CN102722183B - Image tracking system and image tracking algorithm for double-cylinder multi-FOV (field of view) sun photometer - Google Patents
Image tracking system and image tracking algorithm for double-cylinder multi-FOV (field of view) sun photometer Download PDFInfo
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Abstract
The invention discloses an image tracking system and an image tracking algorithm for a double-cylinder multi-FOV (field of view) sun photometer. The image tracking system for the double-cylinder multi-FOV sun photometer comprises an image forming photic cylinder, a CCD (charged coupled device) image sensor, an image capturing module, a movement control module, an industrial personal computer, and a rotary table. The movement control module is controlled by the industrial personal computer to enable the rotary table to correctly return to an initial position in two degrees of freedom in horizontal and elevated directions. After a broad-tracking command is issued by a user via the industrial personal computer, the rotary table is controlled by the movement control module to enable the image forming photic cylinder to align to the sun, parallel sunlight forms an image on a target surface of the CCD via the image forming photic cylinder, the image capturing module is commanded, by the industrial personal computer via a procedure, to capture a sun image output by the CCD image sensor and transmits the sun image to the industrial personal computer, then an accurate-tracking command is issued by the industrial personal computer so that the movement control module can control the rotary table to accurately track the sun, and the tracking accuracy is higher than one arc-second. By the aid of the image tracking system and the image tracking algorithm for the double-cylinder multi-FOV sun photometer, the limitation problem that a conventional sun photometer, in the presence of uneven clouds, cannot accurately track the sun by utilizing distribution of four-quadrant light intensity is solved.
Description
Technical field
The present invention relates to the solar tracking technical field of direct solar radiation ratemeter in atmospheric science, be specially many visual fields of a kind of bitubular heliograph image tracking system and algorithm.
Background technology
In atmospheric science, by obtaining the optical property of atmospheric aerosol and cirrus to the measurement of the narrow wave band direct solar radiation in narrow visual field intensity, atmospheric aerosol and cirrus are at atmosphere radiation, in optical engineering application and weather Changeement, all occupy critical role, by directly and indirect effect affect energy equilibrium in atmosphere and the detection of atmosphere Spatial Object thing, traditional monotubular monoscopic heliograph is widely used in the measurement of optical properties of aerosol, it is measured application and depends critically upon cloudless weather condition, and many visual fields of bitubular heliograph that Anhui ray machine is developed in the recent period not only can be measured the optical properties of aerosol under ceiling unlimited weather condition, also can carry out by the measurement of different field angle direct solar radiation intensity the optical property of inverting cirrus, and be used for distinguishing cirrus and gasoloid, and can the key of heliograph measurement direct solar radiation intensity be precisely follow the tracks of the sun.
Traditional monotubular monoscopic heliograph adopts 4 quadrant detector to follow the tracks of, 4 quadrant detector is followed the tracks of the sun according to solar facula in the difference of four quadrant energy distribution, under cloudless weather condition, solar facula is uniformly distributed 4 quadrant detector and can precisely follows the tracks of the sun, and there iing under cloud weather condition solar facula owing to being subject to cirrus to affect the inhomogeneous sun of can not precisely following the tracks of of light distribution, heliograph is had relatively high expectations to the tracking accuracy of the sun, if adopt 4 quadrant detector to follow the tracks of, can affect measurement result, the present invention applies in the heliograph of many visual fields of the bitubular and in conjunction with the astronomical round-the-clock accurate tracking that realizes heliograph depending on day trace tracking method by ccd image sensor tracking technique.
In recent years, the image tracking technique of the sun is used in the sun tracker of solar electrical energy generation more, mostly be to adopt the fish eye lens of pinhole imaging system or larger visual field determine the position of the sun and then follow the tracks of the sun by image processing techniques, tracking accuracy is all lower, the people such as Wang Hongrui are greater than 10 jiaos minutes according to the Intelligent dual-mode sun tracker tracking accuracy of pinhole imaging system design, the solar tracking electricity generation system tracking accuracy that design is revised in identification according to fish eye images such as Xu Xiaobing is also in 0.1 °, these tracking accuracies do not reach the requirement of heliograph, the present invention adopts lens imaging, astronomy is combined and reaches higher tracking accuracy depending on day trace tracking method and image processing techniques, be suitable for many visual fields of bitubular heliograph for measuring cirrus optical property, also can be applicable to other occasion higher to solar tracking accuracy requirement.
