CN102937814A - Method and system for dynamically calibrating precision of heliostat of tower type solar thermal power generation system - Google Patents
Method and system for dynamically calibrating precision of heliostat of tower type solar thermal power generation system Download PDFInfo
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- CN102937814A CN102937814A CN2012104233444A CN201210423344A CN102937814A CN 102937814 A CN102937814 A CN 102937814A CN 2012104233444 A CN2012104233444 A CN 2012104233444A CN 201210423344 A CN201210423344 A CN 201210423344A CN 102937814 A CN102937814 A CN 102937814A
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Abstract
The invention provides a method and a system for dynamically calibrating precision of a heliostat of a tower type solar thermal power generation system. The method particularly comprises the steps of setting a facula calibration position track for a facula imaging device in a heliostat field, converting the facula calibration position track into the corresponding heliostat angle turning track, and controlling rotation of the heliostat according to the heliostat angle turning track; during the rotation of the heliostat, enabling a facula collecting device to collect a facula image on the facula imaging device in real time and send the facula image to an image processing device in real time to perform real-time processing, identifying an actual motion track of the facula of the heliostat, and enabling the actual motion track of the facula to correspond to a set theoretical motion track; and calculating the precision of the calibrated heliostat by combining the position information of the heliostat, wherein the precision of the heliostat passes the calibration if the precision reaches the set value. The method and the system break through the idea of statically calibrating the precision of the heliostat. The precision of the heliostat is calculated by dynamically identifying and processing the facula of the heliostat, so that calibrating efficiency of the heliostat and accuracy of results can be effectively improved.
Description
Technical field
The present invention relates to the solar energy thermal-power-generating field, relate in particular to a kind of heliostat precision dynamic method of calibration and system for tower-type solar thermal power generating system.
Background technology
The heliostat that tower-type solar thermal power generating system utilizes the real-time follow-up sun reflexes to heat dump on the pylon with sunshine, produces high temperature and high pressure steam and drives the Turbo-generator Set generating by heating heat absorption working medium in it.
Heliostat field is the important component part of tower-type solar thermal power generating system, and heliostat field is comprised of thousands of heliostats usually.Because heliostat physical construction is being produced, there is certain deviation in the installation process, at the beginning of the heliostat installation, be difficult to accurately sunray be reflexed on the heat dump, therefore need to proofread and correct heliostat and (proofread and correct, namely utilize the solar facula sample on the hot spot harvester collection hot spot imaging device, and carry out Treatment Analysis by image processing algorithm etc., and then constantly reduce the process of tracking error), and regularly heliostat is carried out verification (verification, namely judge the process of heliostat precision), but because heliostat quantity is more and state is different, the heliostat checking procedure can be interfered unavoidably, therefore, science how, finish efficiently the heliostat precision checking and become a difficult problem of needing solution badly.
Traditional heliostat precision checking method is many based on static hot spot recognition technology, this method of calibration is applicable to that mirror field small scale, mirror field shape system are simple, the heliostat state is single, to the less demanding situation of verification efficient, but for Jing Chang extensive, shape complexity processed, if adopt the static check method, not only verification efficient is low, and since in the mirror field heliostat state different, checking procedure is subject to the interference of non-verification state heliostat, so the accuracy of check results and reliability also can't be guaranteed.
Summary of the invention
In order to overcome the defective of prior art, the invention provides a kind of heliostat precision dynamic method of calibration and system of tower-type solar thermal power generating system, the method and system have broken through the idea of heliostat precision static check, calculate the heliostat precision by identification and processing to dynamic heliostat hot spot, but the accuracy of Effective Raise heliostat precision checking efficient and check results.
