Regulation and control method and system for mirror field deviation rectification

Abstract

The invention relates to the technical field of photo-thermal power generation, and discloses a regulation and control method and system for mirror field deviation rectification, and the system comprises a camera group, a receiver and a control module. The control module is connected with the camera group and the receiver and comprises an acquisition unit, a judgment unit, a first processing unit, an adjustment judgment unit and a second processing unit; the acquisition unit determines a theoretical pointing angle and an actual pointing angle of the heliostat; the judgment unit judges whether the heliostat needs to be rectified once or not according to the pointing angle deviation value; the first processing unit performs primary deviation correction on the heliostat according to the environment similarity to obtain a primary adjustment pointing angle; the adjustment judgment unit judges whether secondary deviation correction needs to be carried out on the heliostat or not according to the focus position data; and the second processing unit performs secondary deviation correction on the heliostat according to the deformation data to obtain a secondary adjustment pointing angle. The overall energy collection efficiency of the solar tower is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photothermal power generation, and in particular to a control method and system for mirror field correction. Background Art

[0002] At present, some CSP power stations have adopted tower molten salt CSP technology. The core principle of this technology is to use heliostats to concentrate solar radiation energy to the heat absorption screen at the top of the tower, thereby heating the molten salt. After the molten salt is heated, it heats water to produce steam, which drives the steam turbine to generate electricity. Whether the heliostat can accurately reflect sunlight to the heat absorber and continue to accurately reflect along the trajectory of the sun is crucial to the power generation efficiency of the CSP power station. However, due to the influence of various factors, the heliostat may deviate when tracking the trajectory of the sun, so the heliostat must be accurately adjusted.

[0003] Mirror field correction is a crucial technical link in solar power plants. It ensures that the solar mirror can accurately focus sunlight on the receiver, thereby improving the efficiency of energy conversion. However, due to environmental factors such as wind, temperature changes, structural deformation, and foundation settlement, the mirror may deviate, which will lead to reduced energy conversion efficiency. Traditional correction methods mainly rely on manual inspection and manual adjustment, which is not only inefficient, but also unable to adapt to environmental changes in real time.

[0004] Therefore, it is necessary to design a control method and system for mirror field correction to solve the problems existing in the current technology. Summary of the invention

[0005] In view of this, the present invention proposes a control method and system for mirror field correction, aiming to solve the problem that the correction method in the current technology usually relies on manual inspection and manual adjustment, which is not only inefficient but also unable to respond to environmental changes in real time.

[0006] In one aspect, the present invention provides a control system for mirror field correction, comprising:

[0007] A camera group, a receiver and a control module, wherein the camera group includes a plurality of cameras, the plurality of cameras are arranged on the wall of a solar tower, and each of the cameras corresponds to a heliostat, and the cameras are used to photograph the heliostats in a mirror field at the same time interval and obtain heliostat image data; the receiver is arranged on the top of the solar tower; the control module is connected to the camera group and the receiver, and the control module includes a collection unit, a judgment unit, a first processing unit, an adjustment judgment unit and a second processing unit;

[0008] The acquisition unit is configured to acquire a solar altitude angle and a solar azimuth angle, and determine a theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; and is also configured to acquire image data of the heliostat, and analyze the image data of the heliostat, and determine an actual pointing angle of the heliostat based on the analysis result;

[0009] The judgment unit is configured to obtain a pointing angle deviation value by subtracting the actual pointing angle from the theoretical pointing angle; and judge whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value;

[0010] The first processing unit is configured to, when it is determined that the heliostat needs to be corrected once, control the collection unit to collect environmental data of the mirror field, calculate environmental similarity between the environmental data and historical data, and correct the heliostat once according to the environmental similarity to obtain an adjustment pointing angle;

[0011] The adjustment judgment unit is configured to control the acquisition unit to acquire the focus position data of the receiver after obtaining the first adjustment pointing angle, and determine whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data;

[0012] The second processing unit is configured to collect deformation data of the heliostat when it is determined that the heliostat needs to be corrected for a second time, and to correct the heliostat for a second time according to the deformation data to obtain a second adjustment pointing angle.

