Solar azimuth measurement system and method based on visual backlight image processing technology

Abstract

The invention provides a solar azimuth measuring system and method based on a visual backlight image processing technology, and relates to the field of image processing, the system comprises a visual imaging module, an image processing module and an angle measuring module, the visual imaging module is used for collecting a backlight sun image, the image processing module is used for processing the backlight sun image, and the angle measuring module is used for measuring the angle. And the angle measurement module is used for calculating the sun azimuth information according to the sun image position, so that the solar azimuth measurement accuracy is improved, and an information basis is provided for improving the solar energy utilization rate.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and in particular to a system and method for measuring the sun's position based on visual backlighting image processing technology. Background Art

[0002] As a clean energy, solar energy has the advantages of being renewable, green and environmentally friendly. It conforms to the concept of sustainable development in modern society and building a green and environmentally friendly society, and has broad application prospects. The use of solar thermal energy is of great significance to energy conservation and emission reduction. Therefore, it is very important to track the trajectory of the sun in real time and effectively increase the conversion rate and utilization rate of solar energy equipment.

[0003] Existing solar energy devices are basically fixed on a certain plane. When the sun changes with time and location, the sun cannot directly hit the contact surface of the device due to the inclination angle, resulting in reduced solar energy utilization. In order to improve the utilization efficiency of solar energy equipment, it is necessary to increase the time when the sun directly hits the solar energy device as much as possible. Therefore, it is necessary to track the trajectory of the sun and keep the sunlight and the solar energy device relatively vertical.

[0004] In the process of tracking the sun, it is very important to accurately locate the sun's position and keep the solar device perpendicular to the sunlight. However, due to the actual geographical environment conditions and the errors caused by mechanical devices, after a period of time, the solar device is often not able to be perpendicular to the sunlight well, and manual correction is required. Therefore, long-term stable tracking of the sun's trajectory and reducing the actual errors and mechanical errors caused by the geographical environment have become technical challenges in this field.

[0005] In summary, it is necessary to provide a solar position measurement system and method based on visual backlighting image processing technology to improve the accuracy of solar position measurement and provide an information basis for improving the utilization rate of solar energy. Summary of the invention

[0006] The present invention provides a solar azimuth measurement system based on visual backlighting image processing technology, comprising a visual imaging module, an image processing module and an angle measurement module, wherein the visual imaging module is used to collect backlighting solar images, the image processing module is used to process the backlighting solar images and determine the solar image position, and the angle measurement module is used to calculate the solar azimuth information according to the solar image position.

[0007] Furthermore, the angle measurement module includes a base, a pitch adjustment component arranged on the base and a horizontal adjustment component arranged on the pitch adjustment component, and the visual imaging module is arranged on the horizontal adjustment component; it also includes a controller, a horizontal driver and a pitch driver, wherein the controller is used to control the horizontal adjustment component through the horizontal driver to adjust the horizontal position of the visual imaging module, and the pitch driver is used to control the pitch adjustment component through the pitch driver to adjust the pitch angle of the visual imaging module.

[0008] Furthermore, the angle measurement module is used to calculate the solar position information according to the solar image position, including: S11, determining the image quadrant in which the sun is currently located according to the solar image position; S12, determining the horizontal adjustment direction and the pitch adjustment direction according to the image quadrant in which the sun is currently located; S13, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module according to the horizontal adjustment direction, until the solar image position in the backlit solar image collected by the visual imaging module after the horizontal position is adjusted is located on the vertical central axis, and recording the number of horizontal pulses; S14, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction, until the solar image position in the backlit solar image collected by the visual imaging module after the pitch angle is adjusted is located on the horizontal central axis of the image, and recording the number of pitch pulses; S15, calculating the solar position information according to the number of horizontal pulses and the number of pitch pulses.