Summary of the invention
The object of the invention is to provide many visual fields of a kind of bitubular heliograph image tracking system and algorithm, to solve solar tracking system measurement inconvenience in prior art heliograph, has circumscribed problem.
In order to achieve the above object, the technical solution adopted in the present invention is:
Many visual fields of bitubular heliograph image tracking system, it is characterized in that: include imaging cylinder, ccd image sensor, image capture module, motion-control module, industrial computer, turntable, described turntable comprises rotatable parts, pitching stepper motor, horizontal stepper motor, zeroing fixture, base member case, described rotatable parts comprise that at right angle setting is in the arm that horizontally rotates of base member case, the pitch rotation arm that is parallel to base member case, described pitch rotation arm is arranged between two sway braces that horizontally rotate arm, pitch rotation arm overcoat has box detector, box detector front end bottom is provided with two large light cylinders, box detector upper front end is provided with and the strict parallel imaging cylinder of the large light cylinder in two of bottoms, described imaging cylinder inwall blacking, front end perforate is also embedded with decay optical filter, the cemented doublet by the positive negative lens group one-tenth of gummed is contained in imaging cylinder inside, rear end perforate and with external thread, the front of described ccd image sensor is provided with CCD target surface, there is blacking at CCD target surface place and is with female camera lens circle, camera lens circle is connected with described imaging cylinder, the back side of ccd image sensor comprises supply socket and BNC image output plug, described ccd image sensor is positioned at box detector middle-end pitch rotation arm upside, described pitching stepper motor is installed on pitch rotation arm left side and horizontally rotates arm left support arm upside, described horizontal stepper motor is positioned at and horizontally rotates the arm seat-box of going to the bottom, described zeroing fixture comprises horizontal zero location optoelectronic switch and pitching zero-bit location optoelectronic switch, lay respectively at by pitching stepper motor and horizontal stepper motor, be combined with motion-control module limit signal and realize pitching and horizontal zero location, in described base member case, also include stepper motor driver, power transfer module, base member case upper surface is provided with level meter, the drive end of described stepper motor driver and pitching stepper motor, horizontal stepper motor connects driving respectively and horizontally rotates arm, pitch rotation arm, the control end of described stepper motor driver is connected with motion-control module, the PCI plug of described motion-control module is connected with the PCI slot of industrial computer, the supply socket of ccd image sensor is connected with power transfer module by power lead, the BNC image input plug of described image capture module is connected with the BNC image output plug of described ccd image sensor by BNC connecting line, the PCI plug of image capture module is connected with industrial computer PCI slot.
Described base member case lower surface with three can spiral shell feet, triangular in shape.
The clear aperature of described imaging cylinder is 13mm, inner cemented doublet combined focal length is 110.3mm, before balsaming lens, light tube length is 83mm, decay optical filter in imaging cylinder front end is for the sunshine of the incident that decays, parallel sunshine after decay images in through cemented doublet on the CCD target surface of ccd sensor, forms sun image hot spot.
Described CCD target surface is of a size of wide 6.4mm, high 4.8mm, diagonal line 8mm.Ccd image sensor is directly converted to analog current signal by optical signalling, current signal is through amplifying and analog to digital conversion, last output digital image signal, valid pixel 440K, ccd image sensor is connected and can completely solar facula be imaged on CCD target surface by screw thread pair with imaging cylinder.
Described power transfer module is converted to DC12V, DC24V by civil power AC220V, is respectively ccd image sensor, stepper motor driver power supply.
Described image capture module adopts OK image series capture card, with PCI slot, be connected with industrial computer, the built-in function of being convenient to all kinds of Programming with Pascal Language is provided, described motion-control module adopts four shaft step motor control card PCI-8144, each axle is with limit signal, and the initial position fix that can be used for pitching and horizontally rotate, is convenient to the realization of sun full-automatic tracking, with PCI slot, be connected with described industrial computer, the built-in function of being convenient to all kinds of Programming with Pascal Language is provided.
