Heliostat unmanned aerial vehicle all-weather correction method based on fixed light source

Abstract

The invention belongs to the field of solar thermal power generation, and particularly relates to a heliostat unmanned aerial vehicle all-weather correction method based on a fixed light source. The incident light is formed through the fixed light source; the incident light is tracked and reflected through the heliostat; carrying an image acquisition system to move through the unmanned aerial vehicle, and shooting a light spot picture of the reflected light through the image acquisition system; the center coordinate of the light spot is calculated through the light spot picture, the actual reflected light unit vector of the heliostat is calculated according to the position of the heliostat, the error data of the heliostat is obtained by combining the incident light unit vector of the heliostat, and the heliostat is corrected according to the error data; according to the invention, the correction precision and efficiency of the heliostat field of the tower type solar thermal power generation system can be improved.

Description

Technical Field

[0001] The invention belongs to the field of solar thermal power generation, and in particular relates to an all-weather correction method for a heliostat unmanned aerial vehicle based on a fixed light source. Background Art

[0002] As an important part of the tower solar thermal power generation system, the heliostat reflects sunlight to the absorber at the top of the tower, heats the absorbent, and converts light energy into heat energy, which in turn drives the steam turbine to generate electricity. In a tower solar thermal power station, the tracking accuracy of the heliostat has a significant impact on the system's heat collection, power generation, and equipment safety. In order to improve the utilization of sunlight and ensure the safety of the absorber, the tracking accuracy of the heliostat should be improved to increase the power generation of the power station. In actual situations, the tilt state of the column and the imperfection of the transmission mechanism will affect the tracking accuracy of the heliostat, thereby affecting the accuracy of the reflected sunlight. Therefore, it is necessary to regularly calibrate the heliostat to ensure tracking accuracy.

[0003] The conventional heliostat motion error correction method is based on the target on the heat absorbing tower. At the same time, multiple image collectors are used to aim at the target so that its field of view can cover the entire target area. The heliostat reflects sunlight to the target, and the image collected by the image acquisition system is compared with the ideal situation and adjusted for correction. This correction method can only be performed during the day, which will have a certain impact on the daytime operation of the field. In addition, the sun is moving every moment during the correction, so the incident light incident on the heliostat is also changing with time, which will have a certain impact on the correction accuracy of the heliostat. Therefore, it takes a long time to complete the correction of a heliostat, and the correction speed is slow. Therefore, there is an urgent need for a correction solution that is not affected by the environment and can quickly achieve the sun tracking accuracy. Summary of the invention

[0004] The purpose of the present invention is to improve the correction accuracy and efficiency of the heliostat field of a tower solar thermal power generation system, and to provide an all-weather correction method for a heliostat drone based on a fixed light source.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides an all-weather correction method for a heliostat UAV based on a fixed light source, which specifically comprises the following steps: S1: Select a list of heliostats to be calibrated, so that all heliostats on the list are in a calibration state; S2: Establish a spatial rectangular coordinate system including the x-axis, y-axis and z-axis with the bottom center of the heat absorption tower as the origin, and turn on the fixed light source set on the heat absorption tower; S3: Select one of the heliostats on the list of heliostats to be calibrated, calculate the position of the heliostat and the position of the fixed light source according to the spatial rectangular coordinate system, calculate the incident light unit vector and the theoretical reflected light vector of the heliostat based on the position of the heliostat and the position of the fixed light source, and calculate the theoretical reflected light path of the heliostat according to the position of the heliostat and the theoretical reflected light vector; S4: Set the flight planning route according to the theoretical reflected light path; check the parameters of the drone. If the parameters are correct, control the drone to fly to the planned route, and collect the light spot through the image acquisition system on the drone. If the collected light spot is complete and clear, the heliostat does not need to be calibrated; otherwise, the drone moves in other directions according to the set distance until the image acquisition system collects a complete and clear light spot, and the image acquisition system takes a complete and clear light spot picture; S5: Calculate the center coordinates of the light spot according to the light spot image, calculate the actual reflected light unit vector of the heliostat based on the center coordinates of the light spot and the position of the heliostat, and then obtain the error data of the heliostat in combination with the incident light unit vector of the heliostat, and correct the heliostat according to the error data; S6: Repeat steps S3 to S5 until the calibration of all heliostats on the list of heliostats to be calibrated is completed.

[0006] Preferably, the position of the heliostat is the coordinates of the center point of the heliostat.

