CN102937814B - 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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- CN102937814B CN102937814B CN201210423344.4A CN201210423344A CN102937814B CN 102937814 B CN102937814 B CN 102937814B CN 201210423344 A CN201210423344 A CN 201210423344A CN 102937814 B CN102937814 B CN 102937814B
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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 solar energy thermal-power-generating field, particularly relate to a kind of heliostat precision dynamic method of calibration for tower-type solar thermal power generating system and system.
Background technology
Tower-type solar thermal power generating system utilizes the heliostat of the real-time follow-up sun sunshine to be reflexed to heat dump on pylon, produces high temperature and high pressure steam drive Turbo-generator Set generating by the heat absorption working medium heated in it.
Heliostat field is the important component part of tower-type solar thermal power generating system, and heliostat field is made up of thousands of heliostats usually.Because heliostat physical construction is in production, certain deviation is there is in installation process, be difficult to accurately sunray be reflexed on heat dump at the beginning of heliostat installation, therefore need to correct heliostat (to correct, namely the solar facula sample on hot spot harvester collection hot spot imaging device is utilized, and carry out Treatment Analysis by image processing algorithm etc., and then constantly reduce the process of tracking error), and regularly (verification is verified to heliostat, namely the process of heliostat precision is judged), but because heliostat quantity is more and state is different, heliostat checking procedure can be interfered unavoidably, therefore, how science, complete heliostat precision checking efficiently and become the difficult problem needing solution badly.
Traditional heliostat precision checking method is many based on static hot spot recognition technology, this method of calibration is applicable to mirror field small scale, mirror field shape system is simple, heliostat state is single, the situation not high to verification efficiency requirements, but for Jing Chang that is extensive, shape complexity, according to static check method, not only verify efficiency low, and due to heliostat state in mirror field different, checking procedure is subject to the interference of non-verification state heliostat, and therefore the accuracy of check results and reliability also cannot be guaranteed.
Summary of the invention
In order to overcome the defect 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 breach the idea of heliostat precision static check, by calculating heliostat precision to the identification of dynamic heliostat hot spot and process, the accuracy of heliostat precision checking efficiency and check results effectively can be improved.
Technical scheme of the present invention is as follows:
A heliostat precision dynamic method of calibration for tower-type solar thermal power generating system, comprises the following steps:
Step 1: following heliostat precision checking device is set, comprises
Heliostat, for follow the tracks of and reflected sunlight, be this heliostat precision dynamic verification by verification object;
Hot spot imaging device, for the formation of solar facula image;
Hot spot harvester, for gathering solar facula image;
Image processing apparatus, for the treatment of the solar facula image that hot spot harvester collects, wherein, the solar facula image formed at hot spot imaging device by heliostat reflected sunlight, is gathered by hot spot harvester and transfers to this image processing apparatus and carry out analyzing and processing;
Mirror field control subsystem, for calculating heliostat corner track according to the heliostat hot spot verification track preset, and and then control heliostat rotate, and the image data processing result of image processing apparatus is read, and the heliostat hot spot verification trajectory calculation heliostat precision preset described in combining;
Step 2: hot spot verification track is arranged.When hot spot verification track is arranged, need to arrange respective hot spot verification track respectively to hot spot imaging devices different in mirror field.Hot spot verification rail
Mark need meet following requirement: first: track possesses realizability; Second: track possesses ga s safety degree.Realizability refers within the spot motion scope of all heliostats that the hot spot verification track arranged for each hot spot imaging device will need verify at it, by controlling by verification heliostat, it can be made in theory to be formed on hot spot imaging device and to verify the identical spot motion track of track with setting; Ga s safety degree refers to that the movement locus of verification hot spot has the obvious characteristic being different from hot spot belonging to interference hot spot or all the other hot spot imaging devices, image processing apparatus can identify by the hot spot of verification heliostat in checking time section in all spot tracks through hot spot imaging device, to avoid interference the impact of hot spot belonging to hot spot or all the other hot spot imaging devices;
Step 3: heliostat motion control.Hot spot verification track set by each hot spot imaging device is different, also be there are differences, therefore will realize multiaspect heliostat parallel check by the kinetic characteristic of verification heliostat, needs to be carried out motion control to every one side separately by verification heliostat respectively.In the motion control of single mirror, first the location track of 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 verification heliostat, and the rotation of heliostat is controlled;
Step 4: by verification spot identification.Verified in the rotation process of heliostat, the light spot image on hot spot harvester Real-time Collection hot spot imaging device, and sending to image processing apparatus in real time, image processing apparatus processes in real time to it after receiving image data.After being completed rotation by verification heliostat according to setting track, image processing apparatus carries out treatment and analysis to processing result images all in checking time section, simulate the movement locus of all hot spots through hot spot imaging device in this time period, the hot spot that the spot motion track simulated is arranged with this hot spot imaging device is one by one verified track mate, 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 obtains by step 4, and the hot spot verification track set in its theory movement track and step 2, by temporal information two tracks are mapped and can obtain any instant hot spot physical location and hot spot theoretical position information, can calculate by the precision of verification heliostat in conjunction with heliostat positional information.When heliostat precision reaches setting value, be then judged as that verification is passed through, otherwise heliostat enters correcting state.
