Solar Azimuth Measurement System and Method Based on Visual Backlight Image Processing Technology

Abstract

The present invention provides a solar azimuth measurement system and method based on visual backlight image processing technology, which relates to the field of image processing. The system includes a visual imaging module, an image processing module and an angle measurement module. Among them, the visual imaging module is used to collect backlight solar images, the image processing module is used to process the backlight solar images to determine the position of the solar images, and the angle measurement module is used to calculate the solar azimuth information according to the position of the solar images. It has the advantages of improving the accuracy of solar azimuth measurement and providing an information basis for improving the utilization rate of solar energy.

Description

Technical Field

[0001] The present invention relates to the field of image processing, and particularly to a solar azimuth measurement system and method based on visual backlight image processing technology. Background Art

[0002] As a clean energy source, solar energy has the advantages of being renewable, green, and environmentally friendly, which conforms to the concept of sustainable development in modern society and building a green and environmentally friendly society, and has broad application prospects. The importance of solar thermal utilization for energy conservation and emission reduction work. Therefore, it is crucial to track the solar trajectory in real time and effectively increase the conversion rate and utilization rate of solar energy devices.

[0003] Existing solar devices are basically fixed on a certain plane. When the sun changes with time and location, due to the inclination angle, the sunlight cannot directly irradiate the contact surface of the device, resulting in a decrease in the utilization rate of solar energy. In order to improve the utilization efficiency of solar energy devices, it is necessary to increase the time of direct sunlight on the solar energy device as much as possible. Therefore, it is necessary to track the solar trajectory and maintain the relative perpendicular relationship between the sunlight and the solar energy device.

[0004] During the process of tracking the sun, it is very important to accurately locate the sun's position and keep the solar energy device perpendicular to the sunlight. However, due to the errors caused by the actual geographical environment conditions and mechanical devices, after a period of time, it is often unable to keep the solar energy device perpendicular to the sunlight well, and manual correction is required. Therefore, stably tracking the solar trajectory for a long time and reducing the actual errors and mechanical errors caused by the geographical environment have become technical problems in this field.

[0005] In summary, it is necessary to provide a solar azimuth measurement system and method based on visual backlight image processing technology to improve the accuracy of solar azimuth 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 backlight image processing technology, including a visual imaging module, an image processing module, and an angle measurement module. Among them, the visual imaging module is used to collect backlight solar images, the image processing module is used to process the backlight solar images to determine the position of the solar images, and the angle measurement module is used to calculate solar azimuth information according to the position of the solar images.

[0007] Further, the angle measurement module includes a base, a pitch adjustment component disposed on the base, and a horizontal adjustment component disposed on the pitch adjustment component. The visual imaging module is disposed on the horizontal adjustment component. The angle measurement module further includes a controller, a horizontal driver, and a pitch driver. The controller is configured 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 configured to control the pitch adjustment component to adjust the pitch angle of the visual imaging module through the pitch driver.

[0008] Further, the angle measurement module is configured to calculate the solar azimuth information according to the solar image position, including: S11, determining the image quadrant where the current sun is located according to the solar image position; S12, determining the horizontal adjustment direction and the pitch adjustment direction according to the image quadrant where the current sun is 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 backlight solar 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, 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 backlight solar 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, calculating the solar azimuth information according to the number of horizontal pulses and the number of pitch pulses.

[0009] Further, according to the horizontal adjustment direction, control the horizontal adjustment component to adjust the horizontal position 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 horizontal position adjustment is located on the vertical central axis, and record the number of horizontal pulses, including: S131. Determine the pixel distance between the sun center point and the vertical central axis according to the position of the sun image; S132. Control 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 sun center point and the vertical central axis; S133. After the horizontal position is adjusted, the visual imaging module collects a backlight sun image, and the image processing module processes the backlight sun image to determine the position of the sun image after the horizontal position adjustment; S134. According to the position of the sun image after the horizontal position adjustment, determine whether the adjusted sun image position is located on the vertical central axis. If so, record the number of horizontal pulses. If not, execute S135; S135. According to the position of the sun image after the horizontal position adjustment, determine whether it crosses a quadrant. If not, execute S136. If so, execute S137; S136. Determine the pixel distance between the sun center point and the vertical central axis according to the position of the sun image after the horizontal position adjustment, and execute S132; S137. According to the horizontal adjustment direction and the preset adjustment parameter, control the horizontal adjustment component to reversely adjust the horizontal position 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 horizontal position adjustment is located on the vertical central axis, and record the number of horizontal reverse pulses.