[0007] Preferably, the specific method of calculating the position of the heliostat and the position of the fixed light source according to the spatial rectangular coordinate system, and calculating the incident light unit vector and the theoretical reflected light vector of the heliostat based on the position of the heliostat and the position of the fixed light source is: Calculate the position coordinates L of the fixed light source according to the spatial rectangular coordinate system s (0, 0, h) and the coordinates of the center point of the heliostat h1 (x1, y1, z1); set the altitude angle α and azimuth angle γ of the theoretical rotation of the heliostat, and obtain the theoretical unit normal vector n = (sinαcosγ, sinαsinγ, cosα); then the incident light unit vector I = (h1-L s ) / |h1-L s |, theoretical reflected light vector R=I+n.

[0008] Preferably, the specific method for calculating the center coordinates of the light spot according to the light spot image is: The acquired light spot image is preprocessed and noise is removed, and the outline of the light spot is extracted through the image segmentation algorithm to calculate the center coordinates U (x u ,y u , z u ).

[0009] Preferably, the error data includes an altitude error and an azimuth error of the heliostat.

[0010] Preferably, the specific method of calculating the actual reflected light unit vector of the heliostat based on the center coordinates of the light spot and the position of the heliostat, and then obtaining the error data of the heliostat in combination with the incident light unit vector of the heliostat is: Based on the center coordinates of the light spot and the position of the heliostat, the actual unit reflected light vector of the heliostat is calculated as R' = (U-h1) / |U-h1|; the actual mirror unit normal vector of the heliostat is n' = (R'-I) / |R'-I | = (n x ',n y ',n z '); the actual rotation altitude angle of the heliostat α' = arccos(n z '), the actual rotation angle γ' = arctan(n y ' / n x '); Heliostat altitude error α E = α'-α; azimuth error of the heliostat γ E = γ'-γ.

[0011] Preferably, a plurality of the fixed light sources are provided, and the plurality of the fixed light sources cover the mirror field area.

[0012] Preferably, the fixed light source is a point light source, a line light source or a light source that changes brightness or darkness.

[0013] Preferably, the flight planning route is set according to the theoretical reflected light path by using a ray tracing algorithm and an image processing algorithm for calculation and setting.

[0014] Preferably, the coordinates of the center of the light spot are calculated based on the light spot image by using an image processing system.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention forms incident light through a fixed light source; tracks and reflects the incident light through a heliostat; moves the image acquisition system carried by an unmanned aerial vehicle, and takes a spot picture of the reflected light through the image acquisition system; calculates the center coordinates of the spot through the spot picture, and calculates the actual reflected light unit vector of the heliostat according to the position of the heliostat, and then obtains the error data of the heliostat in combination with the incident light unit vector of the heliostat, and corrects the heliostat according to the error data. Compared with the traditional heliostat correction method, the present invention uses an unmanned aerial vehicle to realize the mobility of the image acquisition system, breaks through the limitation of the fixed image acquisition system in the traditional correction method, and solves the problem that the heliostat with large error and offset cannot be accurately corrected in the conventional method by increasing the activity range of the unmanned aerial vehicle, improves the imaging accuracy of the heliostat in the mirror field, and increases the availability of the mirror field. At the same time, the present invention uses a fixed light source to break through the time limit and dependence on sunlight, can realize all-weather heliostat correction work, avoids the influence of sunlight time variability on the correction work, and improves the correction effect and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a flow chart of an all-weather calibration method for a heliostat UAV based on a fixed light source according to the present invention; Figure 2 for Figure 1 Schematic diagram.

[0018] In the figure, 1. heat absorption tower; 2. fixed light source; 3. heliostat; 4. image acquisition system; 5. image processing system. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0022] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings: The purpose of the present invention is to provide an all-weather correction method for heliostat drones based on a fixed light source, such as Figure 1 and Figure 2 As shown, the specific steps include: S1: Select a list of heliostats to be calibrated, and put all heliostats 3 on the list of heliostats to be calibrated into a calibration state through a mirror field control system; S2: Establishing a spatial rectangular coordinate system including an x-axis, a y-axis and a z-axis with the bottom center of the heat absorbing tower 1 as the origin, and turning on a fixed light source 2 disposed on the heat absorbing tower 1; S3: Select one of the heliostats 3 on the list of heliostats to be calibrated, calculate the position of the heliostat 3 (the coordinates of the center point of the heliostat 3 are the position of the heliostat 3) and the position of the fixed light source 2 according to the spatial rectangular coordinate system, calculate the incident light unit vector and the theoretical reflected light vector of the heliostat 3 based on the position of the heliostat 3 and the position of the fixed light source 2, and calculate the theoretical reflected light path of the heliostat 3 according to the position of the heliostat 3 and the theoretical reflected light vector; S4: setting a planned flight route according to the theoretical reflected light path; checking various parameters of the drone, and controlling the drone to fly to the planned route after the parameters are correct, and collecting the light spot through the image acquisition system 4 suspended on the drone. If the collected light spot is complete and clear, the heliostat 3 does not need to be calibrated; otherwise, the drone moves in other directions according to the set distance until the image acquisition system 4 collects a complete and clear light spot, and the image acquisition system 4 takes a complete and clear light spot picture; S5: the image processing system 5 calculates the center coordinates of the light spot according to the light spot image, calculates the actual reflected light unit vector of the heliostat 3 based on the center coordinates of the light spot and the position of the heliostat 3, and then obtains the error data of the heliostat 3 in combination with the incident light unit vector of the heliostat 3. The mirror field control system corrects the heliostat 3 according to the error data; S6: Repeat steps S3 to S5 until the calibration of all heliostats 3 on the list of heliostats to be calibrated is completed.