Technical scheme of the present invention is as follows:
A kind of heliostat precision dynamic method of calibration of tower-type solar thermal power generating system may further comprise the steps:
Step 1: following heliostat precision checking device is set, comprises
Heliostat be used for to be followed the tracks of and reflected sunlight, be this heliostat precision dynamic verification by the verification object;
The hot spot imaging device is used to form the solar facula image;
The hot spot harvester is used for gathering the solar facula image;
Image processing apparatus, the solar facula image that collects for the treatment of the hot spot harvester, wherein, the solar facula image that is formed at the hot spot imaging device by the heliostat reflected sunlight is by the collection of hot spot harvester and transfer to this image processing apparatus and carry out analyzing and processing;
Mirror field control subsystem, be used for according to predefined heliostat hot spot verification track heliostat corner track being calculated, and and then the control heliostat rotate, and the view data result of image processing apparatus read, and calculate the heliostat precision in conjunction with described predefined heliostat hot spot verification track;
Step 2: hot spot verification track arranges.When hot spot verification track arranges, hot spot verification track separately need to be set respectively to hot spot imaging devices different in the mirror field.Hot spot verification rail
Mark need satisfy following requirement: first: track possesses realizability; Second: track possesses the property of differentiation.Realizability refers to that the hot spot verification track that arranges for each hot spot imaging device needs within the spot motion scope of all heliostats that will verification at it, by to being controlled by the verification heliostat, can make in theory it form the spot motion track identical with setting the verification track at the hot spot imaging device; The property distinguished refers to that the movement locus of verification hot spot has the obvious characteristic that is different from interference hot spot or the affiliated hot spot of all the other hot spot imaging devices, image processing apparatus can be in the checking time section all through identifying by the hot spot of verification heliostat the spot tracks on hot spot imaging devices, to avoid interference the impact of hot spot under hot spot or all the other the hot spot imaging devices;
Step 3: heliostat motion control.Owing to the hot spot verification track that each hot spot imaging device is set is different, also be there are differences by the kinetic characteristic of verification heliostat, therefore to realize multiaspect heliostat parallel check, need be carried out separately motion control to every one side by the verification heliostat respectively.In the motion control of single mirror, at first the location track with hot spot is converted into the heliostat corner track corresponding with it, by control ends such as computing machines heliostat corner track is handed down to by the verification heliostat, and the rotation of heliostat is controlled;
Step 4: by the verification spot identification.In by the rotation process of verification heliostat, the light spot image on the hot spot harvester Real-time Collection hot spot imaging device, and send in real time image processing apparatus, image processing apparatus is processed in real time to it after receiving image data.After being finished rotation by the verification heliostat according to the setting track, image processing apparatus is analyzed and is processed processing result images all in the checking time section, simulate the movement locus of the hot spot of all process hot spot imaging devices in this time period, the spot motion track that simulates is mated with the hot spot verification track of this hot spot imaging device setting one by one, identify heliostat hot spot actual motion track;
Step 5: heliostat accuracy computation and judgement.The calculating of heliostat checking precision needs two class data: hot spot actual motion track and hot spot theory movement track.The actual motion track of hot spot can obtain by step 4, and its theory movement track is the hot spot verification track that sets in the step 2, by temporal information two tracks being mapped to obtain arbitrary moment hot spot physical location and hot spot theoretical position information, can calculate by the precision of verification heliostat in conjunction with the heliostat positional information.When the heliostat precision reaches setting value, then be judged as verification and pass through, otherwise heliostat enters correcting state.
A kind of heliostat precision dynamic check system of tower-type solar thermal power generating system comprises:
Heliostat be used for to be followed the tracks of and reflected sunlight, be in the precision checking system by the verification object;
The hot spot imaging device is used to form the solar facula image;
The hot spot harvester is used for gathering the solar facula image;
Image processing apparatus, the solar facula image that collects for the treatment of the hot spot harvester, by the sunshine of heliostat reflection after the hot spot imaging device forms the solar facula image, gather described solar facula image by the hot spot harvester, and solar facula image transmitting to the image processing apparatus that gathers is carried out analyzing and processing; An image processing apparatus is processed respectively the view data that one or more hot spot harvesters collect;
Mirror field control subsystem comprises
Heliostat rotates control module, and it calculates heliostat corner track according to hot spot verification track of setting, and and then the control heliostat rotate; A heliostat rotates the rotation that control module is controlled one or more surfaces heliostat;
Heliostat accuracy computation module, its view data result to image processing apparatus reads, and calculate the heliostat precision in conjunction with the heliostat hot spot verification track of described setting, particularly, can utilize the control end control heliostat rotations such as computing machine, and the view data result of image processing apparatus read, in conjunction with heliostat positional information calculation heliostat precision.