A heliostat precision dynamic check system for tower-type solar thermal power generating system, comprising:
Heliostat, for follow the tracks of and reflected sunlight, be in precision checking system by verification object;
Hot spot imaging device, for the formation of solar facula image;
Hot spot harvester, for gathering solar facula image;
Image processing apparatus, for the treatment of the solar facula image that hot spot harvester collects, the sunshine reflected by heliostat is after hot spot imaging device forms solar facula image, gather described solar facula image by hot spot harvester, and the solar facula image transmitting of collection is carried out analyzing and processing to image processing apparatus; An image processing apparatus processes respectively to the view data that one or more hot spot harvester collects;
Mirror field control subsystem, comprises
Heliostat rotate control module, its according to setting hot spot verification track heliostat corner track is calculated, and and then control heliostat rotate; A heliostat rotates the rotation that control module controls one or more surfaces heliostat;
Heliostat accuracy computation module, it reads the image data processing result of image processing apparatus, and verify trajectory calculation heliostat precision in conjunction with the heliostat hot spot of described setting, particularly, the control ends such as computing machine can be utilized to control heliostat rotate, and the image data processing result of image processing apparatus is read, in conjunction with heliostat positional information calculation heliostat precision.
Heliostat precision dynamic check system of the present invention comprises multiple heliostat verification agency, and each heliostat verification agency comprises hot spot imaging device and each one of hot spot harvester, hot spot imaging device and hot spot harvester one_to_one corresponding.Heliostat precision dynamic check system also comprises image processing apparatus and computing machine control end, but need not be that each heliostat correction verification module configures separately a computing machine control end and an image processing apparatus, a computing machine control end can realize controlling the rotation of multiaspect heliostat by arranging multiple heliostat rotation control thread; Equally, an image processing apparatus also can process the view data that multiple hot spot harvester collects by arranging multiple image procossing thread respectively.Each heliostat precision dynamic verification agency walks abreast, works alone, and the verifying work of a heliostat is only responsible in the arbitrary mechanism of arbitrary operation time, therefore there are how many heliostat precision dynamic verification agencies just can verify how many heliostats in mirror field simultaneously.
Compared with prior art, there is following beneficial effect in the present invention:
The first, the present invention allows multiple heliostat precision checking mechanism in mirror field to work simultaneously, therefore greatly can improve Jing Chang and verify efficiency;
The second, method provided by the present invention, based on dynamic spot identification, avoids hot spot relative to traditional static hot spot method of calibration and to put in place the work such as stopping, static position reading, saved the checking time of single heliostat, improve verification speed;
3rd, method provided by the present invention takes the spot identification mode of spot motion path matching, avoid hot spot belonging to interference hot spot or other hot spot imaging devices to the interference of verification, therefore not only can effectively improve check results accuracy and reliability, the restriction to concurrent service in mirror field in checking procedure can be relaxed simultaneously.
In sum, the present invention breaches the idea of heliostat precision static check, solve the problem that multiaspect heliostat carries out precision checking simultaneously, to effectively prevent in heliostat precision checking process non-verification state heliostat to the impact of check results, relieve conflicting of heliostat precision checking business and other business, drastically increase the efficiency of heliostat precision checking and the accuracy of check results.