[0009] Further, according to the horizontal adjustment direction, the horizontal adjustment component is controlled to adjust the horizontal position of the visual imaging module until the position of the sun image in the backlit sun image collected by the visual imaging module after the horizontal position is adjusted is located on the vertical central axis, and the number of horizontal pulses is recorded, including: S131, according to the sun image position, determining the pixel distance between the sun center point and the vertical central axis; S132, according to the horizontal adjustment direction and according to the pixel distance between the sun center point and the vertical central axis, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module; S133, after the horizontal position is adjusted, the visual imaging module collects the backlit sun image, and the image processing module processes the backlit sun image to determine the sun image position after the horizontal position is adjusted; S134, according to The position of the solar image after the horizontal position is adjusted, judge whether the adjusted position of the solar image is located on the vertical central axis, if so, record the number of horizontal pulses, if not, execute S135; S135, according to the solar image position after the horizontal position is adjusted, judge whether it crosses the quadrant, if not, execute S136, if yes, execute S137; S136, according to the solar image position after the horizontal position is adjusted, determine the pixel distance between the center point of the sun and the vertical central axis, execute S132; S137, according to the horizontal adjustment direction and preset adjustment parameters, control the horizontal adjustment component to reversely adjust the horizontal position of the visual imaging module, until the solar image position in the backlit solar image captured by the visual imaging module after the horizontal position is adjusted is located on the vertical central axis, and record the number of horizontal reverse pulses.

[0010] Further, according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis, the horizontal adjustment component is controlled to adjust the horizontal position of the visual imaging module, including: S1321, determining a first horizontal adjustment pixel distance and a second horizontal adjustment pixel distance according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis; S1322, at the first horizontal adjustment pixel distance, according to the horizontal adjustment direction and the first horizontal adjustment step angle, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module, and recording the first horizontal adjustment pulse number; S1323, after completing the adjustment of the first horizontal adjustment pixel distance, according to the horizontal adjustment direction and the second horizontal adjustment step angle, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module, and recording the second horizontal adjustment pulse number, wherein the second horizontal adjustment step angle is smaller than the first horizontal adjustment step angle, and the number of horizontal pulses includes the first horizontal adjustment pulse number, the second horizontal adjustment pulse number and the horizontal reverse pulse number.

[0011] Further, according to the pitch adjustment direction, the pitch adjustment component is controlled to adjust the pitch angle of the visual imaging module until the position of the sun image in the backlight sun image collected by the visual imaging module after the pitch angle is adjusted is located on the horizontal central axis of the image, including: S141, determining the pixel distance between the center point of the sun and the horizontal central axis according to the sun image position; S142, according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module; S143, after the pitch angle is adjusted, the visual imaging module collects the backlight sun image, and the image processing module processes the backlight sun image to determine the sun image position after the pitch angle is adjusted; S144, according to the pitch adjustment direction The solar image position after the elevation angle is adjusted, determine whether the adjusted solar image position is located on the horizontal central axis, if so, record the number of pitch pulses, if not, execute S145; S145, according to the solar image position after the pitch angle is adjusted, determine whether it crosses the quadrant, if not, execute S146, if yes, execute S147; S146, according to the solar image position after the pitch angle is adjusted, determine the pixel distance between the center point of the sun and the horizontal central axis, execute S142; S147, according to the pitch adjustment direction and preset adjustment parameters, control the pitch adjustment component to reversely adjust the pitch angle of the visual imaging module, until the solar image position in the backlit solar image captured by the visual imaging module after the pitch angle is adjusted is located on the horizontal central axis, and record the number of pitch reverse pulses.

[0012] Further, according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis, the pitch adjustment component is controlled to adjust the pitch angle of the visual imaging module, including: S1421, determining a first pitch adjustment pixel distance and a second pitch adjustment pixel distance according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis; S1422, at the first pitch adjustment pixel distance, according to the pitch adjustment direction and the first pitch adjustment step angle, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module, and recording a first pitch adjustment pulse number; S1423, after completing the adjustment of the first pitch adjustment pixel distance, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction and the second pitch adjustment step angle, and recording a second pitch adjustment pulse number, wherein the second pitch adjustment step angle is smaller than the first pitch adjustment step angle, and the number of pitch pulses includes the first pitch adjustment pulse number, the second pitch adjustment pulse number and the pitch reverse pulse number.

[0013] Furthermore, the angle measurement module calculates the solar position information according to the number of horizontal pulses and the number of pitch pulses based on the following formula: , in, is the solar azimuth, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, n3 is the number of horizontal reverse pulses, Adjust the step angle for the first level, Adjust the step angle for the second level, is the solar altitude angle, m1 is the number of the first pitch adjustment pulses, m2 is the number of the second pitch adjustment pulses, m3 is the number of pitch reverse pulses, Adjust the step angle for the first pitch, is the second pitch adjustment step angle, and k is the initial pitch angle.

