameters of each heliostat are determined, and each heliostat is calibrated, so that the calibration efficiency and the precision of the heliostat are high, the interference of mechanical errors caused by the rotation of the heliostat during calibration is avoided, and the calibration cost of the heliostat is reduced.
Example two
Fig. 4 is a schematic structural diagram of a calibration device for heliostats according to a second embodiment of the present invention. As shown in fig. 4, the calibration device for heliostat includes:
a motion control signal sending module 410, configured to send a motion control signal to a flying device, and control the flying device to move according to the motion control signal; the flight device is attached with an image acquisition device, and the motion control signal comprises the motion speed and the motion direction;
the information acquisition module 420 is configured to acquire image information acquired by the image acquisition device and acquire position information of the image acquisition device during the movement of the flying device;
the vision algorithm module 430 is used for determining the position information of the light spot profile reflected by each heliostat according to the image information;
and the heliostat calibration module 440 is configured to determine a calibration parameter of each heliostat according to the position information of the light spot profile reflected by each heliostat, and calibrate each heliostat.
The embodiment of the invention controls the flying device to move according to the motion control signal by arranging the flying device and sending the motion control signal to the flying device; wherein, the flying device is attached with an image acquisition device; in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device; determining the position information of the light spot profile reflected by each heliostat according to the image information; according to the position information of the light spot profile reflected by each heliostat, the calibration parameters of each heliostat are determined, and each heliostat is calibrated, so that the calibration efficiency and the precision of the heliostat are high, the interference of mechanical errors caused by the rotation of the heliostat during calibration is avoided, and the calibration cost of the heliostat is reduced.
On the basis of the foregoing embodiments, optionally, the flying device is attached with an image capturing device, which includes: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
On the basis of the foregoing embodiments, optionally, the information obtaining module 420 includes an image information obtaining unit, where the image information obtaining unit is specifically configured to:
collecting heliostat reflection images once every preset time in the movement process of the flight device;
and summarizing the heliostat reflection images to obtain image information collected by the image collection device.
On the basis of the foregoing embodiments, optionally, the information obtaining module 420 includes a first location information obtaining unit, where the first location information obtaining unit is specifically configured to:
acquiring the position information of the image acquisition device through the positioning data of the positioning assembly;
the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack.
On the basis of the foregoing embodiments, optionally, the information acquiring module 420 includes a second location information acquiring unit, where the second location information acquiring unit is specifically configured to:
and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position.
On the basis of the above embodiments, optionally, the visual algorithm module 430 includes:
the light spot profile determining unit is used for determining the light spot profile of each heliostat reflection image according to the image information based on the position information of the image collecting device when the heliostat reflection image is collected each time;
and the vision algorithm unit is used for acquiring the centroid position of the light spot profile and determining the centroid position as the position information of the light spot profile reflected by the heliostat.
On the basis of the foregoing embodiments, optionally, the light spot profile determining unit includes:
the heliostat positioning subunit is used for determining the position of the heliostat within the range of the reflecting light spot in the image information based on the position information of the image acquisition device during each acquisition of the reflected image of the heliostat, and the heliostat positioning subunit corresponds to each numbered heliostat;
and the light spot profile determining unit is used for determining the light spot profile of each numbered heliostat on the movement track of the flying device according to the image information acquired by the image acquisition device.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE III
The embodiment of the invention also provides a calibration system of the heliostat, which comprises a heat collecting tower, wherein a heat collector is arranged on the heat collecting tower and is used for receiving the solar rays reflected by the heliostat; the heliostat field is composed of at least one heliostat and is used for reflecting solar rays to the heat collector; further comprising:
the flying device is used for carrying the image acquisition device through the detachable plumb frame to acquire images in the movement process;
the image acquisition device consists of at least one image collector, is arranged on the detachable vertical frame and is used for acquiring image information;
the communication device is used for controlling the communication connection of the device with the flying device and the image acquisition device;
the control device is configured to execute the heliostat calibration method according to any embodiment of the present invention.