[0010] Further, 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 sun center point and the vertical central axis includes: S1321. Determine the first horizontal adjustment pixel distance and the second horizontal adjustment pixel distance according to the horizontal adjustment direction and the pixel distance between the sun center point and the vertical central axis; S1322. At 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 first horizontal adjustment step angle, and record the first horizontal adjustment pulse number; S1323. After completing the adjustment at 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, where 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 number of horizontal reverse pulses.

[0011] Further, according to the pitch adjustment direction, control the pitch adjustment component to adjust the pitch angle of the visual imaging module until, in the backlight solar image collected by the visual imaging module after the pitch angle adjustment, the position of the solar image is on the horizontal central axis of the image, including: S141. Determine the pixel distance between the center point of the sun and the horizontal central axis according to the position of the solar image; S142. Control 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 backlight solar image, and the image processing module processes the backlight solar image to determine the position of the solar image after the pitch angle adjustment; S144. According to the position of the solar image after the pitch angle adjustment, determine whether the adjusted position of the solar image is on the horizontal central axis. If so, record the number of pitch pulses. If not, execute S145; S145. According to the position of the solar image after the pitch angle adjustment, determine whether it crosses a quadrant. If not, execute S146. If so, execute S147; S146. Determine the pixel distance between the center point of the sun and the horizontal central axis according to the position of the solar image after the pitch angle adjustment, and execute S142; S147. According to the pitch adjustment direction and the preset adjustment parameter, control the pitch adjustment component to reversely adjust the pitch angle of the visual imaging module until, in the backlight solar image collected by the visual imaging module after the pitch angle adjustment, the position of the solar image is on the horizontal central axis, and record the number of reverse pitch pulses.

[0012] Further, 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 includes: S1421. Determine 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, control the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction and the first pitch adjustment step angle, and record the number of first pitch adjustment pulses; S1423. After completing the adjustment at 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 number of second pitch adjustment pulses, where the second pitch adjustment step angle is smaller than the first pitch adjustment step angle, and the number of pitch pulses includes the number of first pitch adjustment pulses, the number of second pitch adjustment pulses, and the number of reverse pitch pulses.

[0013] Further, the angle measurement module calculates the solar azimuth information based on the following formula according to the number of horizontal pulses and the number of pitch pulses:

[0014] ,

[0015] wherein, is the solar azimuth angle, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, and n3 is the number of horizontal reverse pulses, is the first horizontal adjustment step angle, is the second horizontal adjustment step angle, is the solar altitude angle, m1 is the number of first pitch adjustment pulses, m2 is the number of second pitch adjustment pulses, and m3 is the number of pitch reverse pulses, is the first pitch adjustment step angle, is the second pitch adjustment step angle, and k is the initial pitch included angle.

[0016] Furthermore, the image processing module is used to process the backlight solar image to determine the position of the solar image, including: converting the backlight 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 solar contour based on the processed binary image; determining the solar center based on the solar contour; and determining the position of the solar image according to the solar center.

[0017] The present invention provides a solar azimuth measurement method based on vision backlight image processing technology, which is applied to the above-mentioned solar azimuth measurement system based on vision backlight image processing technology, including: collecting a backlight solar image; processing the backlight solar image to determine the position of the solar image; and calculating solar azimuth information according to the position of the solar image.