Heliostat precision dynamic check system of the present invention comprises a plurality of heliostat verification agency, and each heliostat verification agency comprises each one of hot spot imaging device and hot spot harvester, and the hot spot imaging device is corresponding one by one with the hot spot harvester.Heliostat precision dynamic check system also comprises image processing apparatus and computer control end, but needn't dispose separately a computer control end and an image processing apparatus for each heliostat correction verification module, a computer control end can rotate the realization of control thread to the rotation control of multiaspect heliostat by a plurality of heliostats are set; Equally, an image processing apparatus also can be processed respectively the view data that a plurality of hot spot harvesters collect by a plurality of image processing threads are set.Each heliostat precision dynamic verification agency walks abreast, works alone, and only be responsible for the verifying work of a heliostat in the arbitrary mechanism of arbitrary operation time, so have what heliostat precision dynamic verification agencies just can how many face heliostats to carry out verification to simultaneously in the mirror field.
Compared with prior art, there is following beneficial effect in the present invention:
The first, the present invention allows in the mirror field a plurality of heliostat precision checking mechanism to work simultaneously, therefore can greatly improve mirror field verification efficient;
The second, method provided by the present invention is based on dynamic spot identification, the work such as avoided hot spot to put in place stopping, static position reads with respect to traditional static hot spot method of calibration, and the checking time of having saved single heliostat has improved verification speed;
The 3rd, method provided by the present invention is taked the spot identification mode of spot motion path matching, avoided the affiliated hot spot of interference hot spot or other hot spot imaging devices to the interference of verification, therefore but not only Effective Raise check results accuracy and reliability can be relaxed in the checking procedure restriction to concurrent service in the mirror field simultaneously.
In sum, the present invention has broken through the idea of heliostat precision static check, solved the problem that the multiaspect heliostat carries out precision checking simultaneously, effectively avoided in the heliostat precision checking process non-verification state heliostat on the impact of check results, removed the heliostat precision checking professional with the conflicting of other business, greatly improved the efficient of heliostat precision checking and the accuracy of check results.
Description of drawings
Fig. 1 is the heliostat precision checking system schematic of the tower-type solar thermal power generating system of the embodiment of the invention;
Fig. 2 is that a plurality of heliostat precision dynamic correction verification modules move synoptic diagram simultaneously in the mirror field of tower-type solar thermal power generating system of the embodiment of the invention;
Fig. 3 is the single heliostat precision dynamic correction verification module workflow diagram of the embodiment of the invention;
Fig. 4 is the hot spot imaging tower synoptic diagram of the embodiment of the invention;
Fig. 5 is the spot tracks synoptic diagram of the different hot spot imaging devices of the embodiment of the invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further explained in detail.
As shown in Figure 1, a kind of heliostat precision dynamic check system of tower-type solar thermal power generating system comprises:
Heliostat 1 be used for to be followed the tracks of and reflected sunlight, be in this heliostat precision checking system by the verification object;
Hot spot imaging device 2 is used to form the solar facula image, is the carrier that hot spot verification track is realized;
Hot spot harvester 3 be used for to gather the solar facula image on the hot spot imaging device 2, and by data transmission system with image data transmission to image processing apparatus 4;
Image processing apparatus 4, be used for processing the solar facula image that hot spot harvester 3 collects, wherein, the solar facula image that is formed at the hot spot imaging device by the heliostat reflected sunlight, by the collection of hot spot harvester and transfer to this image processing apparatus and carry out analyzing and processing, and by data transmission system result is sent to mirror field control subsystem 5;
Mirror field control subsystem 5 is utilized the control ends such as computing machine, and the hot spot verification track that single mirror is set carries out the calculating of heliostat corner, and the control heliostat rotates; View data result to image processing apparatus 4 reads, and in conjunction with heliostat positional information calculation heliostat precision, above-mentioned two kinds of functions can heliostat rotates control module and heliostat accuracy computation module realizes by arranging respectively.