[0013] Further, when determining the theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle, it includes:

[0014] The theoretical pointing angle includes a theoretical tilt angle and a theoretical yaw angle;

[0015] The theoretical tilt angle is obtained by the following formula:

[0016]

[0017] The theoretical yaw angle is obtained by the following formula:

[0018]

[0019] Among them, θ represents the theoretical tilt angle; α represents the solar altitude angle; φ represents the theoretical yaw angle, and β represents the solar azimuth angle.

[0020] Furthermore, the heliostat image data is analyzed, and the actual pointing angle of the heliostat is determined based on the analysis result, including:

[0021] parsing the heliostat image data to extract reflection image data and edge profile data of the heliostat;

[0022] Processing the reflected image data using image recognition technology to extract the coordinates of the reflection center point of the heliostat;

[0023] Using an edge detection algorithm to identify the edge contour data, obtain the edge contour of the heliostat, and calculate the coordinates of the geometric center point of the heliostat according to the edge contour;

[0024] The actual distance from the camera corresponding to the heliostat to the heliostat is collected, and the actual pointing angle of the heliostat is determined according to the reflection center point coordinates, the geometric center point coordinates and the actual distance; wherein the actual pointing angle includes an actual tilt angle and an actual yaw angle.

[0025] Further, judging whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value includes:

[0026] Comparing the pointing angle deviation value with a pointing angle deviation value threshold, and judging whether it is necessary to perform a deviation correction on the heliostat according to the comparison result;

[0027] When the pointing angle deviation value is greater than or equal to the pointing angle deviation value threshold, it is determined that the heliostat needs to be corrected once;

[0028] When the pointing angle deviation value is less than the pointing angle deviation value threshold, it is determined that there is no need to perform a deviation correction on the heliostat.

[0029] Further, calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle, includes:

[0030] The environmental data includes mirror field temperature, mirror field humidity and mirror field wind speed;

[0031] The historical data includes historical mirror field temperature, historical mirror field humidity and historical mirror field wind speed;

[0032] The environmental similarity is obtained by the following formula:

[0033]

[0034] Among them, Similarity represents environmental similarity; Te represents the mirror field temperature; Th represents the historical mirror field temperature; He represents the mirror field humidity; Hh represents the historical mirror field humidity; Ve represents the mirror field wind speed; Vh represents the historical mirror field wind speed.

[0035] Furthermore, when calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle, the method further includes:

[0036] Comparing the environmental similarity with a first environmental similarity threshold and a second environmental similarity threshold, determining a primary correction amount according to the comparison result, and performing a correction on the heliostat according to the primary correction amount to obtain the primary adjustment pointing angle; wherein the first environmental similarity threshold is less than the second environmental similarity threshold;

[0037] When the environment similarity is less than or equal to the first environment similarity threshold, determining the primary deviation correction amount as the first primary deviation correction amount, and taking the sum of the first primary deviation correction amount and the actual pointing angle as the first adjustment pointing angle;

[0038] When the environmental similarity is greater than the first environmental similarity threshold and less than or equal to the second environmental similarity threshold, determining that the primary correction amount is a second primary correction amount, and taking the sum of the second primary correction amount and the actual pointing angle as the first adjustment pointing angle;

[0039] When the environmental similarity is greater than the second environmental similarity threshold, the primary deviation correction amount is determined to be a third primary deviation correction amount, and the sum of the third primary deviation correction amount and the actual pointing angle is used as the first adjustment pointing angle.

[0040] Further, judging whether it is necessary to perform secondary deviation correction on the heliostat according to the focus position data includes:

[0041] Performing feature extraction on the focus position data to obtain a focus position feature value;

[0042] Subtracting the focal position characteristic value from the focal position standard value to obtain a focal position difference value;

[0043] Comparing the focus position difference with a focus position difference threshold, and judging whether it is necessary to perform secondary deviation correction on the heliostat according to the comparison result;

[0044] When the focus position difference is less than or equal to the focus position difference threshold, determining that a secondary correction of the heliostat is not required;

[0045] When the focus position difference is greater than the focus position difference threshold, it is determined that a secondary deviation correction needs to be performed on the heliostat.