[0014] Furthermore, the image processing module is used to process the backlit solar image and determine the position of the solar image, including: converting the backlit solar image into a grayscale image; converting the grayscale image into a binary image based on adaptive threshold segmentation; performing an opening operation on the binary image to obtain a processed binary image; extracting the sun outline based on the processed binary image; determining the sun center based on the sun outline; and determining the position of the solar image based on the sun center.

[0015] The present invention provides a solar azimuth measurement method based on visual backlighting image processing technology, which is applied to the above-mentioned solar azimuth measurement system based on visual backlighting image processing technology, including: collecting backlighting solar images; processing the backlighting solar images to determine the solar image position; and calculating the solar azimuth information according to the solar image position.

[0016] Compared with the prior art, the solar position measurement system and method based on visual backlight image processing technology provided by the present invention has at least the following beneficial effects: 1. The backlit solar image is collected through the visual imaging module, and the image is finely processed in combination with the image processing module, so that the position of the solar image can be accurately determined. The angle measurement module makes precise adjustments according to the position of the solar image to ensure that the solar image is located in the center of the image, thereby improving the accuracy of the solar azimuth measurement. It can automatically collect, process and analyze the backlit solar image without manual intervention, which improves the degree of automation of the measurement. Through the preset adjustment parameters and logical judgment, the adjustment components can be intelligently controlled to achieve accurate measurement of the solar azimuth. It can adapt to the backlit solar image under different lighting conditions, and extract the solar outline and center position through image processing technology. The angle measurement module has flexible adjustment capabilities and can cope with the solar measurement needs at different angles and positions. It can collect and process the backlit solar image in real time, and quickly determine the position and azimuth information of the solar image. Through efficient algorithms and hardware support, the system can complete the measurement task in a short time, improving the measurement efficiency. Compared with the traditional solar azimuth measurement method, based on visual image processing technology, no expensive hardware equipment or complicated installation process is required. The accuracy of solar azimuth measurement is improved, providing an information basis for improving the utilization rate of solar energy. In the design of solar energy systems such as photovoltaic panels and solar water heaters, knowing the sun's position can help optimize the installation angle of the equipment to maximize the reception of solar energy.

[0017] 2. By determining the first horizontal adjustment pixel distance and the second horizontal adjustment pixel distance, and applying different step angles respectively (the first horizontal adjustment step angle is larger than the second horizontal adjustment step angle), it is possible to make quick adjustments when far away from the vertical center axis, and perform fine adjustments when close to the vertical center axis, thereby improving the accuracy of the final adjustment, effectively reducing the occurrence of crossing quadrants, and improving adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein: Figure 1 is a module schematic diagram of a solar position measurement system based on visual backlighting image processing technology according to some embodiments of this specification; Figure 2a is a schematic diagram of the structure of an angle measurement module according to some embodiments of this specification; Figure 2b is a partial schematic diagram of an angle measurement module according to some embodiments of this specification; Figure 3 is a schematic diagram of a process for determining the position of a solar image according to some embodiments of this specification; Figure 4is a schematic diagram of a solar center coordinate quadrant diagram according to some embodiments of this specification; Figure 5 is a schematic diagram of a process for calculating solar position information according to the position of a solar image according to some embodiments of this specification; Figure 6 is a schematic diagram of a process for adjusting the horizontal position of a visual imaging module according to some embodiments of this specification; Figure 7 is a schematic diagram showing that the position of the sun image is located on a vertical central axis according to some embodiments of the present specification; Figure 8 is a schematic diagram of a process of adjusting the pitch angle of a visual imaging module according to some embodiments of this specification; Fig. 9 is a schematic diagram showing that the position of the sun image is located on the vertical central axis and the horizontal central axis according to some embodiments of this specification; Fig.10 It is a flowchart of a method for measuring the sun's position based on visual backlighting image processing technology according to some embodiments of this specification.

[0019] In the figure, 1. base; 2. pitch adjustment assembly; 3. horizontal adjustment assembly; 4. visual imaging module. DETAILED DESCRIPTION

[0020] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of this specification. For ordinary technicians in this field, this specification can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0021] Figure 1 is a schematic diagram of a module of a solar position measurement system based on visual backlighting image processing technology according to some embodiments of this specification, such as Figure 1 As shown, the solar position measurement system based on the visual backlight image processing technology may include a visual imaging module 4, an image processing module and an angle measurement module.