Further, the calibration system of the heliostat further comprises:
the automatic dimming device is used for protecting the image acquisition device;
the shell of the flying device is made of a light-reflecting heat-resistant material;
the positioning device is arranged at least one position on the flying device, the image acquisition device and the plumb rack;
the communication device is also used for acquiring the positioning data of the positioning device.
The embodiment of the invention controls the flying device to move according to the motion control signal by arranging the flying device and sending the motion control signal to the flying device; wherein, the flying device is attached with an image acquisition device; in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device; determining the position information of the light spot profile reflected by each heliostat according to the image information; according to the position information of the light spot profile reflected by each heliostat, the calibration parameters of each heliostat are determined, and each heliostat is calibrated, so that the calibration efficiency and the precision of the heliostat are high, the interference of mechanical errors caused by the rotation of the heliostat during calibration is avoided, and the calibration cost of the heliostat is reduced.
PREFERRED EMBODIMENTS
In order to make the technical solutions provided by the embodiments of the present invention clearly understandable to those skilled in the art, the embodiments of the present invention also provide preferred embodiments.
To achieve the above object, a heliostat calibration system of a solar power plant of the present invention includes: the solar energy collecting device comprises a heat collecting tower, a solar energy collecting device and a solar energy collecting device, wherein the heat collecting tower is provided with a heat collector and is used for receiving sunlight reflected by a heliostat; a heliostat field of at least one heliostat mounted around the heat collection tower; at least one flying device comprising an aircraft for flying over the heliostat field;
the image acquisition device consists of at least one image acquisition device and is used for receiving reflected light of the heliostat; a positioning device comprising a position/image positioning device for obtaining a target coordinate position; the communication device is used for transmitting the image data received by the image acquisition device and the coordinate data acquired by the positioning device to the control unit; and the control unit is used for controlling the flight of the aircraft, calculating the position of the light spot and calibrating the parameters of the heliostat.
The image acquisition device is arranged on the flying device, the positioning device is arranged on the flying device and/or the image acquisition device, the flying device flies in an area capable of receiving light rays reflected by the heliostat, and the image acquisition equipment captures light spot images reflected by the heliostat. The image data acquired by the image acquisition device and the coordinate position data acquired by the positioning device are transmitted to the control unit through the communication device, and the control unit calculates the position information of the heliostat facula image and the corresponding heliostat and finally calculates the error value required to be calibrated by the heliostat.
The image acquisition equipment is installed on the support, and a plurality of image acquisition equipment constitute image acquisition array.
The image acquisition devices are arranged in a vertical and/or horizontal direction.
The image acquisition device is provided with an automatic dimming device.
The positioning device is composed of at least 2 differential GPS positioning devices, and the differential GPS is arranged on the flight device and/or the image acquisition device.
The positioning device is composed of at least 2 image sensors arranged on the ground and a plurality of positioning identification points arranged on the flight device and/or the image acquisition device.
The positioning identification point is at least one optical identification.
At least one heliostat identification device is installed in the heliostat field.
The heliostat identification device is composed of at least one optical mark and/or an artificial light source.
The communication device is arranged on the flight device and/or the image acquisition device.
The shell of the flying device is made of a light-reflecting heat-resistant material.
Meanwhile, the invention discloses a calibration method of the heliostat calibration system applying the solar power station, which comprises the following steps:
a. the control unit controls the flight device to fly in an area capable of capturing light reflected by the heliostat, the image acquisition equipment receives light spots reflected by the heliostat in the flight process, and the image acquisition device acquires image data. The positioning device acquires position coordinate data corresponding to the image acquisition device through a differential GPS and/or a ground image sensor, and determines the position of the heliostat through a heliostat identification device;
b. the communication device transmits the image data and the position coordinate data to the control unit;
c. the control unit calculates the central position of the light spot and a corresponding heliostat according to the acquired light spot image data and position data, and obtains the rotation angle of the heliostat according to the measured value of the angle sensor;
d. and the control unit calculates an error value required to be calibrated by the heliostat and calibrates the heliostat.