[0046] Further, performing secondary deviation correction on the heliostat according to the deformation data to obtain a secondary adjustment pointing angle includes:

[0047] The deformation data includes heliostat curvature and heliostat distortion;

[0048] Obtaining a deformation correction factor according to the curvature of the heliostat and the distortion of the heliostat;

[0049] Comparing the deformation correction factor with a first deformation correction factor threshold and a second deformation correction factor threshold, determining a secondary correction amount according to the comparison result, performing secondary correction on the heliostat according to the secondary correction amount, and obtaining the secondary adjustment pointing angle; wherein the first deformation correction factor threshold is less than the second deformation correction factor threshold;

[0050] When the deformation correction factor is less than or equal to the first deformation correction factor threshold, the secondary correction amount is determined to be the first secondary correction amount, and the sum of the first secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle;

[0051] When the deformation correction factor is greater than the first deformation correction factor threshold and less than or equal to the second deformation correction factor threshold, the secondary correction amount is determined to be a second secondary correction amount, and the sum of the second secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle;

[0052] When the deformation correction factor is greater than the second deformation correction factor threshold, the secondary correction amount is determined to be a third secondary correction amount, and the sum of the third secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle.

[0053] Furthermore, the deformation correction factor is obtained by the following formula:

[0054]

[0055] Wherein, F represents the deformation correction factor; ω1 represents the curvature weight coefficient; C represents the curvature of the heliostat; Cmax represents the maximum curvature of the heliostat; ω2 represents the distortion weight coefficient; T represents the distortion of the heliostat; and Tmax represents the maximum distortion of the heliostat.

[0056] Compared with the prior art, the beneficial effects of the present invention are as follows: the control system for mirror field correction provided by the present invention ensures the precise alignment of the heliostats through the coordinated work of the camera group, the receiver and the control module, thereby improving the overall energy collection efficiency of the solar tower; the multiple cameras of the camera group can cover the entire mirror field, ensuring that the image data of each heliostat can be accurately collected; the receiver is used to receive the light reflected from the heliostat, and the accuracy of its position directly affects the efficiency of energy collection; the control module is used for real-time monitoring and adjustment of the heliostats. The control system for mirror field correction provided by the present invention can adapt to a variety of environmental changes, such as changes in temperature, humidity and wind speed, and by adjusting the pointing angle of the heliostat, it is ensured that it can be aligned with the sun, thereby maximizing the collection of solar energy.

[0057] In another aspect, the present invention further proposes a control method for mirror field correction, comprising the following steps:

[0058] S100: collecting a solar altitude angle and a solar azimuth angle, and determining a theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; collecting image data of the heliostat, and analyzing the image data of the heliostat, and determining an actual pointing angle of the heliostat based on the analysis result;

[0059] S200: Subtracting the actual pointing angle from the theoretical pointing angle to obtain a pointing angle deviation value; and judging whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value;

[0060] S300: when it is determined that the heliostat needs to be rectified, environmental data of the mirror field is collected, environmental similarity between the environmental data and historical data is calculated, and the heliostat is rectified according to the environmental similarity to obtain an adjustment pointing angle;

[0061] S400: After obtaining the first adjustment pointing angle, controlling the acquisition unit to acquire the focus position data of the receiver, and judging whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data;

[0062] S500: When it is determined that the heliostat needs to be corrected for a second time, deformation data of the heliostat is collected, and the heliostat is corrected for a second time according to the deformation data to obtain a second adjustment pointing angle.

[0063] It is understandable that the above-mentioned control method and system for mirror field correction have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0065] Figure 1 A structural block diagram of a control system for mirror field correction provided by an embodiment of the present invention;

[0066] Figure 2 A flow chart of a control method for mirror field correction provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0067] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0068] See also Figure 1 As shown, in some embodiments of the present application, this embodiment provides a control system for mirror field correction, including:

[0069] A camera group, a receiver and a control module, wherein the camera group includes a plurality of cameras, the plurality of cameras are arranged on the wall of a solar tower, and each of the cameras corresponds to a heliostat, and the cameras are used to photograph the heliostats in a mirror field at the same time interval and obtain heliostat image data; the receiver is arranged on the top of the solar tower; the control module is connected to the camera group and the receiver, and the control module includes a collection unit, a judgment unit, a first processing unit, an adjustment judgment unit and a second processing unit;

[0070] The acquisition unit is configured to acquire a solar altitude angle and a solar azimuth angle, and determine a theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; and is also configured to acquire image data of the heliostat, and analyze the image data of the heliostat, and determine an actual pointing angle of the heliostat based on the analysis result;