After described two large light cylinders are followed the accurate sun by image tracking system, receive intensity of solar radiation, two large light cylinders are strictly parallel with imaging cylinder, are equidistantly positioned at imaging cylinder downside.
Many visual fields of bitubular heliograph image tracking algorithm, is characterized in that: comprise the following steps:
(1) in laboratory, utilize parallel light tube to find ccd image sensor field of view center coordinate (x ', y '), centered by ccd image sensor field of view center coordinate, set M * M between a rectangle region;
(2) by level meter and compass in observation base member case, making turntable just face southern level puts;
(3) motion-control module drives pitching and the running of horizontal stepper motor and detects in real time limit signal and find initial position, and allows initial sun altitude θ '=0, solar azimuth
(4) read industrial computer internal time and local longitude and latitude, according to astronomy, look day trace tracking method and calculate sun altitude and a position angle, and record sun altitude and position angle is respectively
obtain altitude of the sun angular difference Δ θ=θ-θ ' and the angle of cut
altitude of the sun angular difference and the angle of cut are converted to respectively to pitching motor driving step number and horizontal motor driving step number, motion-control module is according to driving step number to drive respectively pitching stepper motor and the running of horizontal stepper motor, allow the imaging cylinder in initial position face toward the sun, make θ '=θ
(5) the decay optical filter of sun directional light in imaging cylinder front end decayed and passed through cemented doublet focal imaging in the CCD of ccd image sensor rake face;
(6) ccd image sensor is through back surface B NC image output plug output sun image to image capture module, and industrial computer programmed control image acquisition module carries out image acquisition, and image capture module is sent to the sun image collecting in industrial computer;
(7) in industrial computer program, the sun image collecting is detected, in detected image, whether have solar facula, without solar facula, circulation (4) (5) (6) (7);
(8) there is solar facula, utilize image processing techniques center of arc method to calculate solar facula centre coordinate (x, y), solar facula centre coordinate and ccd image sensor field of view center coordinate are compared, obtain pitching pel spacing Δ x=x-x ' and horizontal pixel pitch Δ y=y-y ', two pel spacings are converted to motor and drive step number, two pel spacings are greater than rectangle region one half, fast driving pitching and horizontal stepper motor enter in rectangle region solar facula, two spacing are less than rectangle region one half, intense adjustment pitching and horizontal stepper motor until solar facula center and sensor field of view center pixel spacing set ± 3 pixels in,
(9) by sun field angle, be about 32 jiaos minutes, on CCD rake face, solar facula diameter pixel has 164, and the tracking pixel of setting is ± 3, can the actual tracking accuracy of computed image as follows:
The pitch rotation of system drives worm screw to rotate with horizontally rotating by stepper motor, worm and wheel engagement, its ratio of gear is 1:120, when worm screw is rotated 1.8 ° of step angles and stepper motor 2 segmentation with stepper motor, worm gear only rotates 0.45 ', consider the solar facula diameter pixel error of calculation and step angle equal error, can think that the minimum tracking accuracy of system was higher than 1 jiao minute;
(10) circulation step (7) (8), can all-weather follows the tracks of the sun and tracking accuracy higher than 1 jiao minute, and while finishing to follow the tracks of, motion-control module turns round to initial position by detecting spacing signal driver pitching and horizontal stepper motor in conjunction with zeroing fixture.
Principle of the present invention is:
Many visual fields of bitubular heliograph image tracking system need find the field of view center of ccd image sensor photosurface before using in laboratory by parallel light tube, during work, its turntable must just face southern level and puts, industrial computer controlled motion control module makes turntable automatically in level and two degree of freedom of pitch orientation, correctly to get back to initial position, first user issues after thick trace command depending on day trace tracking method by the astronomy of industrial computer, by moving control module for controlling turntable, rotate and make imaging cylinder facing to the sun, sun directional light is through the imaging on ccd image sensor rake face of imaging cylinder, industrial computer says the word to image capture module by program, the sun image of image capture module pick-up transducers output is also returned to industrial computer by sun image, industrial computer issues after smart trace command by image processing techniques tracking, by moving control module for controlling turntable, precisely follow the tracks of the sun, tracking accuracy was higher than 1 jiao minute.