Compared with the prior art, the technical scheme of the invention has the following advantages:
(1) the invention adopts the flying device to carry the image device (such as a camera matrix), the control system controls the aircraft, the image acquisition device can fly over the light spot of the heliostat, the image acquisition device captures the light spot, and the heliostat is calibrated according to the acquired data. The method can calibrate a plurality of heliostats at the same time, generally can calibrate hundreds to tens of thousands of heliostats at the same time, improves the calibration efficiency and has high calibration speed.
(2) In addition, during calibration, the heliostat does not need to be controlled to move to a calibration position, so that the complexity of a control system is reduced, and the reliability of the control system is improved.
(3) The calibration system is also suitable for large-scale power station group calibration, when a plurality of photo-thermal solar power stations form a large-scale power station cluster, the calibration requirements of all heliostat fields can be met only by one set of calibration system, and the investment, installation and maintenance cost of the power stations is reduced.
A heliostat alignment system of a solar power plant comprises a heat collector arranged on a heat collecting tower, wherein the heat collector receives sunlight reflected by a heliostat to directly generate steam or electricity; the height of the heat collector from the ground ensures that all heliostats in the heliostat field can be reflected to the heat collector.
Further comprising a field of heliostats mounted around the heat collection tower; the heliostat field comprises at least one heliostat; the heliostat is provided with two rotating shafts, and the heliostat performs pitching rotation and horizontal rotation around the rotating shafts; the dual rotation axes are equipped with angle sensors for accurately determining the actual pitch angle phi and the roll angle omega through which the two rotation axes rotate. The heliostat tracks the moving sun by adjusting the mirror orientation so that sunlight is continuously reflected onto the collector. In this embodiment, the heliostat field is disposed at one side of the heat collector.
In this embodiment, the flying device is a helicopter on which an image capturing device is mounted, and the image capturing device is composed of at least one image capturing device. The calibration light source in this embodiment is a sunlight light source, the cameras are arranged in the vertical direction and are installed below the flight device, the image acquisition device is a column camera with a height of 10 meters, 100 cameras with light reduction devices are installed, and the distance between the cameras is 0.1 meter. The camera is fixed on the I-shaped steel structure frame.
In this embodiment, the casing of the flight device is made of a reflective heat-resistant material.
In this embodiment, the image capturing device is configured with an automatic light reduction device for reducing the light intensity, which is a combination of a light reflection device and/or a light absorption device, in order to protect the image capturing device from the strong light.
In this embodiment, the system further includes a communication device installed on the flight device and/or the image acquisition device, and configured to store the transmission data.
The heliostat calibration system further comprises a positioning device, wherein the positioning device is composed of at least one image sensor arranged on the ground and a plurality of positioning identification points arranged on the flying device and/or the image acquisition device.
The calibration system further comprises a control unit, wherein the control unit receives heliostat light spot images collected by the image collecting device, position information collected by the positioning device and heliostat rotation angle information collected by the angle sensor. The control unit controls the flying device to fly around a heliostat field area to be calibrated, determines the central position of a light spot according to light spot image information acquired by the camera, and determines a corresponding heliostat according to the position of a heliostat identification device in the heliostat field. And finally calibrating the heliostat.
The control unit fits a virtual light spot irradiation surface according to the position point of the corresponding time when the positioning device collects the light spots, so that a two-dimensional graph with the time as a horizontal axis and the serial number of the camera as a vertical axis can be obtained, and the condition that the light spots are captured by the camera is reflected. The control unit calculates the area of the light spot according to the captured outline of the light spot image, and simultaneously calculates the pixel value of the light spot according to the gray scale of the light spot. And calculating the center of the light spot by the control unit according to the position and the brightness information of the light spot image. The positioning device acquires position data of the image acquisition device, the image acquisition device captures images of heliostat identification devices in a heliostat field, and the control unit finds out the corresponding position of each heliostat in the light spot image through the data.