[0025] The fixed light source 2 of the present invention is installed on the tower body of the heat absorption tower 1, and the fixed light source 2 projects light to the heliostat 3, and the heliostat 3 tracks and reflects the incident light. A ray tracing algorithm is used to calculate the position of the reflected light, and several drones carrying an image acquisition system 4 are controlled to fly and hover at a specified position to collect a spot image of the reflected light; due to the tracking error of the heliostat 3, if the image acquisition system 4 carried by the drone does not obtain a clear and complete spot image, the drone moves in other directions according to the set long distance, and makes a judgment again until a clear and complete spot image appears. Then, the image processing system 5 processes the collected spot image, calculates the actual reflected light unit vector of the heliostat 3 based on the center coordinates of the spot and the position of the heliostat 3, and then combines the incident light unit vector of the heliostat 3 to obtain its error data, and inputs the error data into the mirror field control system to complete the correction process.

[0026] The incident light emitted by the fixed light source 2 is the benchmark for the correction of the heliostat 3. By accurately controlling the position and emission angle of the light source, the consistency and stability of the incident light can be ensured, thereby providing a reliable basis for subsequent correction calculations. At the same time, there are multiple fixed light sources 2, and multiple fixed light sources 2 cover the mirror field area, so that there are stable light sources available at different positions in the mirror field, which helps to reduce the correction blind area caused by the fixed position of a single light source, so that no matter where the heliostat 3 is located in the mirror field, a suitable fixed light source 2 can be found for correction. Through the illumination of multiple fixed light sources 2, the reflection performance of the heliostat 3 can be more comprehensively evaluated, so that the error data can be calculated more accurately and the accuracy of the correction can be improved. The fixed light source 2 is a point light source, a line light source or a light source that changes light intensity. The type of the fixed light source 2 can be selected and matched according to actual needs. The heliostat 3 is a key component in the solar thermal power generation system. The tracking accuracy of the heliostat 3 has a significant impact on the system's heat collection, power generation and equipment safety, and its performance directly affects the efficiency of the entire system. By using the coordinates of the center point of the heliostat 3 as the position of the heliostat 3, the calculation and positioning process of the position of the heliostat 3 is simplified, so that the system can quickly and accurately find the position of each heliostat 3. Through the all-weather correction method of the present invention, it can be ensured that the heliostat 3 always accurately tracks the incident light and forms an ideal reflected light, thereby improving the utilization rate of solar energy and the power generation efficiency. As a carrier of the image acquisition system 4, the drone has a high degree of flexibility and maneuverability. It can quickly and accurately fly to the planned flight path and shoot the light spot formed by the reflected light. Compared with the traditional manual observation method, the drone greatly improves the efficiency and accuracy of the correction, and also reduces the safety risks of the operator. The image acquisition system 4 can take high-resolution pictures of the light spots formed by the reflected light, providing clear raw data for subsequent image processing. The image processing system 5 can pre-process and remove noise from the acquired spot image, eliminate interference factors in the spot image, make the spot contour clearer and more accurate, help improve the calculation accuracy of the spot center coordinates, thereby ensuring the accuracy of subsequent applications, and then extract the spot contour through the image segmentation algorithm. Even if there are some irregularities or noise interference in the spot image, they can be identified and corrected through the algorithm, thereby calculating the spot center coordinates, providing reliable data support for subsequent correction calculations. Based on the position of the heliostat 3 and the position of the fixed light source 2, the incident light unit vector and the theoretical reflected light vector of the heliostat 3 can be calculated, and the theoretical reflected light path of the heliostat 3 can be calculated according to the position of the heliostat 3 and the theoretical reflected light vector; based on the spot center coordinates and the position of the heliostat 3, the actual reflected light unit vector of the heliostat 3 can be calculated, and then the error data of the heliostat is obtained in combination with the incident light unit vector of the heliostat 3, and the error data is input into the mirror field control system; the mirror field control system then corrects the heliostat 3.Through precise control and coordination, the mirror field control system can ensure that each heliostat 3 operates according to the calibrated parameters, thereby improving the efficiency and stability of the entire mirror field.