The good effect that compared with prior art the present invention has is:
1) the image tracking technique of the sun is used in atmospheric science field direct solar radiation ionization meter instrument first;
2) adopt the astronomical double mode tracking technique combining depending on day trace tracking method and image processing techniques tracking, can realize the round-the-clock full-automatic tracking of non-rainy weather, tracking accuracy was higher than 1 jiao minute;
3) solved traditional heliograph utilizes the distribution of four-quadrant light intensity to follow the tracks of the limitation problem that the sun can be inaccurate when having heterogeneous cloud;
Accompanying drawing explanation
Fig. 1 is structured flowchart of the present invention.
Fig. 2 is imaging barrel structure schematic diagram of the present invention.
Fig. 3 is turntable general structure schematic diagram of the present invention.
Fig. 4 is algorithm flow chart of the present invention.
Fig. 5 is image tracking effect figure.
Embodiment
As shown in Figure 1, Figure 2, Figure 3 shows.Many visual fields of bitubular heliograph image tracking system, include imaging cylinder 16, ccd image sensor 3, image capture module 11, motion-control module 12, industrial computer 13, turntable 1, imaging cylinder 16 is positioned at turntable 1 box detector 25 front ends, inwall blacking, front end perforate is also embedded with decay optical filter 14, the cemented doublet 15 by the positive negative lens group one-tenth of gummed is contained in inside, rear end perforate and with external thread, ccd image sensor 3 is positioned at turntable 1 box detector 25 middle-ends, there is blacking at positive CCD target surface 5 places and is with female camera lens circle 4, be connected with imaging cylinder 16 screw thread pairs, the back side comprises supply socket 6 and BNC image output plug 7, supply socket 6 is connected with power transfer module 2 by power lead, power transfer module 2 is in turntable 1 base member case 23, image capture module 11 left sides are with BNC image input plug, by BNC connecting line, be connected with ccd image sensor 3 BNC image output plugs 7, bottom side is PCI plug, be connected with industrial computer 13 PCI slots, motion-control module 12 left sides are 68 pin hole sockets, bottom side is PCI plug, be connected with industrial computer 13 PCI slots, industrial computer 13 comprises a plurality of PCI slots, inside is inserted with image capture module 11 and motion-control module 12, for obtain sun image under program designation, send out control command to motion-control module 12 and receive the signal of being passed back by motion-control module 12, turntable 1 comprises rotatable parts, pitching stepper motor 8, horizontal stepper motor 9, zeroing fixture, base member case 21, rotatable parts comprise and horizontally rotate arm 18 perpendicular to base member case 21, the pitch rotation arm 19 that is parallel to base member case 21, pitch rotation arm 19 is arranged between two sway braces that horizontally rotate arm 18, pitch rotation arm 19 overcoats have box detector 23, box detector 23 upper front end are provided with and the strict parallel imaging cylinder 16 of the large light cylinder 17 in bottom two, the ccd image sensor 3 being connected with imaging cylinder 16 is positioned at box detector 23 middle-end pitch rotation arm 19 upsides, pitching stepper motor 8 is installed on pitch rotation arm 19 left sides and horizontally rotates arm 18 left support arm upsides, horizontal stepper motor 9 is positioned at and horizontally rotates arm 18 seat-box 21 of going to the bottom, zeroing fixture comprises pitching zero-bit location optoelectronic switch and horizontal zero location optoelectronic switch, lay respectively at pitching stepper motor 8 and horizontal stepper motor 9 sides, be combined with motion-control module 12 limit signals and realize pitching and horizontal zero location, in base member case 21, comprise horizontal stepper motor 9, horizontal zero location optoelectronic switch, stepper motor driver 10, power transfer module 2, base member case 21 upper surfaces are equipped with level meter 20, lower surface with three can spiral shell feet 22, triangular in shape, stepper motor driver 10 one side and pitching stepper motor 8, horizontal stepper motor 9 connects driving respectively and horizontally rotates arm 18, pitch rotation arm 19, be connected with motion-control module 12 on the other hand.