[0018] Compared with the prior art, the solar azimuth measurement system and method based on vision backlight image processing technology provided by the present invention at least have the following beneficial effects:

[0019] 1. By collecting backlit solar images through a visual imaging module and finely processing the images in combination with an image processing module, the position of the solar image can be accurately determined. The angle measurement module makes precise adjustments based on the position of the solar image to ensure that the solar image is located at the center of the image, thereby improving the accuracy of solar azimuth measurement. It can automatically collect, process, and analyze backlit solar images without manual intervention, enhancing the automation of the measurement. Through preset adjustment parameters and logical judgments, it can intelligently control the adjustment components to achieve precise measurement of the solar azimuth. It can adapt to backlit solar images under different lighting conditions and extract the solar contour and center position through image processing techniques. The angle measurement module has flexible adjustment capabilities and can meet the measurement requirements for the sun at different angles and positions. It can collect and process backlit solar images in real time, quickly determining the position and azimuth information of the solar image. With efficient algorithms and hardware support, the system can complete the measurement task in a short time, improving the measurement efficiency. Compared with traditional solar azimuth measurement methods, based on visual image processing technology, it does not require expensive hardware equipment or complex installation processes. It improves the accuracy of solar azimuth measurement and provides an information basis for improving solar energy utilization. In the design of solar energy systems (such as photovoltaic panels and solar water heaters), understanding the solar azimuth can help optimize the installation angle of the equipment to maximize solar energy reception.

[0020] 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 greater than the second horizontal adjustment step angle), rapid adjustment can be made when far from the vertical central axis, while fine adjustment can be carried out when approaching the vertical central axis, thereby improving the accuracy of the final adjustment, effectively reducing the occurrence of crossing quadrants, and improving the adjustment efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] This specification will be further described by way of exemplary embodiments, which will be described in detail through the accompanying drawings. These embodiments are not restrictive. In these embodiments, the same reference numerals represent the same structures, where:

[0022] Figure 1 is a schematic diagram of the modules of a solar azimuth measurement system based on visual backlit image processing technology shown in some embodiments of this specification;

[0023] Figure 2a is a schematic diagram of the structure of an angle measurement module shown in some embodiments of this specification;

[0024] Figure 2b is a partial schematic diagram of an angle measurement module shown in some embodiments of this specification;

[0025] Figure 3It is a schematic flow chart of determining the position of the sun image according to some embodiments of this specification;

[0026] Figure 4 It is a schematic diagram of the quadrant map of the sun center coordinates according to some embodiments of this specification;

[0027] Figure 5 It is a schematic flow chart of calculating the sun azimuth information based on the position of the sun image according to some embodiments of this specification;

[0028] Figure 6 It is a schematic flow chart of adjusting the horizontal position of the visual imaging module according to some embodiments of this specification;

[0029] Figure 7 It is a schematic diagram of the position of the sun image located on the vertical central axis according to some embodiments of this specification;

[0030] Figure 8 It is a schematic flow chart of adjusting the pitch angle of the visual imaging module according to some embodiments of this specification;

[0031] Figure 9 It is a schematic diagram of the position of the sun image located on the vertical central axis and the horizontal central axis according to some embodiments of this specification;

[0032] Figure 10 It is a schematic flow chart of the sun azimuth measurement method based on the visual backlight image processing technology according to some embodiments of this specification.

[0033] In the figure, 1 is the base; 2 is the pitch adjustment component; 3 is the horizontal adjustment component; 4 is the visual imaging module. Detailed implementation manners

[0034] To more clearly illustrate the technical solutions of the embodiments of this specification, the accompanying drawings required for the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structures or operations.

[0035] Figure 1 It is a schematic module diagram of the sun azimuth measurement system based on the visual backlight image processing technology according to some embodiments of this specification. As Figure 1 shown, the sun azimuth 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.

[0036] The visual imaging module 4 can be used to collect backlight solar images, the image processing module can be used to process the backlight solar images to determine the position of the solar images, and the angle measurement module can be used to calculate the solar azimuth information based on the position of the solar images.

[0037] Specifically, the visual imaging module 4 can include a CCD camera, an ultra-wide-angle lens, a special lens for electric welding masks, a bracket, and a power adapter. Among them, the viewing angle of the ultra-wide-angle lens can reach 150 degrees.

[0038] Figure 2a It is a schematic structural diagram of the angle measurement module shown in some embodiments of this specification. Figure 2b It is a partial schematic diagram of the angle measurement module shown in some embodiments of this specification. As Figure 2a and Figure 2b shown, in some embodiments, the angle measurement module includes a base 1, a pitch adjustment component 2 provided on the base 1, and a horizontal adjustment component 3 provided on the pitch adjustment component 2. The visual imaging module 4 is provided on the horizontal adjustment component 3.