[0071] The judgment unit is configured to obtain a pointing angle deviation value by subtracting the actual pointing angle from the theoretical pointing angle; and judge whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value;

[0072] The first processing unit is configured to, when it is determined that the heliostat needs to be corrected once, control the collection unit to collect environmental data of the mirror field, calculate environmental similarity between the environmental data and historical data, and correct the heliostat once according to the environmental similarity to obtain an adjustment pointing angle;

[0073] The adjustment judgment unit is configured to control the acquisition unit to acquire the focus position data of the receiver after obtaining the first adjustment pointing angle, and determine whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data;

[0074] The second processing unit is configured to collect deformation data of the heliostat when it is determined that the heliostat needs to be corrected for a second time, and to correct the heliostat for a second time according to the deformation data to obtain a second adjustment pointing angle.

[0075] It can be seen that the control system for mirror field correction provided in this embodiment ensures the precise alignment of the heliostats through the coordinated work of the camera group, the receiver and the control module, thereby improving the overall energy collection efficiency of the solar tower; the multiple cameras of the camera group can cover the entire mirror field, ensuring that the image data of each heliostat can be accurately collected; the receiver is used to receive the light reflected from the heliostat, and the accuracy of its position directly affects the efficiency of energy collection; the control module is used for real-time monitoring and adjustment of the heliostats. The control system for mirror field correction provided in this embodiment can adapt to a variety of environmental changes, such as changes in temperature, humidity and wind speed, and by adjusting the pointing angle of the heliostat, it is ensured that it can be aligned with the sun, thereby maximizing the collection of solar energy.

[0076] Specifically, when determining the theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle, it includes:

[0077] The theoretical pointing angle includes a theoretical tilt angle and a theoretical yaw angle;

[0078] The theoretical tilt angle is obtained by the following formula:

[0079]

[0080] The theoretical yaw angle is obtained by the following formula:

[0081]

[0082] Among them, θ represents the theoretical tilt angle; α represents the solar altitude angle; φ represents the theoretical yaw angle, and β represents the solar azimuth angle.

[0083] It can be seen that the theoretical tilt angle is obtained by subtracting the solar altitude angle α from 90 degrees, while the theoretical yaw angle φ is directly equal to the solar azimuth angle β. This calculation method is simple and intuitive, and is convenient for quickly determining the theoretical pointing angle of the heliostat.

[0084] Specifically, the heliostat image data is analyzed, and the actual pointing angle of the heliostat is determined based on the analysis result, including:

[0085] parsing the heliostat image data to extract reflection image data and edge profile data of the heliostat;

[0086] Processing the reflected image data using image recognition technology to extract the coordinates of the reflection center point of the heliostat;

[0087] Using an edge detection algorithm to identify the edge contour data, obtain the edge contour of the heliostat, and calculate the coordinates of the geometric center point of the heliostat according to the edge contour;

[0088] The actual distance from the camera corresponding to the heliostat to the heliostat is collected, and the actual pointing angle of the heliostat is determined according to the reflection center point coordinates, the geometric center point coordinates and the actual distance; wherein the actual pointing angle includes an actual tilt angle and an actual yaw angle.

[0089] In this embodiment, when the reflected image data is processed by image recognition technology to extract the coordinates of the reflection center point of the heliostat, the method includes: analyzing the image by using a preset image recognition algorithm to obtain reflection bright spots, which correspond to the sunlight reflected by the heliostat; and obtaining the coordinates of the reflection center point of the heliostat by calculating the geometric centers of the reflection bright spots.

[0090] In this embodiment, when calculating the coordinates of the geometric center point of the heliostat according to the edge contour, the method includes: identifying the edge contour line of the heliostat by an edge detection algorithm, and then fitting the points on the contour line to obtain an approximate circular or elliptical contour; and calculating the geometric center of the approximate contour, which is the coordinates of the geometric center point of the heliostat.

[0091] In this embodiment, when determining the actual pointing angle of the heliostat according to the reflection center point coordinates, the geometric center point coordinates and the distance, the method includes: marking the reflection center point coordinates as (x1, y1), marking the geometric center point coordinates as (x2, y2), recording the actual distance from the camera to the heliostat as d, and calculating according to the geometric relationship; the actual tilt angle=arctan((y1-y2) / d); the actual yaw angle=arctan((x1-x2) / d).