Imaging cylinder 16 clear aperatures are 13mm, inner cemented doublet 15 combined focal lengths are 110.3mm, cemented doublet 15 above light tube length is 83mm, decay optical filter 14 in imaging cylinder 16 front ends is for the sunshine of the incident that decays, parallel sunshine after decay images in through cemented doublet 15 on the CCD target surface 5 of ccd image sensor 3, forms sun image hot spot.
Ccd image sensor 3 is directly converted to analog current signal by optical signalling, current signal is through amplifying and analog to digital conversion, last output digital image signal, valid pixel 440K, CCD target surface 5 is of a size of wide 6.4mm, high 4.8mm, diagonal line 8mm, ccd image sensor 3 is connected and can completely solar facula be imaged in to CCD target surface 5 by screw thread pair with imaging cylinder 16.
Power transfer module 2 is converted to DC12V, DC24V by civil power AC220V, is respectively ccd image sensor 3, stepper motor driver 10 power supplies.
Image capture module 11 adopts OK image series capture card, with PCI slot, be connected with industrial computer 13, the built-in function of being convenient to all kinds of Programming with Pascal Language is provided, motion-control module 12 adopts four shaft step motor control card PCI-8144, each axle is with limit signal, combine with pitching zero-bit location optoelectronic switch and horizontal zero location optoelectronic switch, the initial position fix that can be used for pitching and horizontally rotate, initial position refers to imaging cylinder 16 horizontal aligument due south on turntable 1, when limit signal being detected and be 0, motion-control module 12 drives pitching and horizontal stepper motors 8, 9 rotate, when detecting when limit signal is 1, stop operating, find initial position, be convenient to the realization of sun full-automatic tracking, with PCI slot, be connected with industrial computer 13, the built-in function of being convenient to all kinds of Programming with Pascal Language is provided.
After two large light cylinders 17 are followed the accurate sun by image tracking system, receive intensity of solar radiation, two large light cylinders 17 are strictly parallel with imaging cylinder 16, are equidistantly positioned at imaging cylinder 16 downsides.
As shown in Figure 4, many visual fields of bitubular heliograph image tracking algorithm flow process is as follows:
(1) many visual fields of bitubular heliograph image tracking system utilize in must laboratory before using parallel light tube find ccd image sensor 3 field of view center coordinates (x ', y '), centered by ccd image sensor 3 field of view center coordinates, set M * M between a rectangle region;
(2) must by turntable 1, just face southern level by level meter 20 and compass in observation base member case 21 puts;
(3) after system energising start, industrial computer 13 issues trace command under program designation, motion-control module 12 detects limit signal, when limit signal being detected and be 0, motion-control module 12 drives pitching and horizontal stepper motor 8,9 rotate and detect in real time limit signal, when detecting when limit signal is 1, stops operating, and finds initial position, and allow initial position sun altitude θ '=0, solar azimuth
it is imaging cylinder horizontal aligument due south on turntable 1;
(4) read industrial computer 13 internal times and local longitude and latitude, according to astronomy, look day trace tracking method and calculate sun altitude and a position angle, and record sun altitude and position angle is respectively
obtain altitude of the sun angular difference Δ θ=θ-θ ' and the angle of cut
altitude of the sun angular difference and the angle of cut are converted to respectively to pitching motor driving step number and horizontal motor driving step number, 12 of motion control moulds drive respectively pitching stepper motor 8 and 9 runnings of horizontal stepper motor according to driving step number, allow the imaging cylinder 16 in initial position face toward the sun, and allow θ '=θ
(5) the decay optical filter 14 of sun directional light in imaging cylinder 16 front ends decayed and passed through cemented doublet 15 focal imagings in ccd image sensor 3 CCD rake faces 5;
(6) ccd image sensor 3 is exported sun images to image capture module 11 through back surface B NC image output plug 7, industrial computer 13 programmed control image acquisition modules 11 carry out image acquisition, and image capture module 11 is sent to the sun image collecting in industrial computer 13;
(7) in industrial computer 13 programs, the sun image collecting is detected, in detected image, whether have solar facula, without solar facula, circulation (4) (5) (6) (7);