[0039] Specifically, the base 1 can be a cross base. A measuring rod is vertically installed at the center of the cross base, with a height of about 3 meters. A rotating platform is provided on the measuring rod, and the pitch adjustment component 2 is provided on the rotating platform. A vertical rod with a height of 20 cm is installed at the center of the rotating platform, and the horizontal adjustment component 3 is provided on the vertical rod. The pitch adjustment component 2 can 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 can include a precision micro stepping motor B to drive the visual imaging module 4 to rotate left and right.

[0040] The angle measurement module further includes a controller, a horizontal driver, and a pitch driver. Among them, 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.

[0041] 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 is facing south and forms a 30-degree angle with the plane of the cross base to ensure that the camera's field of view can see the sun in any situation.

[0042] Figure 3 It is a schematic flowchart of determining the position of the solar image shown in some embodiments of this specification. As Figure 3 shown, in some embodiments, the image processing module is used to process the backlight solar images to determine the position of the solar images, including:

[0043] Convert the backlit solar image into a grayscale image;

[0044] Based on adaptive threshold segmentation, convert the grayscale image into a binary image;

[0045] Perform an opening operation on the binary image to obtain the processed binary image;

[0046] Based on the processed binary image, extract the solar contour;

[0047] Based on the solar contour, determine the solar center;

[0048] According to the solar center, determine the position of the solar image.

[0049] Specifically, in the process of determining the position of the solar image, color information is not necessary for determining the position of the sun. Therefore, first convert the image into a grayscale image, which can simplify subsequent processing steps while retaining sufficient image features for determining the position of the sun. 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 according to the local brightness of the image and is used to convert the grayscale image into a binary image containing only black and white colors. In a backlit solar image, the solar region is usually brighter than the background. Adaptive threshold segmentation can automatically adjust the threshold according to different regions of the image, thus more accurately separating the solar region and the background. The opening operation includes a process of erosion followed by dilation. It helps to remove small objects (noise) in the image and small parts connecting objects while keeping the size and shape of the objects basically unchanged. Performing an opening operation on the binary image can further clean the image, making the solar contour clearer and facilitating subsequent extraction of the solar contour. In the processed binary image, the solar region is usually a bright connected region. Through a contour detection algorithm (such as edge detection or contour tracking), the contour of the sun can be extracted. The extracted solar contour is the basis for subsequent determination of the solar center position. Once the solar contour is extracted, the center position of the sun can be determined by calculating the centroid (or center of gravity) of the contour. The centroid is the average of the positions of all points on the contour, which represents the geometric center of the sun in the image. Finally, according to the coordinates of the solar center in the image, the position of the solar image can be determined.

[0050] Figure 4 It is a schematic diagram of the quadrant map of the solar center coordinates shown in some embodiments of this specification. As Figure 4 shown, divide the photo into four quadrants with the center of the image as the coordinate origin X0, Y0.

[0051] Figure 5 It is a schematic flowchart of calculating solar azimuth information according to the position of the solar image shown in some embodiments of this specification.Figure 5 As shown, in some embodiments, the angle measurement module is used to calculate the solar position information according to the solar image position, including:

[0052] S11. Determine the image quadrant where the sun is currently located based on the sun image position, for example, Figure 4 The position of the sun image shown is in the fourth quadrant;

[0053] S12. Determine the horizontal adjustment direction and the pitch adjustment direction according to the image quadrant where the sun is currently located, for example, Figure 4 The position of the sun image shown corresponds to a pitch adjustment direction of downward and a horizontal adjustment direction of rightward;

[0054] S13, controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4 according to the horizontal adjustment direction until the position of the sun image in the backlit sun image captured by the visual imaging module 4 after the horizontal position adjustment is located on the vertical central axis, and recording the number of horizontal pulses;

[0055] S14, controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 according to the pitch adjustment direction until the position of the sun 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 of the image, and recording the number of pitch pulses;

[0056] S15. Calculate the solar position information according to the number of horizontal pulses and the number of pitch pulses.