[0092] In this embodiment, the coordinates of the reflection center point and the geometric center point are obtained based on a two-dimensional coordinate system established with the optical center of the camera corresponding to the current heliostat as the origin, the optical axis of the camera as the x-axis, and the direction perpendicular to the optical axis as the y-axis. Through such a coordinate system, the tilt and yaw angles of the heliostat relative to the camera can be accurately calculated, and then its actual pointing angle can be determined. This positioning method based on image processing technology not only improves the measurement accuracy, but also can quickly respond to environmental changes and adjust the pointing of the heliostat.

[0093] Specifically, judging whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value includes:

[0094] Comparing the pointing angle deviation value with a pointing angle deviation value threshold, and judging whether it is necessary to perform a deviation correction on the heliostat according to the comparison result;

[0095] When the pointing angle deviation value is greater than or equal to the pointing angle deviation value threshold, it is determined that the heliostat needs to be corrected once;

[0096] When the pointing angle deviation value is less than the pointing angle deviation value threshold, it is determined that there is no need to perform a deviation correction on the heliostat.

[0097] Specifically, calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle includes:

[0098] The environmental data includes mirror field temperature, mirror field humidity and mirror field wind speed;

[0099] The historical data includes historical mirror field temperature, historical mirror field humidity and historical mirror field wind speed;

[0100] The environmental similarity is obtained by the following formula:

[0101]

[0102] Among them, Similarity represents environmental similarity; Te represents the mirror field temperature; Th represents the historical mirror field temperature; He represents the mirror field humidity; Hh represents the historical mirror field humidity; Ve represents the mirror field wind speed; Vh represents the historical mirror field wind speed.

[0103] It can be seen that by calculating the environmental similarity, the difference between the current environment and the historical environment can be evaluated. When the environmental similarity is high, it means that the current environment is similar to the environmental conditions recorded in the historical data. At this time, the effective correction strategy in the historical data can be used to adjust the heliostat; when the environmental similarity is low, it indicates that the current environment is significantly different from the historical records, and the correction parameters need to be recalculated based on the current environmental data.

[0104] Specifically, when calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle, the method further includes:

[0105] Comparing the environmental similarity with a first environmental similarity threshold and a second environmental similarity threshold, determining a primary correction amount according to the comparison result, and performing a correction on the heliostat according to the primary correction amount to obtain the primary adjustment pointing angle; wherein the first environmental similarity threshold is less than the second environmental similarity threshold;

[0106] When the environment similarity is less than or equal to the first environment similarity threshold, determining the primary deviation correction amount as the first primary deviation correction amount, and taking the sum of the first primary deviation correction amount and the actual pointing angle as the first adjustment pointing angle;

[0107] When the environmental similarity is greater than the first environmental similarity threshold and less than or equal to the second environmental similarity threshold, determining that the primary correction amount is a second primary correction amount, and taking the sum of the second primary correction amount and the actual pointing angle as the first adjustment pointing angle;

[0108] When the environmental similarity is greater than the second environmental similarity threshold, the primary deviation correction amount is determined to be a third primary deviation correction amount, and the sum of the third primary deviation correction amount and the actual pointing angle is used as the first adjustment pointing angle.

[0109] It can be understood that the relationship between the first primary correction amount, the second primary correction amount and the third primary correction amount is: first primary correction amount < second primary correction amount < third primary correction amount; such a hierarchical correction strategy allows the system to adjust the correction amplitude according to the degree of environmental change, thereby more accurately controlling the direction of the heliostat to ensure that it is always aimed at the sun to achieve the best energy collection effect.

[0110] Specifically, judging whether it is necessary to perform secondary deviation correction on the heliostat according to the focus position data includes:

[0111] Performing feature extraction on the focus position data to obtain a focus position feature value;

[0112] Subtracting the focal position characteristic value from the focal position standard value to obtain a focal position difference value;

[0113] Comparing the focus position difference with a focus position difference threshold, and judging whether it is necessary to perform secondary deviation correction on the heliostat according to the comparison result;

[0114] When the focus position difference is less than or equal to the focus position difference threshold, determining that a secondary correction of the heliostat is not required;

[0115] When the focus position difference is greater than the focus position difference threshold, it is determined that a secondary deviation correction needs to be performed on the heliostat.