(8) there is solar facula, utilize image processing techniques center of arc method to calculate solar facula centre coordinate (x, y), solar facula centre coordinate and sensor field of view centre coordinate are compared, obtain pitching pel spacing Δ x=x-x ' and horizontal pixel pitch Δ y=y-y ', two pel spacings are converted to motor and drive step number, two pel spacings are greater than rectangle region one half, fast driving pitching and horizontal stepper motor 8, 9 enter in rectangle region solar facula, two spacing are all less than rectangle region one half, intense adjustment pitching and horizontal stepper motor 8, 9 until solar facula center and sensor field of view center pixel spacing set ± 3 pixels in, with the accurate sun, tracking effect figure as shown in Figure 5,
(9) continue to follow the tracks of, circulation step (7) (8), can all-weather follow the tracks of the sun and tracking accuracy higher than 1 jiao minute, while finish following the tracks of, motion-control module 12, in conjunction with zeroing fixture by detecting spacing signal driver pitching and 8,9 runnings of horizontal stepper motor make imaging cylinder 16 horizontal aligument due south, is got back to initial position.
Claims (7)
1. many visual fields of bitubular heliograph image tracking system, it is characterized in that: include imaging cylinder, ccd image sensor, image capture module, motion-control module, industrial computer, turntable, described turntable comprises rotatable parts, pitching stepper motor, horizontal stepper motor, zeroing fixture, base member case, described rotatable parts comprise that at right angle setting is in the arm that horizontally rotates of base member case, the pitch rotation arm that is parallel to base member case, described pitch rotation arm is arranged between two sway braces that horizontally rotate arm, pitch rotation arm is set with box detector outward, box detector front end bottom is provided with two large light cylinders, box detector upper front end is provided with and the strict parallel imaging cylinder of the large light cylinder in two of bottoms, described imaging cylinder inwall blacking, front end perforate is also embedded with decay optical filter, the cemented doublet by the positive negative lens group one-tenth of gummed is contained in imaging cylinder inside, imaging tube rear end perforate and with external thread, the front of described ccd image sensor is provided with CCD target surface, there is blacking at CCD target surface place and is with female camera lens circle, camera lens circle is connected with described imaging cylinder, the back side of ccd image sensor comprises supply socket and BNC image output plug, described ccd image sensor is positioned at box detector middle-end pitch rotation arm upside, described pitching stepper motor is installed on pitch rotation arm left side and horizontally rotates arm left support arm upside, described horizontal stepper motor is positioned at and horizontally rotates the arm seat-box of going to the bottom, described zeroing fixture comprises horizontal zero location optoelectronic switch and pitching zero-bit location optoelectronic switch, lays respectively at by pitching stepper motor and horizontal stepper motor, in described base member case, also include stepper motor driver, power transfer module, base member case upper surface is provided with level meter, the drive end of described stepper motor driver and pitching stepper motor, horizontal stepper motor connects driving respectively and horizontally rotates arm, pitch rotation arm, the control end of described stepper motor driver is connected with motion-control module, the PCI plug of described motion-control module is connected with the PCI slot of industrial computer, the supply socket of ccd image sensor is connected with power transfer module by power lead, the BNC image input plug of described image capture module is connected with the BNC image output plug of described ccd image sensor by BNC connecting line, the PCI plug of image capture module is connected with the PCI slot of industrial computer.
2. many visual fields of the bitubular according to claim 1 heliograph image tracking system, is characterized in that: described base member case lower surface with three can spiral shell feet, triangular in shape.
3. many visual fields of the bitubular according to claim 1 heliograph image tracking system, is characterized in that: the clear aperature of described imaging cylinder is 13mm, and inner cemented doublet combined focal length is 110.3mm, and light tube length is 83mm before balsaming lens.
4. many visual fields of the bitubular according to claim 1 heliograph image tracking system, is characterized in that: described CCD target surface is of a size of wide 6.4mm high 4.8mm, diagonal line 8mm.