[0022] The visual imaging module 4 can be used to collect backlit solar images, the image processing module can be used to process the backlit solar images and determine the solar image position, and the angle measurement module can be used to calculate the solar position information according to the solar image position.

[0023] Specifically, the visual imaging module 4 may include a CCD camera, an ultra-wide-angle lens, a special lens for a welding mask, a bracket, and a power adapter, wherein the viewing angle of the ultra-wide-angle lens can reach 150 degrees.

[0024] Figure 2a is a schematic diagram of the structure of an angle measurement module according to some embodiments of this specification, Figure 2b is a partial schematic diagram of an angle measurement module according to some embodiments of this specification, such as Figure 2a and Figure 2b As shown, in some embodiments, the angle measurement module includes a base 1, a pitch adjustment component 2 disposed on the base 1 and a horizontal adjustment component 3 disposed on the pitch adjustment component 2, and the visual imaging module 4 is disposed on the horizontal adjustment component 3.

[0025] Specifically, the base 1 may be a cross base, a measuring rod is vertically installed at the center of the cross base, and its height is about 3 meters. A rotating platform is arranged on the measuring rod, and the pitch adjustment component 2 is arranged on the rotating platform. A vertical pole with a height of 20 cm is installed at the center of the rotating platform, and a horizontal adjustment component 3 is arranged on the vertical pole. The pitch adjustment component 2 may include a precision micro-stepping motor A to drive the visual imaging module 4 to rotate up and down, and the horizontal adjustment component 3 may include a precision micro-stepping motor B to drive the visual imaging module 4 to rotate left and right.

[0026] The angle measurement module also includes a controller, a horizontal driver and a pitch driver, wherein the controller is used to control the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 through the horizontal driver, and the pitch driver is used to control the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 through the pitch driver.

[0027] Specifically, in the initial state, the controller controls the precision micro-stepping motor A and the precision micro-stepping motor B to return to their original positions through the horizontal driver and the pitch driver. At this time, the CCD camera faces south and is at a 30-degree angle to the plane of the cross base to ensure that the camera's field of view can see the sun under any circumstances.

[0028] Figure 3 is a schematic diagram of a process for determining the position of a solar image according to some embodiments of this specification, such as Figure 3 As shown, in some embodiments, the image processing module is used to process the backlit sun image to determine the sun image position, including: Convert the backlit sun image to a grayscale image; Based on adaptive threshold segmentation, the grayscale image is converted into a binary image; Perform an opening operation on the binary image to obtain a processed binary image; Extract the sun outline based on the processed binary image; Based on the sun profile, determine the sun center; Determine the position of the solar image based on the center of the sun.

[0029] Specifically, in the process of determining the position of the sun image, color information is not necessary for determining the sun position. Therefore, the image is first converted to a grayscale image, which can simplify the subsequent processing steps while retaining sufficient image features for determining the sun position. In a grayscale image, each pixel has only one brightness value, usually ranging from 0 (black) to 255 (white), which makes image processing more efficient. Adaptive threshold segmentation is a method that automatically selects a threshold based on the local brightness of the image, and is used to convert a grayscale image into a binary image containing only black and white colors. In a backlit sun image, the sun area is usually brighter than the background. Adaptive threshold segmentation can automatically adjust the threshold according to different areas of the image, so as to more accurately separate the sun area from the background. The opening operation includes a process of first corrosion and then expansion. It helps to remove small objects (noise) and small parts of connected objects in the image, while keeping the size and shape of the object basically unchanged. Opening the binary image can further clean up the image, making the sun outline clearer and facilitating the subsequent sun outline extraction. In the processed binary image, the sun area is usually a bright connected area. The sun outline can be extracted through contour detection algorithms (such as edge detection or contour tracking). The extracted sun outline is the basis for the subsequent determination of the sun's center position. After the sun outline is extracted, the sun's center position can be determined by calculating the center of mass (or center of gravity) of the outline. The center of mass is the average of the positions of all points on the outline, which represents the geometric center of the sun in the image. Finally, based on the coordinates of the sun's center in the image, the sun's image position can be determined.