[0057] Figure 6 is a flow chart of 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 captured 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:

[0058] S131. Determine the pixel distance between the center 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 vertical direction;

[0059] 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;

[0060] 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;

[0061] S134. Determine whether the position of the sun image after horizontal position adjustment is on the vertical central axis according to the position of the sun image after horizontal position adjustment. As Figure 7 shown, if so, record the number of horizontal pulses; if not, execute S135;

[0062] S135. Determine whether the position of the sun image after horizontal position adjustment crosses a quadrant according to the position of the sun image after horizontal position adjustment. If not, execute S136; if so, execute S137. For example, when the position of the sun image after adjustment moves from the fourth quadrant to the third quadrant, a quadrant crossing occurs;

[0063] S136. Determine the pixel distance between the center point of the sun and the vertical central axis according to the position of the sun image after horizontal position adjustment, and execute S132;

[0064] S137. Control the horizontal adjustment component 3 to reversely adjust the horizontal position of the visual imaging module 4 according to the horizontal adjustment direction and the preset adjustment parameters until the position of the sun image in the backlight sun image collected by the visual imaging module 4 after horizontal position adjustment is on the vertical central axis, and record the number of horizontal reverse pulses.

[0065] In some embodiments, 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 includes:

[0066] S1321. Determine the first horizontal adjustment pixel distance and the 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 the part 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 the part 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. By way of example only, the pixel distance between the center point of the sun and the vertical central axis is 10 pixels, where the distance from 10 - 4 pixels is the first horizontal adjustment pixel distance, and the distance from 0 - 3 pixels is the second horizontal adjustment pixel distance;

[0067] S1322. At 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 first horizontal adjustment step angle, and record the number of first horizontal adjustment pulses;

[0068] After completing the adjustment of the pixel distance at the first level, according to the horizontal adjustment direction and the second horizontal adjustment step angle, control the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4, and record the number of second horizontal adjustment pulses. Among them, the second horizontal adjustment step angle is smaller than the first horizontal adjustment step angle, and the number of horizontal pulses includes the number of first horizontal adjustment pulses, the number of second horizontal adjustment pulses, and the number of horizontal reverse pulses. For example, the first horizontal adjustment step angle is that each pulse motor rotates 1.8 degrees, and the second horizontal adjustment step angle is that each pulse motor rotates 1.8 / 100 = 0.018 degrees.

[0069] 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 far from the vertical central axis, and perform fine adjustment when approaching the vertical central axis, thereby improving the accuracy of the final adjustment, effectively reducing the occurrence of crossing quadrants, and improving the adjustment efficiency.

[0070] Optimize the adjustment efficiency: Using a larger step angle (the first horizontal adjustment step angle) when far 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.

[0071] Reduce mechanical wear: Using a smaller step angle (the second horizontal adjustment step angle) for fine adjustment when approaching the target position can reduce mechanical wear caused by rapid adjustment at large angles and extend the service life of the equipment.

[0072] Figure 8 It is a schematic flow diagram for adjusting the pitch angle of the visual imaging module 4 shown in some embodiments of this specification, as Figure 8 shown. In some embodiments, according to the pitch adjustment direction, control 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 backlight sun image collected by the visual imaging module 4 after the pitch angle adjustment is located on the image horizontal central axis, including:

[0073] S141. Determine the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image;

[0074] S142. 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 pixel distance between the center point of the sun and the horizontal central axis;

[0075] S143. After the pitch angle is adjusted, the visual imaging module 4 collects a backlight sun image, and the image processing module processes the backlight sun image to determine the position of the sun image after the pitch angle adjustment;

[0076] S144. Based on the position of the sun image after adjusting the pitch angle, determine whether the position of the adjusted sun image is on the horizontal central axis. If so, record the number of pitch pulses. If not, execute S145;

[0077] S145. Based on the position of the sun image after adjusting the pitch angle, determine whether it crosses a quadrant. If not, execute S146. If so, execute S147;

[0078] S146. Based on the position of the sun image after adjusting the pitch angle, determine the pixel distance between the center point of the sun and the horizontal central axis, and execute S142;

[0079] S147. According to the pitch adjustment direction and the preset adjustment parameters, control the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 in the reverse direction until the position of the sun image in the backlight sun image collected by the visual imaging module 4 after adjusting the pitch angle is on the horizontal central axis, and record the number of pitch reverse pulses.