Heliostat precision dynamic check system comprises a plurality of heliostat precision dynamic correction verification modules, as shown in Figure 2 heliostat precision dynamic correction verification module 7a, 7b ... 7n, each heliostat precision dynamic correction verification module is except comprising heliostat, also comprise each one of hot spot imaging device and hot spot harvester, the hot spot imaging device is corresponding one by one with the hot spot harvester, a hot spot imaging device and a hot spot harvester form a heliostat verification agency, and each heliostat verification agency only carries out verification to a heliostat at arbitrary operation time.For example, heliostat precision dynamic correction verification module 7a comprises heliostat 1a, hot spot imaging device 2a and hot spot harvester 3a.In the present embodiment, heliostat precision dynamic check system comprises that also image processing apparatus 4 and mirror field control subsystem 5(specifically are computer control end 6 in the present embodiment), computer control end 6 rotates control module by heliostat a plurality of rotation control thread 6a, 6b is set ... 6n realizes the motion control to the multiaspect heliostat; Equally, an image processing apparatus 4 is also by arranging a plurality of image processing threads 4a, 4b ... 4n processes respectively the view data that a plurality of hot spot harvesters collect.Each heliostat precision dynamic verification agency walks abreast, works alone, and only be responsible for the verifying work of a heliostat in the arbitrary mechanism of arbitrary operation time, so have what heliostat precision dynamic verification agencies just can how many face heliostats to carry out verification to simultaneously in the mirror field.
The workflow of the dynamic check of single heliostat precision specifies its workflow below in conjunction with accompanying drawing as shown in Figure 3.
Step 1: hot spot verification track arranges.When a heliostat is assigned to when carrying out verification in the heliostat precision checking module, at first to open the hot spot harvester 3 in computer control end 6, image processing apparatus 4 and this module.When hot spot verification track arranges, need to separately hot spot verification track be set respectively to hot spot imaging devices 2 different in the mirror field.
Step 2: heliostat motion control.After confirming that the above-mentioned Job readiness of step 1 is complete, the hot spot verification track that computer control end 6 is set according to hot spot imaging device in this correction verification module calculates the heliostat corner track that matches.Issue corner order control heliostat by computer control end 6 after heliostat corner track calculates and finishes and finish rotation according to default corner track.
Step 3: by the verification spot identification.When heliostat begins to rotate, after receiving the information that heliostat begins to rotate, hot spot harvester 3 and image processing apparatus 4 are started working, image data on the hot spot harvester 3 Real-time Collection hot spot imaging devices 2 also sends to image processing apparatus 4 in real time, and result is processed and preserved to image processing apparatus 4 in real time to it after receiving image data.After heliostat rotate in place, hot spot harvester 3 stopped image acquisition work after receiving the information that corner puts in place, and image processing apparatus 4 receives corner and puts in place and all images result is sent to computer control end 6 after the information.Computer control end 6 is processed the view data that receives, generate the spot motion track of all these hot spot imaging devices of process in the checking time section, carry out path matching with the spot motion track of presetting one by one subsequently, thereby identify the hot spot that belongs to this hot spot imaging device.
Step 4: heliostat accuracy computation and judgement.After spot identification work was finished, computer control end 6 mated the verification track of hot spot actual motion track and setting by temporal information, calculated each heliostat precision constantly in the verification, computer control end 6 record heliostat accuracy datas.When the heliostat precision reaches setting value, then be judged as verification and pass through, finish the verification of this heliostat, discharge the resource in this correction verification module, this verification finishes, otherwise heliostat enters correcting state.
For each heliostat precision dynamic correction verification module, accurately identifying the hot spot that belongs to hot spot imaging device in this module is the assurance that realizes accurate verification, and realizes that the approach of spot identification is the spot motion path matching accurately.Carry out in the process at verifying work, owing to have simultaneously the multiaspect heliostat to carry out verification in the mirror field, the heliostat attitude of all the other non-verification states is different, so occurs on the hot spot imaging device disturbing the possibility of hot spot very big.For avoiding interference hot spot verifying work is exerted an influence, require the movement locus of verification hot spot that obvious feature is arranged, can strictly distinguish with the movement locus that disturbs hot spot.