[0116] It is understandable that, under ideal conditions, the heliostat should focus sunlight to an ideal focal position, that is, the focal position standard value. The focal position characteristic value refers to the deviation between the actual focal position and the ideal focal position. The focal position characteristic value is a quantitative description of this deviation, which reflects the current focusing state of the heliostat.

[0117] Specifically, performing secondary correction on the heliostat according to the deformation data to obtain a secondary adjustment pointing angle includes:

[0118] The deformation data includes heliostat curvature and heliostat distortion;

[0119] Obtaining a deformation correction factor according to the curvature of the heliostat and the distortion of the heliostat;

[0120] Comparing the deformation correction factor with a first deformation correction factor threshold and a second deformation correction factor threshold, determining a secondary correction amount according to the comparison result, performing secondary correction on the heliostat according to the secondary correction amount, and obtaining the secondary adjustment pointing angle; wherein the first deformation correction factor threshold is less than the second deformation correction factor threshold;

[0121] When the deformation correction factor is less than or equal to the first deformation correction factor threshold, the secondary correction amount is determined to be the first secondary correction amount, and the sum of the first secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle;

[0122] When the deformation correction factor is greater than the first deformation correction factor threshold and less than or equal to the second deformation correction factor threshold, the secondary correction amount is determined to be a second secondary correction amount, and the sum of the second secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle;

[0123] When the deformation correction factor is greater than the second deformation correction factor threshold, the secondary correction amount is determined to be a third secondary correction amount, and the sum of the third secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle.

[0124] It can be understood that the magnitude relationship among the first-level correction amount, the second-level correction amount and the third-level correction amount is: the first-level correction amount < the second-level correction amount < the third-level correction amount; through such a graded correction strategy, the system can adjust the correction amplitude according to the deformation degree of the heliostat, ensuring that the heliostat can still maintain the best focusing performance under various deformation conditions.

[0125] Specifically, the deformation correction factor is obtained by the following formula:

[0126]

[0127] Wherein, F represents the deformation correction factor; ω1 represents the curvature weight coefficient; C represents the curvature of the heliostat; Cmax represents the maximum curvature of the heliostat; ω2 represents the distortion weight coefficient; T represents the distortion of the heliostat; and Tmax represents the maximum distortion of the heliostat.

[0128] It is understandable that the value of ω1 is preferably 0.6, and the value of ω2 is preferably 0.4. Such weight distribution reflects that the influence of curvature on the focusing performance of the heliostat is greater than that of distortion. By calculating the deformation correction factor, the system can comprehensively consider the curvature and distortion of the heliostat, so as to perform secondary correction more accurately.

[0129] In this embodiment, the curvature of the heliostat is determined by measuring the vertical deviations of multiple points on the surface of the heliostat relative to the ideal plane; the distortion of the heliostat is determined by measuring the horizontal deviations of multiple points on the surface of the heliostat relative to the ideal plane; the maximum curvature of the heliostat refers to the maximum curvature that may occur in the heliostat under the most unfavorable load conditions, and the maximum distortion of the heliostat refers to the maximum distortion that may occur in the heliostat under the most unfavorable load conditions.

[0130] See also Figure 2 As shown, in some embodiments of the present application, this embodiment provides a control method for mirror field correction, comprising the following steps:

[0131] S100: collecting a solar altitude angle and a solar azimuth angle, and determining a theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; collecting image data of the heliostat, and analyzing the image data of the heliostat, and determining an actual pointing angle of the heliostat based on the analysis result;

[0132] S200: Subtracting the actual pointing angle from the theoretical pointing angle to obtain a pointing angle deviation value; and judging whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value;

[0133] S300: when it is determined that the heliostat needs to be rectified, environmental data of the mirror field is collected, environmental similarity between the environmental data and historical data is calculated, and the heliostat is rectified according to the environmental similarity to obtain an adjustment pointing angle;

[0134] S400: After obtaining the first adjustment pointing angle, controlling the acquisition unit to acquire the focus position data of the receiver, and judging whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data;

[0135] S500: When it is determined that the heliostat needs to be corrected for a second time, deformation data of the heliostat is collected, and the heliostat is corrected for a second time according to the deformation data to obtain a second adjustment pointing angle.

[0136] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0137] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0138] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1A function specified in one or more boxes.