Accompanying drawing explanation
Fig. 1 is the heliostat precision checking system schematic of the tower-type solar thermal power generating system of the embodiment of the present invention;
Fig. 2 is that in the mirror field of the tower-type solar thermal power generating system of the embodiment of the present invention, multiple heliostat precision dynamic correction verification module runs schematic diagram simultaneously;
Fig. 3 is the single heliostat precision dynamic correction verification module workflow diagram of the embodiment of the present invention;
Fig. 4 is the hot spot imaging tower schematic diagram of the embodiment of the present invention;
Fig. 5 is the spot tracks schematic diagram of the different hot spot imaging devices of the embodiment of the present 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, comprising:
Heliostat 1, for follow the tracks of and reflected sunlight, be in this heliostat precision checking system by verification object;
Hot spot imaging device 2, for the formation of solar facula image, is the carrier of hot spot verification path implementation;
Hot spot harvester 3, for gathering the solar facula image on hot spot imaging device 2, and by data transmission system by 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 formed at hot spot imaging device by heliostat reflected sunlight, gathered by 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, utilizes the control ends such as computing machine, carries out the calculating of heliostat corner, and control heliostat rotation to the hot spot verification track that single mirror sets; Read the image data processing result of image processing apparatus 4, in conjunction with heliostat positional information calculation heliostat precision, above-mentioned two kinds of functions can rotate control module respectively by arranging heliostat and heliostat accuracy computation module realizes.
Heliostat precision dynamic check system comprises multiple heliostat precision dynamic correction verification module, heliostat precision dynamic correction verification module 7a, 7b as shown in Figure 2 ... 7n, each heliostat precision dynamic correction verification module is except comprising heliostat, also comprise hot spot imaging device and each one of hot spot harvester, hot spot imaging device and hot spot harvester one_to_one corresponding, a hot spot imaging device and a hot spot harvester form a heliostat verification agency, and each heliostat verification agency only verifies a heliostat at arbitrary operation time.Such as, 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 also comprises image processing apparatus 4 and mirror field control subsystem 5(is specifically computing machine control end 6 in the present embodiment), computing machine control end 6 rotates control module by heliostat and arranges multiple rotation control thread 6a, 6b ... 6n realizes the motion control to multiaspect heliostat; Equally, an image processing apparatus 4 is also by arranging multiple image procossing thread 4a, 4b ... 4n processes respectively to the view data that multiple hot spot harvester collects.Each heliostat precision dynamic verification agency walks abreast, works alone, and the verifying work of a heliostat is only responsible in the arbitrary mechanism of arbitrary operation time, therefore there are how many heliostat precision dynamic verification agencies just can verify how many heliostats in mirror field simultaneously.
The workflow of the dynamic check of single heliostat precision as shown in Figure 3, illustrates its workflow below in conjunction with accompanying drawing.
Step 1: hot spot verification track is arranged.When a heliostat be assigned to verify in a heliostat precision checking module time, first to open the hot spot harvester 3 in computing machine control end 6, image processing apparatus 4 and this module.When hot spot verification track is arranged, need to arrange respective hot spot verification track respectively to hot spot imaging devices 2 different in mirror field.
Step 2: heliostat motion control.After the above-mentioned Job readiness of confirmation step 1, the heliostat corner track that computing machine control end 6 goes out to match according to the hot spot verification trajectory calculation of hot spot imaging device setting in this correction verification module.Issue corner order control heliostat by computing machine control end 6 after heliostat corner trajectory calculation completes and complete rotation according to the corner track preset.
Step 3: by verification spot identification.While heliostat starts to rotate, receive heliostat start rotate information after, hot spot harvester 3 and image processing apparatus 4 are started working, image data on hot spot harvester 3 Real-time Collection hot spot imaging device 2 also sends to image processing apparatus 4 in real time, and image processing apparatus 4 carries out process in real time and specimens preserving result to it after receiving image data.After heliostat rotate in place, hot spot harvester 3 stops image acquisition work after receiving the information that corner puts in place, and image processing apparatus 4 receives corner and puts in place after information all images result is sent to computing machine control end 6.The view data received processes by computing machine control end 6, generate the spot motion track of this hot spot imaging device of all processes in checking time section, carry out path matching with the spot motion track preset one by one subsequently, thus identify the hot spot belonging to this hot spot imaging device.