Figure 4 shows that the schematic top plan view of the hot spot imaging tower 8 that the hot spot imaging device is housed.Hot spot imaging tower 8 is located in the heliostat mirror field, the imaging of hot spot shown in present embodiment tower 8 is the quadrangular structure, its four cylinders respectively towards the northwest, southwest, the southeast, northeast four direction, on these four faces, a hot spot imaging device is housed respectively, be respectively hot spot imaging device 2a, 2b, 2c, 2d, when carrying out the heliostat precision checking, projected spot can be carried out verification simultaneously in the four sides heliostat of hot spot imaging device 2a, 2b, 2c, 2d respectively.Only for giving an example, the mounting means of hot spot imaging tower 8 versions and hot spot imaging device is not limited to this herein, and other can satisfy the hot spot imaging tower structure form of verification requirement and the mounting means of hot spot imaging device is protected by the present invention all.
The spot tracks that Figure 5 shows that different hot spot imaging devices is set synoptic diagram.In verification, be mapped on the target hot spot imaging device by miscarrying for avoiding to project the hot spot that closes on the hot spot imaging device, affect target hot spot imaging device to the accurate identification of affiliated hot spot, when hot spot verification track is set, the hot spot verification track of the hot spot imaging device that the strict demarcation of location of need closes on.As shown in Figure 5, hot spot imaging device 2a and hot spot imaging device 2b, 2d position are closed on, then when hot spot verification track arranges, hot spot imaging device 2a is set to a level track from left to right, and the hot spot verification track of hot spot imaging device 2b is set to vertically from the bottom to top, and the hot spot verification track of hot spot imaging device 2d is set to vertically from top to bottom.By that analogy, the hot spot imaging device 2a that closes on hot spot imaging device 2b position and 2c, the hot spot imaging device 2b that closes on hot spot imaging device 2c position and 2d, the hot spot imaging device 2a that closes on hot spot imaging device 2d position and the hot spot verification track of 2c all are strict the differentiations.The described hot spot verification of present embodiment track is straight line, the hot spot verification track of adjacent spots imaging device is by level and vertically to differentiation, but hot spot verification track region separating method is not limited to this, also can adopt the hot spot verification track region separating method of other track form and adjacent spots imaging device, can be the curve forms such as helix such as track, be carried out the differentiation of adjacent track by the sense of rotation of spiral.
More than the disclosed preferred embodiment of the present invention just be used for helping to set forth the present invention.Preferred embodiment does not have all details of detailed descriptionthe, does not limit this invention yet and only is described embodiment.Obviously, according to the content of this instructions, can make many modifications and variations.These embodiment are chosen and specifically described to this instructions, is in order to explain better principle of the present invention and practical application, thereby the technical field technician can understand and utilize the present invention well under making.The present invention only is subjected to the restriction of claims and four corner and equivalent.
Claims (9)
1. the heliostat precision dynamic method of calibration of a tower-type solar thermal power generating system is characterized in that, may further comprise the steps:
Step 1: heliostat precision dynamic check system is set, and this system comprises:
Heliostat be used for to be followed the tracks of and reflected sunlight, be this heliostat precision dynamic verification by the verification object;
The hot spot imaging device is used to form the solar facula image;
The hot spot harvester is used for gathering the solar facula image;
Image processing apparatus, the solar facula image that collects for the treatment of the hot spot harvester, wherein, the solar facula image that is formed at the hot spot imaging device by the heliostat reflected sunlight is by the collection of hot spot harvester and transfer to this image processing apparatus and carry out analyzing and processing;
Mirror field control subsystem, be used for according to predefined heliostat hot spot verification track heliostat corner track being calculated, and and then the control heliostat rotate, and the view data result of image processing apparatus read, and calculate the heliostat precision in conjunction with described predefined heliostat hot spot verification track;
Step 2: hot spot verification track arranges,
Hot spot imaging devices different in the mirror field is arranged respectively separately hot spot verification track, and described hot spot verification track has and is different from the obvious characteristic of disturbing hot spot under hot spot or all the other the hot spot imaging devices;
Step 3: the heliostat motion control,
By described mirror field control subsystem the hot spot verification track that step 2 arranges is converted into the heliostat corner track corresponding with it, and heliostat corner track is handed down to by the verification heliostat, according to the rotation of above-mentioned heliostat corner TRAJECTORY CONTROL heliostat;
Step 4: by the verification spot identification,
In by the rotation process of verification heliostat, light spot image on the hot spot harvester Real-time Collection hot spot imaging device, and send in real time image processing apparatus, image processing apparatus is processed in real time to it after receiving image data, after being finished rotation by the verification heliostat according to the setting track, image processing apparatus is analyzed and is processed view data results all in the checking time section, simulate the movement locus of the hot spot of all process hot spot imaging devices in this time period, with the spot motion track that simulates one by one with step 2 in the hot spot verification track of this hot spot imaging device setting mate, identify heliostat hot spot actual motion track;
Step 5: heliostat accuracy computation and judgement,
The hot spot verification track that by temporal information actual motion track and the step 2 of step 4 gained hot spot is set by mirror field control subsystem is mapped and obtains arbitrary moment hot spot physical location and hot spot theoretical position information, go out by the precision of verification heliostat in conjunction with the heliostat positional information calculation, when the heliostat precision reaches setting value, then be judged as verification and pass through, otherwise heliostat enters correcting state.