[0027] Among them, the flight planning route is set according to the theoretical reflected light path using a ray tracing algorithm and an image processing algorithm for calculation and setting. Through the ray tracing algorithm and the image processing algorithm, the flight route can be optimized to ensure that the drone can fly along the optimal path, reducing unnecessary flight time and energy consumption; at the same time, it helps to accurately predict the theoretical reflected light path and provide a reliable basis for flight planning routes.

[0028] The present invention utilizes a drone to realize the mobility of the image acquisition system 4, breaking through the limitation of the fixed image acquisition system 4 in the traditional correction method, and by increasing the range of the drone, solves the problem that the heliostat 3 with large errors and offsets in the conventional method cannot be accurately corrected, improves the imaging accuracy of the heliostat 3 in the mirror field, and increases the availability of the mirror field. At the same time, the present invention uses a fixed light source 2 to break through the time limit and dependence on sunlight, and can realize the correction of the heliostat 3 around the clock, avoiding the influence of the time variability of sunlight on the correction work; compared with the traditional heliostat 3 correction method, the method of the present invention improves the correction effect and efficiency; in addition, by increasing the number of drones and fixed light sources 2, the efficiency of the correction work can be further improved.

[0029] Example S1: Select a list of heliostats to be calibrated, put all heliostats 3 on the list of heliostats to be calibrated into a calibration state through a mirror field control system, and check the states of an image acquisition system 4, an image processing system 5 and a drone for use; S2: Establish a spatial rectangular coordinate system including an x-axis, a y-axis and a z-axis with the bottom center of the heat absorption tower 1 as the origin, wherein the x-axis and the y-axis point to the south and the east respectively, and the z-axis points vertically upward; turn on the fixed light source 2 set on the heat absorption tower 1; S3: Select one of the heliostats 3 on the list of heliostats to be calibrated, and calculate the position coordinates L of the fixed light source 2 according to the spatial rectangular coordinate system. s (0, 0, h) and the coordinates of the center point of heliostat 3 h1 (x1, y1, z1); set the altitude angle α and azimuth angle γ of the theoretical rotation of heliostat 3, the theoretical unit normal vector n of heliostat 3 = (sinαcosγ, sinαsinγ, cosα); the incident light unit vector I of heliostat 3 = (h1-L s ) / |h1-L s |, the theoretical reflected light vector R=I+n, and according to the position of the heliostat 3 (the position of the heliostat 3 to be corrected is the coordinate h1 of the center point of the heliostat 3) and the theoretical reflected light vector, calculate its theoretical reflected light path; S4: Set the flight planning route according to the theoretical reflected light path; check the parameters of the UAV, and control the UAV to fly to the planned route after the parameters are correct, and collect the light spot situation through the image acquisition system 4 on the UAV. If the collected light spot is complete and clear, the heliostat 3 does not need to be calibrated; otherwise, the UAV moves in other directions according to the set distance until a complete and clear light spot picture appears in the image acquisition system 4, and the image acquisition system 4 takes a complete and clear light spot picture; and record the position coordinates of the UAV at this time to provide a reference for the flight position during the next calibration; S5: Use the image processing system 5 to pre-process and remove noise from the acquired light spot image, and extract the outline of the light spot through the image segmentation algorithm, so as to calculate the center coordinate U (x u ,y u , z u ), and then get the actual unit reflected light vector R' = (U-h1) / |U-h1| of the heliostat 3; the actual mirror unit normal vector n' = (R'-I) / |R'-I | = (n x ',n y ',n z '); the actual rotation altitude angle of the heliostat 3 α' = arccos(n z '), the actual rotation angle γ' =arctan(n y ' / n x '); The error data includes the height angle error α of the heliostat 3 to be corrected E = α'-α and azimuth error γ E =γ'-γ, and input the error data into the mirror field control system to correct the heliostat 3; S6: Repeat steps S3 to S5 until the calibration of all heliostats 3 on the list of heliostats to be calibrated is completed.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An all-weather calibration method for heliostat drones based on a fixed light source, characterized in that: The specific steps include: S1: Select a list of heliostats to be calibrated, so that all heliostats on the list are in a calibration state; S2: Establish a spatial rectangular coordinate system including the x-axis, y-axis and z-axis with the bottom center of the heat absorption tower as the origin, and turn on the fixed light source set on the heat absorption tower; S3: Select one of the heliostats on the list of heliostats to be calibrated, calculate the position of the heliostat and the position of the fixed light source according to the spatial rectangular coordinate system, calculate the incident light unit vector and the theoretical reflected light vector of the heliostat based on the position of the heliostat and the position of the fixed light source, and calculate the theoretical reflected light path of the heliostat according to the position of the heliostat and the theoretical reflected light vector; S4: Set the flight planning route according to the theoretical reflected light path; check the parameters of the drone. If the parameters are correct, control the drone to fly to the planned route, and collect the light spot through the image acquisition system on the drone. If the collected light spot is complete and clear, the heliostat does not need to be calibrated; otherwise, the drone moves in other directions according to the set distance until the image acquisition system collects a complete and clear light spot, and the image acquisition system takes a complete and clear light spot picture; S5: Calculate the center coordinates of the light spot according to the light spot image, calculate the actual reflected light unit vector of the heliostat based on the center coordinates of the light spot and the position of the heliostat, and then obtain the error data of the heliostat in combination with the incident light unit vector of the heliostat, and correct the heliostat according to the error data; S6: Repeat steps S3 to S5 until the calibration of all heliostats on the list of heliostats to be calibrated is completed.