[0080] In some embodiments, 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 includes:

[0081] S1421. Determine the first pitch adjustment pixel distance and the 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;

[0082] S1422. At 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 first pitch adjustment step angle, and record the number of first pitch adjustment pulses;

[0083] S1423. After completing the adjustment at 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 number of second pitch adjustment pulses, where the second pitch adjustment step angle is less than the first pitch adjustment step angle, and the number of pitch pulses includes the number of first pitch adjustment pulses, the number of second pitch adjustment pulses, and the number of pitch reverse pulses.

[0084] The method of controlling the pitch adjustment component 2 to adjust the pitch angle of the visual imaging module 4 is similar to the method of controlling the horizontal adjustment component 3 to adjust the horizontal position of the visual imaging module 4, and will not be elaborated here.

[0085] In some embodiments, the angle measurement module calculates the sun azimuth information based on the following formula according to the number of horizontal pulses and the number of pitch pulses:

[0086] ,

[0087] Among them, is the solar azimuth angle, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, and n3 is the number of horizontal reverse pulses. is the first horizontal adjustment step angle. is the second horizontal adjustment step angle. is the solar altitude angle, m1 is the number of first pitch adjustment pulses, m2 is the number of second pitch adjustment pulses, and m3 is the number of pitch reverse pulses. is the first pitch adjustment step angle. is the second pitch adjustment step angle, and k is the initial pitch included angle.

[0088] Figure 10 is a schematic flow chart of a solar azimuth measurement method based on visual backlight image processing technology shown in some embodiments of this specification. As Figure 10 shown, the solar azimuth measurement method based on visual backlight image processing technology may include the following processes.

[0089] Step 1010, collect backlight solar images;

[0090] Step 1020, process the backlight solar images to determine the position of the solar images;

[0091] Step 1030, calculate solar azimuth information according to the position of the solar images.

[0092] The solar azimuth measurement method based on visual backlight image processing technology can be applied to a solar azimuth measurement system based on visual backlight image processing technology. For more descriptions of the solar azimuth measurement method based on visual backlight image processing technology, reference can be made to the relevant descriptions of the solar azimuth measurement system based on visual backlight image processing technology, which will not be elaborated here.

[0093] 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 deformations may also fall within the scope of this specification. Therefore, as an example rather than a limitation, alternative configurations of the embodiments of this specification can be regarded as consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments clearly introduced and described in this specification.

Claims

1. A solar azimuth measurement system based on vision backlight image processing technology, characterized in that, It includes a visual imaging module, an image processing module, and an angle measurement module. Among them, the visual imaging module is used to collect backlight solar images, the image processing module is used to process the backlight solar images to determine the positions of the solar images, and the angle measurement module is used to calculate the solar azimuth information based on the positions of the solar images; The angle measurement module calculates the solar azimuth information based on the positions of the solar images, including: S11. Divide the image with the image center as the coordinate origin, divide the image into four quadrants, and determine the image quadrant where the current sun is located according to the position of the solar image; S12. Determine the horizontal adjustment direction and the pitch adjustment direction according to the image quadrant where the current sun is located; S13. According to the horizontal adjustment direction, control the horizontal adjustment component to adjust the horizontal position of the visual imaging module until the position of the solar image in the backlight solar image collected by the visual imaging module after the horizontal position adjustment is on the vertical central axis, and record the number of horizontal pulses; S14. According to the pitch adjustment direction, control the pitch adjustment component to adjust the pitch angle of the visual imaging module until the position of the solar image in the backlight solar image collected by the visual imaging module after the pitch angle adjustment is on the horizontal central axis of the image, and record the number of pitch pulses; S15. Calculate the solar azimuth information according to the number of horizontal pulses and the number of pitch pulses; Among them, 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 solar image in the backlight solar image collected by the visual imaging module after the horizontal position adjustment is on the vertical central axis, and recording the number of horizontal pulses, including: S131. Determine the pixel distance between the center point of the sun and the vertical central axis according to the position of the solar image, where the vertical central axis in the coordinate axis is the coordinate axis with the vertical direction; S132. Control 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 backlight solar image, and the image processing module processes the backlight solar image to determine the position of the solar image after the horizontal position adjustment; S134. According to the position of the solar image after the horizontal position adjustment, judge whether the adjusted position of the solar image is on the vertical central axis. If so, record the number of horizontal pulses. If not, execute S135; S135. According to the position of the solar image after the horizontal position adjustment, judge whether it crosses the quadrant. If not, execute S136. If so, execute S137; S136. Determine the pixel distance between the center point of the sun and the vertical central axis according to the position of the solar image after the horizontal position adjustment, and execute S132; S137. According to the horizontal adjustment direction and the 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 backlight solar image collected by the visual imaging module after the horizontal position adjustment is on the vertical central axis, and record the number of horizontal reverse pulses.