[0139] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0140] 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. A control system for mirror field correction, characterized in that: include: A camera group, a receiver and a control module, wherein the camera group includes a plurality of cameras, the plurality of cameras are arranged on the wall of a solar tower, and each of the cameras corresponds to a heliostat, and the cameras are used to photograph the heliostats in a mirror field at the same time interval and obtain heliostat image data; the receiver is arranged on the top of the solar tower; the control module is connected to the camera group and the receiver, and the control module includes a collection unit, a judgment unit, a first processing unit, an adjustment judgment unit and a second processing unit; The acquisition unit is configured to acquire a solar altitude angle and a solar azimuth angle, and determine a theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; and is also configured to acquire image data of the heliostat, and analyze the image data of the heliostat, and determine an actual pointing angle of the heliostat based on the analysis result; The judgment unit is configured to obtain a pointing angle deviation value by subtracting the actual pointing angle from the theoretical pointing angle; Determining whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value; The first processing unit is configured to, when it is determined that the heliostat needs to be corrected once, control the collection unit to collect environmental data of the mirror field, calculate environmental similarity between the environmental data and historical data, and correct the heliostat once according to the environmental similarity to obtain an adjustment pointing angle; The adjustment judgment unit is configured to control the acquisition unit to acquire the focus position data of the receiver after obtaining the first adjustment pointing angle, and determine whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data; The second processing unit is configured to collect deformation data of the heliostat when it is determined that the heliostat needs to be corrected for a second time, and to correct the heliostat for a second time according to the deformation data to obtain a second adjustment pointing angle.

2. The control system for mirror field correction according to claim 1, characterized in that: When determining the theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle, the method includes: The theoretical pointing angle includes a theoretical tilt angle and a theoretical yaw angle; The theoretical tilt angle is obtained by the following formula: The theoretical yaw angle is obtained by the following formula: Among them, θ represents the theoretical tilt angle; α represents the solar altitude angle; φ represents the theoretical yaw angle, and β represents the solar azimuth angle.

3. The control system for mirror field correction according to claim 1, characterized in that: The heliostat image data is analyzed, and the actual pointing angle of the heliostat is determined based on the analysis result, including: parsing the heliostat image data to extract reflection image data and edge profile data of the heliostat; Processing the reflected image data using image recognition technology to extract the coordinates of the reflection center point of the heliostat; Using an edge detection algorithm to identify the edge contour data, obtain the edge contour of the heliostat, and calculate the coordinates of the geometric center point of the heliostat according to the edge contour; The actual distance from the camera corresponding to the heliostat to the heliostat is collected, and the actual pointing angle of the heliostat is determined according to the reflection center point coordinates, the geometric center point coordinates and the actual distance; wherein the actual pointing angle includes an actual tilt angle and an actual yaw angle.

4. The control system for mirror field correction according to claim 1, characterized in that: When judging whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value, the method includes: Comparing the pointing angle deviation value with a pointing angle deviation value threshold, and judging whether it is necessary to perform a deviation correction on the heliostat according to the comparison result; When the pointing angle deviation value is greater than or equal to the pointing angle deviation value threshold, it is determined that the heliostat needs to be corrected once; When the pointing angle deviation value is less than the pointing angle deviation value threshold, it is determined that there is no need to perform a deviation correction on the heliostat.

5. The control system for mirror field correction according to claim 1, characterized in that: Calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle, including: The environmental data includes mirror field temperature, mirror field humidity and mirror field wind speed; The historical data includes historical mirror field temperature, historical mirror field humidity and historical mirror field wind speed; The environmental similarity is obtained by the following formula: Among them, Similarity represents environmental similarity; Te represents the mirror field temperature; Th represents the historical mirror field temperature; He represents the mirror field humidity; Hh represents the historical mirror field humidity; Ve represents the mirror field wind speed; Vh represents the historical mirror field wind speed.