2. heliostat precision dynamic method of calibration according to claim 1, it is characterized in that, a plurality of hot spot imaging devices and a plurality of hot spot harvester are set simultaneously the multiaspect heliostat is carried out verification, and, accordingly, a plurality of image processing threads are set in image processing apparatus to be processed respectively with the view data that a plurality of hot spot harvesters are collected, and, a plurality of heliostats are set in the control subsystem of mirror field rotate the control thread so that the rotation of multiaspect heliostat is controlled respectively.
3. heliostat precision dynamic method of calibration according to claim 1 is characterized in that, in the step 2, the hot spot verification track that each hot spot imaging device is arranged is within the spot motion scope of one or more heliostats of its verification.
4. heliostat precision dynamic method of calibration according to claim 1 is characterized in that, the hot spot verification track of hot spot imaging device is straight line, and the hot spot verification track of adjacent different hot spot imaging devices points to different directions.
5. heliostat precision dynamic method of calibration according to claim 4 is characterized in that, wherein the hot spot verification track of a hot spot imaging device be level to, the hot spot verification track of the hot spot imaging device that is adjacent for vertically to.
6. heliostat precision dynamic method of calibration according to claim 1 is characterized in that, wherein the hot spot verification track of a hot spot imaging device is helix, and the hot spot verification track of the hot spot imaging device that is adjacent is the different helix of sense of rotation.
7. the heliostat precision dynamic check system of a tower-type solar thermal power generating system is characterized in that, comprising:
Heliostat be used for to be followed the tracks of and reflected sunlight, be in this heliostat precision dynamic check system by the verification object;
The hot spot imaging device is used to form the solar facula image;
The hot spot harvester is used for gathering the solar facula image;
Image processing apparatus, for the treatment of the solar facula image that the hot spot harvester collects, an image processing apparatus is processed respectively the view data that one or more hot spot harvesters collect; Wherein, the solar facula image that is formed at the hot spot imaging device by the heliostat reflected sunlight is by the collection of hot spot harvester and transfer to this image processing apparatus and carry out analyzing and processing;
Mirror field control subsystem comprises:
Heliostat rotates control module, and it calculates heliostat corner track according to predefined heliostat hot spot verification track, and and then the control heliostat rotate, a heliostat rotates the rotation that control module is controlled one or more surfaces heliostat;
Heliostat accuracy computation module, its view data result to image processing apparatus reads, and calculates the heliostat precision in conjunction with described predefined heliostat hot spot verification track;
Wherein
A hot spot imaging device and a hot spot harvester form a heliostat verification agency, and the hot spot imaging device is corresponding one by one with the hot spot harvester, and each heliostat verification agency only carries out verification to a heliostat at arbitrary operation time; This heliostat precision dynamic check system comprises a plurality of above-mentioned heliostat verification agency, and each heliostat verification agency walks abreast, works alone.
8. heliostat precision dynamic check system according to claim 7 is characterized in that, described image processing apparatus is processed respectively the view data that a plurality of hot spot harvesters collect by a plurality of image processing threads are set.
9. heliostat precision dynamic check system according to claim 7 is characterized in that, described heliostat rotates control module and rotates the realization of control thread to the rotation control of multiaspect heliostat by a plurality of heliostats are set.
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