[0030] Figure 4 is a schematic diagram of a solar center coordinate quadrant diagram according to some embodiments of this specification, such as Figure 4 As shown, the photo is divided into four quadrants with the center of the image as the coordinate origin X0, Y0.

[0031] Figure 5 is a schematic diagram of a process for calculating the sun's position information according to the sun's image position according to some embodiments of this specification, such as Figure 5 As shown, in some embodiments, the angle measurement module is used to calculate the sun position information according to the sun image position, including: S11. According to the position of the sun image, determine the image quadrant where the sun is currently located, for example, Figure 4 The position of the sun image shown is in the fourth quadrant; S12, determining the horizontal adjustment direction and the pitch adjustment direction according to the image quadrant where the sun is currently located, for example, Figure 4The pitch adjustment direction corresponding to the position of the sun image shown is downward, and the horizontal adjustment direction is rightward; S13, according to the horizontal adjustment direction, control the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 until the position of the sun image in the backlit sun image collected by the visual imaging module 4 after the horizontal position adjustment is located on the vertical central axis, and record the number of horizontal pulses; S14, according to the pitch adjustment direction, controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 until the position of the sun image in the backlit sun image collected by the visual imaging module 4 after the pitch angle adjustment is located on the horizontal central axis of the image, and recording the number of pitch pulses; S15. Calculate the solar position information according to the number of horizontal pulses and the number of elevation pulses.

[0032] Figure 6 is a schematic diagram of a process for adjusting the horizontal position of the visual imaging module 4 according to some embodiments of this specification, such as Figure 6 As shown, in some embodiments, according to the horizontal adjustment direction, the horizontal adjustment component 3 is controlled to adjust the horizontal position of the visual imaging module 4 until the position of the sun image in the backlit sun image collected by the visual imaging module 4 after the horizontal position adjustment is located on the vertical central axis, and the number of horizontal pulses is recorded, including: S131. Determine the pixel distance between the center point of the sun and the vertical central axis according to the position of the sun image, for example, Figure 4 The vertical center axis in the coordinate axis shown is the coordinate axis with the direction in the vertical direction; S132, controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis; S133, after the horizontal position is adjusted, the visual imaging module 4 collects a backlit solar image, and the image processing module processes the backlit solar image to determine the position of the solar image after the horizontal position is adjusted; S134, judging whether the adjusted sun image position is located on the vertical central axis according to the sun image position after the horizontal position is adjusted, such as Figure 7 If yes, record the number of horizontal pulses; if no, execute S135; S135, judging whether the horizontal position of the sun image is across the quadrant according to the position of the sun image after the horizontal position is adjusted, if not, executing S136, if yes, executing S137, for example, when the adjusted sun image position moves from the fourth quadrant to the third quadrant, the quadrant is crossed; S136, determining the pixel distance between the center point of the sun and the vertical central axis according to the position of the sun image after the horizontal position is adjusted, and executing S132; S137. According to the horizontal adjustment direction and preset adjustment parameters, control the horizontal adjustment component 3 to reversely adjust the horizontal position of the visual imaging module 4 until the position of the solar image in the backlit solar image captured by the visual imaging module 4 after the horizontal position adjustment is located on the vertical central axis, and record the number of horizontal reverse pulses.

[0033] In some embodiments, according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis, controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 includes: S1321. Determine a first horizontal adjustment pixel distance and a second horizontal adjustment pixel distance according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis. For example, the first horizontal adjustment pixel distance may be a portion of the pixel distance between the center point of the sun and the vertical central axis that is relatively farther from the vertical central axis, and the second horizontal adjustment pixel distance may be a portion of the pixel distance between the center point of the sun and the vertical central axis that is relatively closer to the vertical central axis. For example only, the pixel distance between the center point of the sun and the vertical central axis is 10 pixels, wherein a distance of 10-4 pixels is the first horizontal adjustment pixel distance, and a distance of 0-3 pixels is the second horizontal adjustment pixel distance. S1322, adjusting the pixel distance at the first level, controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 according to the horizontal adjustment direction and the first horizontal adjustment step angle, and recording the first horizontal adjustment pulse number; S1323. After completing the adjustment of the first horizontal adjustment pixel distance, control the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 according to the horizontal adjustment direction and the second horizontal adjustment step angle, and record the second horizontal adjustment pulse number, wherein the second horizontal adjustment step angle is smaller than the first horizontal adjustment step angle, and the number of horizontal pulses includes the first horizontal adjustment pulse number, the second horizontal adjustment pulse number and the horizontal reverse pulse number, for example, the first horizontal adjustment step angle is 1.8 degrees for each pulse motor rotation, and the second horizontal adjustment step angle is 1.8 / 100=0.018 degrees for each pulse motor rotation.