Step 4: heliostat accuracy computation and judgement.After spot identification work completes, hot spot actual motion track is mated by temporal information with the verification track of setting by computing machine control end 6, and calculate the heliostat precision in each moment in verification, computing machine control end 6 records heliostat accuracy data.When heliostat precision reaches setting value, be then judged as that verification is passed through, complete the verification of this heliostat, discharge the resource in this correction verification module, this verifies end, otherwise heliostat enters correcting state.
For each heliostat precision dynamic correction verification module, accurately identifying the hot spot belonging to hot spot imaging device in this module is the guarantee realizing precisely verification, and the approach realizing spot identification is accurately spot motion path matching.Carry out in process at verifying work, owing to there being multiaspect heliostat to verify in mirror field simultaneously, the heliostat attitude of all the other non-verification states is different, therefore hot spot imaging device occurs that the possibility of interference hot spot is very big.For avoiding interference hot spot, verifying work being had an impact, requiring that the movement locus of verification hot spot has obvious feature, strictly can distinguish with the movement locus of interference hot spot.
Figure 4 shows that the schematic top plan view of the hot spot imaging tower 8 that hot spot imaging device is housed.Hot spot imaging tower 8 is located in heliostat mirror field, the imaging of hot spot shown in the present embodiment tower 8 is quadrangular structure, its four cylinders respectively towards northwest, southwest, the southeast, northeast four direction, a hot spot imaging device is respectively equipped with in these four faces, be respectively hot spot imaging device 2a, 2b, 2c, 2d, when carrying out heliostat precision checking, projected spot can verify in the four sides heliostat of hot spot imaging device 2a, 2b, 2c, 2d simultaneously respectively.Be only citing herein, the mounting means of hot spot imaging tower 8 version and hot spot imaging device is not limited thereto, and the mounting means of other hot spot imaging tower structure form and hot spot imaging device that can meet verification requirement is all protected by the present invention.
Figure 5 shows that the spot tracks setting schematic diagram of different hot spot imaging device.In verification, be mapped on target hot spot imaging device for avoiding projecting the hot spot closed on hot spot imaging device by miscarrying, affect the accurate identification of target hot spot imaging device to affiliated hot spot, when arranging hot spot verification track, the hot spot verification track of the hot spot imaging device needing strict demarcation of location to close 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 is arranged, 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, the hot spot verification track of hot spot imaging device 2d is set to vertically from top to bottom.By that analogy, it is all strictly distinguish that hot spot imaging device 2a and 2c closed on hot spot imaging device 2b position, hot spot imaging device 2b and 2d closed on hot spot imaging device 2c position, the hot spot of hot spot imaging device 2a and 2c closed on hot spot imaging device 2d position verify track.Described in the present embodiment, hot spot verification 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 differentiating method is not limited thereto, also can adopt the hot spot verification track differentiating method of other track form and adjacent spots imaging device, if track can be the curve forms such as helix, carried out the differentiation of adjacent track by the sense of rotation of spiral.
The disclosed preferred embodiment of the present invention just sets forth the present invention for helping above.Preferred embodiment does not have all details of detailed descriptionthe, does not limit the embodiment that this invention is only described yet.Obviously, according to the content of this instructions, can make many modifications and variations.This instructions is chosen and is specifically described these embodiments, is to explain principle of the present invention and practical application better, thus makes art technician understand well and to utilize the present invention.The present invention is only subject to the restriction of claims and four corner and equivalent.