2. The all-weather calibration method for heliostat drone based on fixed light source according to claim 1, characterized in that: The position of the heliostat is the center point coordinate of the heliostat.

3. The all-weather calibration method for heliostat drone based on fixed light source according to claim 2, characterized in that: The specific method of calculating the position of the heliostat and the position of the fixed light source according to the spatial rectangular coordinate system, and calculating the incident light unit vector and the theoretical reflected light vector of the heliostat based on the position of the heliostat and the position of the fixed light source is: Calculate the position coordinates L of the fixed light source according to the spatial rectangular coordinate system s (0, 0, h) and the coordinates of the center point of the heliostat h1 (x1, y1, z1); set the altitude angle α and azimuth angle γ of the theoretical rotation of the heliostat, and obtain the theoretical unit normal vector n = (sinαcosγ, sinαsinγ, cosα); then the incident light unit vector I = (h1-L s ) / |h1-L s |, theoretical reflected light vector R=I+n.

4. The all-weather calibration method for heliostat drone based on fixed light source according to claim 3 is characterized in that: The specific method for calculating the center coordinates of the light spot according to the light spot image is: The acquired light spot image is preprocessed and noise is removed, and the outline of the light spot is extracted through the image segmentation algorithm to calculate the center coordinates U (x u ,y u , z u ).

5. The all-weather calibration method for heliostat drone based on fixed light source according to claim 4, characterized in that: The error data includes an altitude error and an azimuth error of the heliostat.

6. The all-weather calibration method for heliostat drone based on fixed light source according to claim 5, characterized in that: The specific method of calculating the actual reflected light unit vector of the heliostat based on the center coordinates of the light spot and the position of the heliostat, and then combining the incident light unit vector of the heliostat to obtain the error data of the heliostat is: Based on the center coordinates of the light spot and the position of the heliostat, the actual unit reflected light vector of the heliostat is calculated as R' = (U-h1) / |U-h1|; the actual mirror unit normal vector of the heliostat is n' = (R'-I) / |R'-I | = (n x ',n y ',n z '); the actual rotation altitude angle of the heliostat α' = arccos(n z '), the actual rotation angle γ' = arctan(n y ' / n x '); Heliostat altitude error α E = α'-α; azimuth error of the heliostat γ E = γ'-γ.

7. The all-weather calibration method for heliostat drone based on fixed light source according to claim 1, characterized in that: A plurality of the fixed light sources are provided, and the plurality of the fixed light sources cover the mirror field area.

8. The all-weather calibration method for heliostat drone based on fixed light source according to claim 1, characterized in that: The fixed light source is a point light source, a line light source or a light source that changes brightness.

9. The all-weather calibration method for heliostat drone based on fixed light source according to claim 1, characterized in that: The flight planning route is set according to the theoretical reflected light path using a ray tracing algorithm and an image processing algorithm for calculation and setting.

10. The all-weather calibration method for heliostat drone based on fixed light source according to claim 1, characterized in that: The coordinates of the center of the light spot are calculated based on the light spot image using an image processing system.

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