[0034] It can be understood that by determining the first horizontal adjustment pixel distance and the second horizontal adjustment pixel distance, and applying different step angles respectively (the first horizontal adjustment step angle is greater than the second horizontal adjustment step angle), it is possible to quickly adjust when away from the vertical central axis, and perform fine-tuning when close to the vertical central axis, thereby improving the accuracy of the final adjustment, effectively reducing the occurrence of crossing quadrants, and improving adjustment efficiency.

[0035] Optimize adjustment efficiency: Using a larger step angle (first level adjustment step angle) when far away from the target position can quickly reduce the gap with the target position, reduce the total time and number of pulses required for adjustment, and improve the overall adjustment efficiency.

[0036] Reduce mechanical wear: Use a smaller step angle (second level adjustment step angle) for fine-tuning when approaching the target position, which can reduce mechanical wear caused by rapid adjustment at large angles and extend the service life of the equipment.

[0037] Figure 8 is a schematic diagram of a process for adjusting the pitch angle of the visual imaging module 4 according to some embodiments of this specification, such as Figure 8 As shown, in some embodiments, according to the pitch adjustment direction, the pitch adjustment component 2 is controlled to adjust the pitch angle of the visual imaging module 4 until the position of the sun image in the backlit sun image collected by the visual imaging module 4 after the pitch angle adjustment is located on the horizontal central axis of the image, including: S141, determining the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image; S142, controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis; S143, after the pitch angle is adjusted, the visual imaging module 4 collects a backlit solar image, and the image processing module processes the backlit solar image to determine the position of the solar image after the pitch angle is adjusted; S144, judging whether the adjusted solar image position is located on the horizontal central axis according to the solar image position after the pitch angle is adjusted, if so, recording the number of pitch pulses, if not, executing S145; S145, judging whether it crosses the quadrant according to the position of the solar image after the pitch angle is adjusted, if not, executing S146, if yes, executing S147; S146, determining the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image after the pitch angle is adjusted, and executing S142; S147. According to the pitch adjustment direction and preset adjustment parameters, control the pitch adjustment component 2 to reversely adjust the pitch angle of the visual imaging module 4 until the position of the solar image in the backlit solar image captured by the visual imaging module 4 after the pitch angle adjustment is located on the horizontal central axis, and record the number of pitch reverse pulses.

[0038] In some embodiments, according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis, controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 includes: S1421, determining a first pitch adjustment pixel distance and a second pitch adjustment pixel distance according to the pitch adjustment direction and the pixel distance between the sun center point and the horizontal central axis; S1422, at the first pitch adjustment pixel distance, according to the pitch adjustment direction and the first pitch adjustment step angle, control the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4, and record the first pitch adjustment pulse number; S1423. After completing the adjustment of the first pitch adjustment pixel distance, control the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 according to the pitch adjustment direction and the second pitch adjustment step angle, and record the second pitch adjustment pulse number, wherein the second pitch adjustment step angle is smaller than the first pitch adjustment step angle, and the pitch pulse number includes the first pitch adjustment pulse number, the second pitch adjustment pulse number and the pitch reverse pulse number.

[0039] The manner of controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 is similar to the manner of controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 , and will not be described in detail here.

[0040] In some embodiments, the angle measurement module calculates the solar position information according to the number of horizontal pulses and the number of pitch pulses based on the following formula: , in, is the solar azimuth, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, n3 is the number of horizontal reverse pulses, Adjust the step angle for the first level, Adjust the step angle for the second level, is the solar altitude angle, m1 is the number of the first pitch adjustment pulses, m2 is the number of the second pitch adjustment pulses, m3 is the number of pitch reverse pulses, Adjust the step angle for the first pitch, is the second pitch adjustment step angle, and k is the initial pitch angle.

[0041] Fig.10 is a flow chart of a method for measuring the sun's position based on visual backlighting image processing technology according to some embodiments of this specification, such as Fig.10 As shown, the method for measuring the sun's position based on visual backlighting image processing technology may include the following process.