Claims (9)
1. a heliostat precision dynamic method of calibration for tower-type solar thermal power generating system, is characterized in that, comprise the following steps:
Step 1: arrange heliostat precision dynamic check system, this system comprises:
Heliostat, for follow the tracks of and reflected sunlight, be this heliostat precision dynamic verification by verification object;
Hot spot imaging device, for the formation of solar facula image;
Hot spot harvester, for gathering solar facula image;
Image processing apparatus, for the treatment of the solar facula image that hot spot harvester collects, wherein, the solar facula image formed at hot spot imaging device by heliostat reflected sunlight, is gathered by hot spot harvester and transfers to this image processing apparatus and carry out analyzing and processing;
Mirror field control subsystem, for calculating heliostat corner track according to the heliostat hot spot verification track preset, and and then control heliostat rotate, and the image data processing result of image processing apparatus is read, and the heliostat hot spot verification trajectory calculation heliostat precision preset described in combining;
Step 2: hot spot verification track is arranged,
Arrange respective hot spot verification track respectively to hot spot imaging devices different in mirror field, described hot spot verification track has the obvious characteristic being different from hot spot belonging to interference hot spot or all the other hot spot imaging devices;
Step 3: heliostat motion control,
Hot spot verification track step 2 arranged by described mirror field control subsystem is converted into the heliostat corner track corresponding with it, and is handed down to by heliostat corner track by verification heliostat, according to the rotation of above-mentioned heliostat corner TRAJECTORY CONTROL heliostat;
Step 4: by verification spot identification,
Verified in the rotation process of heliostat, light spot image on hot spot harvester Real-time Collection hot spot imaging device, and send to image processing apparatus in real time, image processing apparatus processes in real time to it after receiving image data, after being completed rotation by verification heliostat according to setting track, image processing apparatus carries out treatment and analysis to image data processing result all in checking time section, simulate the movement locus of all hot spots through hot spot imaging device in this time period, the hot spot that the spot motion track simulated is arranged with this hot spot imaging device in step 2 is one by one verified track mate, identify heliostat hot spot actual motion track,
Step 5: heliostat accuracy computation and judgement,
By temporal information, the hot spot set by the actual motion track of step 4 gained hot spot and step 2 is verified track by mirror field control subsystem to be mapped and to obtain any instant hot spot physical location and hot spot theoretical position information, go out by the precision of verification heliostat in conjunction with heliostat positional information calculation, when heliostat precision reaches setting value, then be judged as that verification is passed through, otherwise heliostat enters correcting state.
2. heliostat precision dynamic method of calibration according to claim 1, it is characterized in that, multiple hot spot imaging device and multiple hot spot harvester are set to verify multiaspect heliostat simultaneously, and, accordingly, in image processing apparatus, arrange multiple image procossing thread process respectively with the view data collected multiple hot spot harvester, and, multiple heliostat is set in the control subsystem of mirror field and rotates control thread to control respectively the rotation of multiaspect heliostat.
3. heliostat precision dynamic method of calibration according to claim 1, is characterized in that, in step 2, verifies track within the spot motion scope of its one or more heliostats verified to the hot spot that each hot spot imaging device is arranged.
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 of adjacent different hot spot imaging devices verification track 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 hot spot verification track from level to, the hot spot imaging device be 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 be adjacent is the helix that sense of rotation is different.
7. a heliostat precision dynamic check system for tower-type solar thermal power generating system, comprising:
Heliostat, for follow the tracks of and reflected sunlight, be in this heliostat precision dynamic check system by verification object;
Hot spot imaging device, for the formation of solar facula image;
Hot spot harvester, for gathering solar facula image;
Image processing apparatus, for the treatment of the solar facula image that hot spot harvester collects, an image processing apparatus processes respectively to the view data that one or more hot spot harvester collects; Wherein, the solar facula image formed at hot spot imaging device by heliostat reflected sunlight, is gathered by hot spot harvester and transfers to this image processing apparatus and carry out analyzing and processing;
It is characterized in that, also comprise: mirror field control subsystem, this mirror field control subsystem comprises further:
Heliostat rotates control module, and it calculates heliostat corner track according to the heliostat hot spot verification track preset, and and then control heliostat and rotate, heliostat rotates the rotation that control module controls one or more surfaces heliostat;
Heliostat accuracy computation module, it reads the image data processing result of image processing apparatus, and the heliostat hot spot verification trajectory calculation heliostat precision preset described in combining;
Wherein
A hot spot imaging device and a hot spot harvester form a heliostat verification agency, and hot spot imaging device and hot spot harvester one_to_one corresponding, each heliostat verification agency only verifies a heliostat at arbitrary operation time; This heliostat precision dynamic check system comprises multiple 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 processes the view data that multiple hot spot harvester collects respectively by arranging multiple image procossing thread.
9. heliostat precision dynamic check system according to claim 7, is characterized in that, described heliostat rotates control module and realizes controlling the rotation of multiaspect heliostat by arranging multiple heliostat rotation control thread.
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| US10309691B1 (en) | 2017-11-27 | 2019-06-04 | Shanghai Parasol Renewable Energy Co., Ltd | Heliostat correction system based on celestial body images and its method |
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