6. The control system for mirror field correction according to claim 5, characterized in that: Calculating the environmental similarity between the environmental data and the historical data, and performing a correction on the heliostat according to the environmental similarity to obtain an adjustment pointing angle, further comprising: Comparing the environmental similarity with a first environmental similarity threshold and a second environmental similarity threshold, determining a primary correction amount according to the comparison result, and performing a correction on the heliostat according to the primary correction amount to obtain the primary adjustment pointing angle; wherein the first environmental similarity threshold is less than the second environmental similarity threshold; When the environment similarity is less than or equal to the first environment similarity threshold, determining the primary deviation correction amount as the first primary deviation correction amount, and taking the sum of the first primary deviation correction amount and the actual pointing angle as the first adjustment pointing angle; When the environmental similarity is greater than the first environmental similarity threshold and less than or equal to the second environmental similarity threshold, determining that the primary correction amount is a second primary correction amount, and taking the sum of the second primary correction amount and the actual pointing angle as the first adjustment pointing angle; When the environmental similarity is greater than the second environmental similarity threshold, the primary deviation correction amount is determined to be a third primary deviation correction amount, and the sum of the third primary deviation correction amount and the actual pointing angle is used as the first adjustment pointing angle.

7. The control system for mirror field correction according to claim 1, characterized in that: When judging whether it is necessary to perform secondary deviation correction on the heliostat according to the focus position data, the method includes: Performing feature extraction on the focus position data to obtain a focus position feature value; Subtracting the focal position characteristic value from the focal position standard value to obtain a focal position difference value; Comparing the focus position difference with a focus position difference threshold, and judging whether it is necessary to perform secondary deviation correction on the heliostat according to the comparison result; When the focus position difference is less than or equal to the focus position difference threshold, determining that a secondary correction of the heliostat is not required; When the focus position difference is greater than the focus position difference threshold, it is determined that a secondary deviation correction needs to be performed on the heliostat.

8. The control system for mirror field correction according to claim 7, characterized in that: The method further comprises: performing secondary correction on the heliostat according to the deformation data to obtain a secondary adjustment pointing angle. The deformation data includes heliostat curvature and heliostat distortion; Obtaining a deformation correction factor according to the curvature of the heliostat and the distortion of the heliostat; Comparing the deformation correction factor with a first deformation correction factor threshold and a second deformation correction factor threshold, determining a secondary correction amount according to the comparison result, performing secondary correction on the heliostat according to the secondary correction amount, and obtaining the secondary adjustment pointing angle; wherein the first deformation correction factor threshold is less than the second deformation correction factor threshold; When the deformation correction factor is less than or equal to the first deformation correction factor threshold, the secondary correction amount is determined to be the first secondary correction amount, and the sum of the first secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle; When the deformation correction factor is greater than the first deformation correction factor threshold and less than or equal to the second deformation correction factor threshold, the secondary correction amount is determined to be a second secondary correction amount, and the sum of the second secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle; When the deformation correction factor is greater than the second deformation correction factor threshold, the secondary correction amount is determined to be a third secondary correction amount, and the sum of the third secondary correction amount and the first adjustment pointing angle is used as the second adjustment pointing angle.

9. The control system for mirror field correction according to claim 8, characterized in that: The deformation correction factor is obtained by the following formula: Wherein, F represents the deformation correction factor; ω1 represents the curvature weight coefficient; C represents the curvature of the heliostat; Cmax represents the maximum curvature of the heliostat; ω2 represents the distortion weight coefficient; T represents the distortion of the heliostat; and Tmax represents the maximum distortion of the heliostat.

10. A control method for mirror field correction, applied to the control system for mirror field correction as claimed in any one of claims 1 to 9, characterized in that: include: Collecting the solar altitude angle and the solar azimuth angle, and determining the theoretical pointing angle of the heliostat according to the solar altitude angle and the solar azimuth angle; Collecting the heliostat image data, analyzing the heliostat image data, and determining the actual pointing angle of the heliostat based on the analysis result; Subtracting the actual pointing angle from the theoretical pointing angle to obtain a pointing angle deviation value; Determining whether it is necessary to perform a deviation correction on the heliostat according to the pointing angle deviation value; When it is determined that the heliostat needs to be rectified, environmental data of the mirror field is collected, environmental similarity between the environmental data and historical data is calculated, and the heliostat is rectified according to the environmental similarity to obtain an adjustment pointing angle; After obtaining the first adjustment pointing angle, controlling the acquisition unit to acquire the focus position data of the receiver, and judging whether it is necessary to perform a second deviation correction on the heliostat according to the focus position data; When it is determined that the heliostat needs to be corrected for a second time, deformation data of the heliostat is collected, and the heliostat is corrected for a second time according to the deformation data to obtain a second adjustment pointing angle.

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