[0042] Step 1010, collecting backlit sun images; Step 1020, processing the backlit solar image to determine the solar image position; Step 1030, calculating the solar position information according to the solar image position.

[0043] The solar position measurement method based on visual backlighting image processing technology can be applied to the solar position measurement system based on visual backlighting image processing technology. For more descriptions of the solar position measurement method based on visual backlighting image processing technology, please refer to the relevant descriptions of the solar position measurement system based on visual backlighting image processing technology, which will not be repeated here.

[0044] Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other variations may also fall within the scope of this specification. Therefore, as an example and not a limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims

1. The solar position measurement system based on visual backlight image processing technology is characterized by: It includes a visual imaging module, an image processing module and an angle measurement module, wherein the visual imaging module is used to collect backlit solar images, the image processing module is used to process the backlit solar images and determine the position of the solar image, and the angle measurement module is used to calculate the solar azimuth information according to the position of the solar image.

2. The solar position measurement system based on visual backlighting image processing technology according to claim 1 is characterized in that: The angle measurement module comprises a base, a pitch adjustment component arranged on the base and a horizontal adjustment component arranged on the pitch adjustment component, and the visual imaging module is arranged on the horizontal adjustment component; It also includes a controller, a horizontal driver and a pitch driver, wherein the controller is used to control the horizontal adjustment component to adjust the horizontal position of the visual imaging module through the horizontal driver, and the pitch driver is used to control the pitch adjustment component to adjust the pitch angle of the visual imaging module through the pitch driver.

3. The solar position measurement system based on visual backlighting image processing technology according to claim 2 is characterized in that: The angle measurement module is used to calculate the sun position information according to the sun image position, including: S11, determining the image quadrant where the sun is currently located according to the sun image position; S12, determining a horizontal adjustment direction and a pitch adjustment direction according to the image quadrant where the sun is currently located; S13, according to the horizontal adjustment direction, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module until the position of the sun image in the backlit sun image collected by the visual imaging module after the horizontal position adjustment is located on the vertical central axis, and recording the number of horizontal pulses; S14, according to the pitch adjustment direction, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module until the position of the sun image in the backlit sun image collected by the visual imaging module after the pitch angle adjustment is located on the horizontal central axis of the image, and recording the number of pitch pulses; S15. Calculate the solar position information according to the number of horizontal pulses and the number of pitch pulses.

4. The solar position measurement system based on visual backlighting image processing technology according to claim 3 is characterized in that: According to the horizontal adjustment direction, the horizontal adjustment component is controlled to adjust the horizontal position of the visual imaging module until the position of the sun image in the backlit sun image collected by the visual imaging module after the horizontal position adjustment is located on the vertical central axis, and the number of horizontal pulses is recorded, including: S131, determining the pixel distance between the center point of the sun and the vertical central axis according to the position of the sun image; S132, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module according to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis; S133, after the horizontal position is adjusted, the visual imaging module collects a backlit solar image, and the image processing module processes the backlit solar image to determine the position of the solar image after the horizontal position is adjusted; S134, judging whether the adjusted sun image position is located on the vertical central axis according to the sun image position after the horizontal position is adjusted, if so, recording the number of horizontal pulses, if not, executing S135; S135, judging whether it crosses the quadrant according to the position of the sun image after the horizontal position is adjusted, if not, executing S136, if yes, executing S137; S136, determining the pixel distance between the center point of the sun and the vertical central axis according to the position of the sun image after the horizontal position is adjusted, and executing S132; S137. According to the horizontal adjustment direction and preset adjustment parameters, control the horizontal adjustment component to reversely adjust the horizontal position of the visual imaging module until the position of the solar image in the backlit solar image captured by the visual imaging module after the horizontal position adjustment is located on the vertical central axis, and record the number of horizontal reverse pulses.