2. The solar azimuth measurement system based on the visual backlight image processing technology according to claim 1, wherein The angle measurement module includes a base, a pitch adjustment component disposed on the base, and a horizontal adjustment component disposed on the pitch adjustment component, and the visual imaging module is disposed on the horizontal adjustment component; It further includes a controller, a horizontal driver, and a pitch driver. Among them, 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 azimuth measurement system based on the visual backlight image processing technology according to claim 1, wherein 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 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; S1322. At 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 first horizontal adjustment step angle, and record the first horizontal adjustment pulse number; S1323. After completing the adjustment at 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, where 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.

4. The solar azimuth measurement system based on the visual backlight image processing technology according to claim 3, wherein, Controlling the pitch adjustment component to adjust the pitch angle of the visual imaging module according to the pitch adjustment direction until the position of the sun image in the backlight sun image collected by the visual imaging module after the pitch angle adjustment is located on the image horizontal central axis includes: S141. Determine the pixel distance between the center point of the sun and the horizontal central axis according to the position of the sun image; S142. Control 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 backlight sun image, and the image processing module processes the backlight sun image to determine the position of the sun image after the pitch angle adjustment; S144. According to the position of the sun image after the pitch angle adjustment, determine whether the adjusted position of the sun image is located on the horizontal central axis. If so, record the pitch pulse number. If not, execute S145; S145. According to the position of the sun image after the pitch angle adjustment, determine whether it crosses a quadrant. If not, execute S146. If so, execute S147; S146. Determine 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 adjustment, and execute S142; S147. According to the pitch adjustment direction and the preset adjustment parameters, control the pitch adjustment component to reversely 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 adjustment is on the horizontal central axis, and record the number of pitch reverse pulses.

5. The solar azimuth measurement system based on the visual backlight image processing technology according to claim 4, characterized in that, 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 of the sun center point from the vertical central axis includes: S1421. Determine the first pitch adjustment pixel distance and the second pitch adjustment pixel distance according to the pitch adjustment direction and the pixel distance of the sun center point from the vertical central axis; S1422. At 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 first pitch adjustment step angle, and record the first pitch adjustment pulse number; S1423. After completing the adjustment at 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, where 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.

6. The solar azimuth measurement system based on the visual backlight image processing technology according to claim 5, wherein The angle measurement module calculates the sun azimuth information based on the following formula according to the horizontal pulse number and the pitch pulse number: ， Wherein, is the solar azimuth angle, n1 is the number of first horizontal adjustment pulses, n2 is the number of second horizontal adjustment pulses, and n3 is the number of horizontal reverse pulses, is the first horizontal adjustment step angle, is the second horizontal adjustment step angle, is the solar altitude angle, m1 is the number of first pitch adjustment pulses, m2 is the number of second pitch adjustment pulses, and m3 is the number of pitch reverse pulses, is the first pitch adjustment step angle, is the second pitch adjustment step angle, and k is the initial pitch angle.

7. The solar azimuth measurement system based on the visual backlight image processing technology according to any one of claims 1-6, characterized in that The image processing module is used to process the backlight sun image to determine the position of the sun image, including: Convert the backlight sun image into a grayscale image; Based on adaptive threshold segmentation, convert the grayscale image into a binary image; Perform an opening operation on the binary image to obtain a processed binary image; Extract the sun contour based on the processed binary image; Determine the sun center based on the sun contour; Determine the position of the sun image according to the sun center.

8. A method for measuring the solar azimuth based on vision backlight image processing technology, characterized in that, Applied to the sun azimuth measurement system based on the visual backlight image processing technology according to any one of claims 1-7, including: Collect a backlight sun image; Process the backlight sun image to determine the position of the sun image; Calculate the sun azimuth information according to the position of the sun image.

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