The method for calculating the center of the light spot by the control unit is as follows:
a. the control unit divides the video image with the size of W multiplied by H into a plurality of areas;
b. the control unit calculates the geometric center position coordinates p (i, j) of each area and obtains a pixel value f (i, j) corresponding to the area through gray level analysis;
c. calibrating the heliostat by calculating the coordinates P (X, Y) of the centers of the light spots of the plurality of areas by a gravity center method, wherein the calculation formula of the gravity center method is as follows:
the control unit calculates the mass center of the light spot video image to obtain a deviation value with the geometric center O (XO, YO) of the video image, so that the deviation value of the heliostat to be calibrated is calculated.
In this embodiment, the errors that need to be calibrated are: the method comprises the following steps of (1) calibrating the pitch angle and the yaw angle (phi 0, omega 0) of the heliostat, the non-perpendicularity eta of two rotating shafts, the central position (Xi, Yi and Zi) of the mirror surface of the heliostat by an error calibration method:
the image device comprises a heliostat, a light source and a display, wherein hi is the vertical height of the image device corresponding to the heliostat light spot;
p is a light spot image center;
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (12)
1. A method of calibrating a heliostat, comprising:
sending a motion control signal to a flying device, and controlling the flying device to move according to the motion control signal; wherein, the flying device is attached with an image acquisition device;
in the movement process of the flight device, acquiring image information acquired by the image acquisition device and acquiring position information of the image acquisition device;
determining the position information of the light spot profile reflected by each heliostat according to the image information;
determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat, and calibrating each heliostat;
wherein, in the process of the movement of the flying device, the image information acquired by the image acquisition device is acquired, and the method comprises the following steps:
in the movement process of the flying device, the image acquisition device simultaneously acquires heliostat reflection images once at preset time intervals;
summarizing the heliostat reflection images to obtain image information collected by the image collecting device;
in the process of the movement of the flight device, the position information of the image acquisition device is acquired, and the method comprises the following steps:
and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position, wherein the fixed position is arranged at the bottom of the heat collection tower or in a heliostat field.
2. The method of claim 1, wherein the flying device has attached thereto an image capture device comprising: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
3. The method of claim 1, wherein acquiring the position information of the image acquisition device during the movement of the flying device comprises:
acquiring the position information of the image acquisition device through the positioning data of the positioning assembly;
the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack.
4. The method according to claim 1 or 3, wherein determining position information of a light spot profile reflected by each heliostat according to the image information comprises:
determining a light spot profile of each heliostat reflection image according to the image information based on the position information of the image acquisition device when each heliostat reflection image is acquired;
and acquiring the centroid position of the light spot profile, and determining the centroid position as the position information of the light spot profile reflected by the heliostat.
5. The method of claim 4, wherein determining a light spot profile for each heliostat specular image from the image information based on the position information of the image acquisition device each time a heliostat specular image is acquired comprises:
determining the heliostat positions in the range of the reflecting light spots in the image information based on the position information of the image acquisition device when acquiring the heliostat reflection images each time, wherein the heliostat positions correspond to each numbered heliostat;
and determining the light spot profile of each numbered heliostat on the movement track of the flight device according to the image information acquired by the image acquisition device.