5. many visual fields of the bitubular according to claim 1 heliograph image tracking system, is characterized in that: described power transfer module is converted to DC12V, DC24V by civil power AC220V, is respectively ccd image sensor, stepper motor driver power supply.
6. many visual fields of the bitubular according to claim 1 heliograph image tracking system, it is characterized in that: described image capture module adopts OK image series capture card, described motion-control module adopts four shaft step motor control card PCI-8144, and each axle is with limit signal.
7. many visual fields of a kind of bitubular heliograph image tracking algorithm based on claim 1, is characterized in that: comprise the following steps:
(1) in laboratory, utilize parallel light tube to find ccd image sensor field of view center coordinate (x ', y '), centered by ccd image sensor field of view center coordinate, set M * M between a rectangle region;
(2) by level meter and compass in observation base member case, making turntable just face southern level puts;
(3) motion-control module drives pitching and the running of horizontal stepper motor and detects in real time limit signal and find initial position, and allows initial sun altitude θ '=0, solar azimuth
(4) read industrial computer internal time and local longitude and latitude, according to astronomy, look day trace tracking method and calculate sun altitude and a position angle, and record sun altitude and position angle be respectively θ and
, obtain altitude of the sun angular difference △ θ=θ-θ ' and the angle of cut
altitude of the sun angular difference and the angle of cut are converted to respectively to pitching motor driving step number and horizontal motor driving step number, motion-control module is according to driving step number to drive respectively pitching stepper motor and the running of horizontal stepper motor, allow the imaging cylinder in initial position face toward the sun, make θ '=θ
(5) the decay optical filter of sun directional light in imaging cylinder front end decayed and passed through cemented doublet focal imaging in the CCD of ccd image sensor rake face;
(6) ccd image sensor is through back surface B NC image output plug output sun image to image capture module, and industrial computer programmed control image acquisition module carries out image acquisition, and image capture module is sent to the sun image collecting in industrial computer;
(7) in industrial computer program, the sun image collecting is detected, in detected image, whether have solar facula, without solar facula, circulation step (4) (5) (6) (7);
(8) there is solar facula, utilize image processing techniques center of arc method to calculate solar facula centre coordinate (x, y), solar facula centre coordinate and ccd image sensor field of view center coordinate are compared, obtain pitching pel spacing △ x=x-x ' and horizontal pixel pitch △ y=y-y ', two pel spacings are converted to motor and drive step number, two pel spacings are greater than rectangle region one half, fast driving pitching and horizontal stepper motor enter in rectangle region solar facula, two spacing are less than rectangle region one half, intense adjustment pitching and horizontal stepper motor until solar facula center and sensor field of view center pixel spacing set ± 3 pixels in,
(9) by sun field angle, be about 32 jiaos minutes, on CCD rake face, solar facula diameter pixel has 164, and the tracking pixel of setting is ± 3, can the actual tracking accuracy of computed image as follows:
The pitch rotation of system drives worm screw to rotate with horizontally rotating by stepper motor, worm and wheel engagement, its ratio of gear is 1:120, when worm screw is rotated 1.8 ° of step angles and stepper motor 2 segmentation with stepper motor, worm gear only rotates 0.45 ', consider the error of the solar facula diameter pixel error of calculation and step angle, can think that the minimum tracking accuracy of system was higher than 1 jiao minute;
(10) circulation step (7) (8), can all-weather follows the tracks of the sun and tracking accuracy higher than 1 jiao minute, and while finishing to follow the tracks of, motion-control module turns round to initial position by detecting spacing signal driver pitching and horizontal stepper motor in conjunction with zeroing fixture.
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| CN103885457B (en) * | 2013-12-11 | 2016-09-07 | 杭州电子科技大学 | A kind of photosensitive sun position sensor |
| CN104834324A (en) * | 2015-05-13 | 2015-08-12 | 南京工程学院 | Sun tracking controller and method based on sun movement locus and image acquisition |
| CN106680151A (en) * | 2015-11-05 | 2017-05-17 | 无锡鼎立光测科技有限公司 | Solar battery oxidation membrane hydrophilic angle determinator |
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