5. The solar position measurement system based on visual backlighting image processing technology according to claim 4 is characterized in that: According to the horizontal adjustment direction and the pixel distance between the center point of the sun and the vertical central axis, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module includes: S1321, determining a first horizontal adjustment pixel distance and a second horizontal adjustment pixel distance according to the horizontal adjustment direction and a pixel distance between the center point of the sun and the vertical central axis; S1322, at the first horizontal adjustment pixel distance, according to the horizontal adjustment direction and the first horizontal adjustment step angle, controlling the horizontal adjustment component to adjust the horizontal position of the visual imaging module, and recording the first horizontal adjustment pulse number; S1323. After completing the adjustment of the first horizontal adjustment pixel distance, control the horizontal adjustment component to adjust the horizontal position of the visual imaging module according to the horizontal adjustment direction and the second horizontal adjustment step angle, and record the second horizontal adjustment pulse number, wherein the second horizontal adjustment step angle is smaller than the first horizontal adjustment step angle, and the horizontal pulse number includes the first horizontal adjustment pulse number, the second horizontal adjustment pulse number and the horizontal reverse pulse number.

6. The solar position measurement system based on visual backlighting image processing technology according to claim 5 is characterized in that: According to the pitch adjustment direction, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module until the position of the sun image in the backlit sun image collected by the visual imaging module after the pitch angle adjustment is located on the horizontal central axis of the image, including: S141, determining the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image; S142, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction and the pixel distance between the center point of the sun and the horizontal central axis; S143, after the pitch angle is adjusted, the visual imaging module collects a backlit solar image, and the image processing module processes the backlit solar image to determine a position of the solar image after the pitch angle is adjusted; S144, judging whether the adjusted solar image position is located on the horizontal central axis according to the solar image position after the pitch angle is adjusted, if so, recording the number of pitch pulses, if not, executing S145; S145, judging whether it crosses the quadrant according to the position of the solar image after the pitch angle is adjusted, if not, executing S146, if yes, executing S147; S146, determining the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image after the pitch angle is adjusted, and executing S142; S147. According to the pitch adjustment direction and preset adjustment parameters, control the pitch adjustment component to reversely adjust the pitch angle of the visual imaging module until the position of the solar image in the backlit solar image captured by the visual imaging module after the pitch angle adjustment is located on the horizontal central axis, and record the number of pitch reverse pulses.

7. The solar position measurement system based on visual backlight image processing technology according to claim 6 is characterized in that: According to the pitch adjustment direction and the pixel distance between the center point of the sun and the vertical central axis, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module includes: S1421, determining a first pitch adjustment pixel distance and a second pitch adjustment pixel distance according to the pitch adjustment direction and a pixel distance between the center point of the sun and the vertical central axis; S1422, at the first pitch adjustment pixel distance, according to the pitch adjustment direction and the first pitch adjustment step angle, controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module, and recording the first pitch adjustment pulse number; S1423. After completing the adjustment of the first pitch adjustment pixel distance, control the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction and the second pitch adjustment step angle, and record the second pitch adjustment pulse number, wherein the second pitch adjustment step angle is smaller than the first pitch adjustment step angle, and the pitch pulse number includes the first pitch adjustment pulse number, the second pitch adjustment pulse number and the pitch reverse pulse number.

8. The solar position measurement system based on visual backlighting image processing technology according to claim 7 is characterized in that: The angle measurement module calculates the solar position information according to the number of horizontal pulses and the number of pitch pulses based on the following formula: ， in, is the solar azimuth, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, n3 is the number of horizontal reverse pulses, Adjust the step angle for the first level, Adjust the step angle for the second level, is the solar altitude angle, m1 is the number of the first pitch adjustment pulses, m2 is the number of the second pitch adjustment pulses, m3 is the number of pitch reverse pulses, Adjust the step angle for the first pitch, is the second pitch adjustment step angle, and k is the initial pitch angle.

9. The solar position measurement system based on visual backlight image processing technology according to any one of claims 1 to 8, characterized in that: The image processing module is used to process the backlit sun image to determine the sun image position, including: Converting the backlit sun image into a grayscale image; Based on adaptive threshold segmentation, converting the grayscale image into a binary image; Performing an opening operation on the binary image to obtain a processed binary image; Extract the sun outline based on the processed binary image; Based on the solar profile, determining the solar center; The position of the sun image is determined according to the center of the sun.

10. A method for measuring the sun's position based on visual backlighting image processing technology, characterized in that: The solar position measurement system based on the visual backlight image processing technology applied to any one of claims 1 to 9 comprises: Collect backlit solar images; Processing the backlit solar image to determine the solar image position; Calculate the sun's position information based on the sun image position.

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