6. An apparatus for calibrating a heliostat, comprising:
the motion control signal sending module is used for sending a motion control signal to the flying device and controlling the flying device to move according to the motion control signal; the flight device is attached with an image acquisition device, and the motion control signal comprises the motion speed and the motion direction;
the information acquisition module is used for acquiring the image information acquired by the image acquisition device and acquiring the position information of the image acquisition device in the movement process of the flight device;
the vision algorithm module is used for determining the position information of the light spot profile reflected by each heliostat according to the image information;
the heliostat calibration module is used for determining calibration parameters of each heliostat according to the position information of the light spot profile reflected by each heliostat and calibrating each heliostat;
the information acquisition module comprises an image information acquisition unit, and the image information acquisition unit is specifically used for:
in the movement process of the flying device, the image acquisition device simultaneously acquires heliostat reflection images once at preset time intervals;
summarizing the heliostat reflection images to obtain image information collected by the image collecting device;
the information acquisition module comprises a second position information acquisition unit, and the second position information acquisition unit is specifically configured to:
and determining the position information of the image acquisition device by acquiring a positioning analysis image acquired by a positioning camera arranged at a fixed position, wherein the fixed position is arranged at the bottom of the heat collection tower or in a heliostat field.
7. The apparatus of claim 6, wherein the flying apparatus is attached with an image capturing device comprising: the flight device is provided with a detachable vertical frame, and the vertical frame is provided with one image acquisition device at intervals of a preset distance.
8. The apparatus according to claim 7, wherein the information obtaining module includes a first location information obtaining unit, and the first location information obtaining unit is specifically configured to:
acquiring the position information of the image acquisition device through the positioning data of the positioning assembly;
the positioning assembly is arranged at least one position on the flying device, the image acquisition device and the plumb rack.
9. The apparatus of claim 6 or 8, wherein the visual algorithm module comprises:
the light spot profile determining unit is used for determining the light spot profile of each heliostat reflection image according to the image information based on the position information of the image collecting device when the heliostat reflection image is collected each time;
and the vision algorithm unit is used for acquiring the centroid position of the light spot profile and determining the centroid position as the position information of the light spot profile reflected by the heliostat.
10. The apparatus according to claim 9, wherein the spot profile determining unit comprises:
the heliostat positioning subunit is used for determining the position of the heliostat within the range of the reflecting light spot in the image information based on the position information of the image acquisition device during each acquisition of the reflected image of the heliostat, and the heliostat positioning subunit corresponds to each numbered heliostat;
and the light spot profile determining unit is used for determining the light spot profile of each numbered heliostat on the movement track of the flying device according to the image information acquired by the image acquisition device.
11. A calibration system of a heliostat comprises a heat collecting tower, wherein a heat collector is arranged on the heat collecting tower and is used for receiving solar rays reflected by the heliostat; the heliostat field is composed of at least one heliostat and is used for reflecting solar rays to the heat collector; it is characterized by also comprising:
the flying device is used for carrying the image acquisition device through the detachable plumb frame to acquire images in the movement process;
the image acquisition device consists of at least one image collector, is arranged on the detachable vertical frame and is used for acquiring image information;
the communication device is used for controlling the communication connection of the device with the flying device and the image acquisition device;
the control device for performing the method of any one of claims 1-5.
12. The calibration system of claim 11, further comprising:
the automatic dimming device is used for protecting the image acquisition device;
the shell of the flying device is made of a light-reflecting heat-resistant material;
the positioning device is arranged at least one position on the flying device, the image acquisition device and the plumb rack;
the communication device is also used for acquiring the positioning data of the positioning device.
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| CN109828612B (en) * | 2019-02-14 | 2021-09-07 | 浙江中控太阳能技术有限公司 | System and method for rapidly correcting heliostat at night by using unmanned aerial vehicle |
| CN109596212B (en) * | 2019-02-14 | 2021-01-12 | 浙江中控太阳能技术有限公司 | Detection system and detection method for heliostat light condensation efficiency |
| CN110262570B (en) * | 2019-06-19 | 2023-01-10 | 深圳中科能投能源有限公司 | Heliostat calibration system and method |
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| CN112465897A (en) * | 2019-09-06 | 2021-03-09 | 北京三快在线科技有限公司 | Equipment calibration method and device |
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| AU2021354132A1 (en) * | 2020-10-01 | 2023-06-08 | Stellenbosch University | Heliostat calibration |
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