Heliostat closed-loop tracking control system

Abstract

The utility model provides a heliostat closed-loop tracking control system, which comprises a heliostat, a digital camera, an image acquisition processor and a heliostat controller, a central sub-mirror is arranged at the central position of the heliostat, and the digital camera and the image acquisition processor are fixedly arranged on the back of the central area of the central sub-mirror. The central area of the central sub-mirror is transparent glass, and the glass surface of the transparent glass is parallel to the photosensitive surface of the digital camera; according to the utility model, the digital camera is applied to the control of the heliostat, so that the closed-loop control of the heliostat is realized, sunlight can be stably reflected to the heat absorber for a long time only by simply calibrating the heliostat, and the overall manufacturing cost of the heliostat can be greatly reduced.

Description

[Technical field]

[0001] The utility model relates to the technical field of heliostat tracking control, in particular to a heliostat closed-loop tracking control system. [Background technology]

[0002] At present, the control method of heliostats in tower solar thermal power stations mostly adopts open-loop control, that is, the actual position of the heliostat is compared with the target position obtained by calculation, and the heliostat is controlled to rotate so that the two positions coincide. Since there are inevitable system errors in the transmission system and bracket system of the heliostat, and there are also inevitable installation errors in the installation process of the heliostat, the tracking error of the heliostat is objective. The traditional solution is to obtain the heliostat motion model by collecting the center position of the heliostat spot at different times, and calculate the correction parameters of the heliostat. In this way, the heliostat can track the sun with high accuracy in the short term. As time goes by, this accuracy will become lower and lower. This open-loop control method of heliostat has the following problems: 1) It takes a long time to debug, 2) It is impossible to obtain real-time feedback, and 3) It has high requirements for the performance indicators of the mechanical transmission mechanism. Since the posture of the heliostat in the open-loop control state is uncontrollable, this will affect the convergence efficiency of solar energy in the absorber area, thereby affecting the power generation efficiency of the tower solar thermal power station.

[0003] Obviously, the above problems can be solved through the closed-loop control of the heliostat, but the closed-loop control of the heliostat is difficult to implement. There are also some scientific research institutions in the world that are studying the closed-loop control method of the heliostat. For example, a light collimation sensor is installed between the heliostat and the heat absorber to detect whether the reflected light of the heliostat is on the line connecting the heliostat and the heat absorber. Although this method can achieve the closed-loop control of the heliostat, it is necessary to install a vertical pole with a light collimation sensor in front of the heliostat, which not only affects the cleaning of the heliostat by the cleaning vehicle, but also has the problems of high manufacturing cost and long debugging cycle. This control method is rarely used in actual projects. In addition, there are some patented technologies for closed-loop control of heliostats that have no practical application. The idea of ​​closed-loop control of heliostats is to sense the position of the sun through the spot sensor, and compare the actual position of the sun with the theoretically calculated target position to achieve closed-loop control of the heliostat. Although this method can achieve closed-loop control of the heliostat, its closed-loop object is the sun. Installation errors are inevitable during the installation of the spot sensor. This method does not achieve true closed-loop control of the heliostat.

[0004] Therefore, it is necessary to study a heliostat closed-loop tracking control system to address the deficiencies of the prior art and to solve or alleviate one or more of the above problems. [Contents of the utility model]

[0005] In view of this, the utility model provides a closed-loop tracking control system for a heliostat, which realizes the closed-loop control of the heliostat by applying a wide-angle and high-pixel digital camera to the control of the heliostat. As long as the heliostat is simply calibrated, the heliostat can stably reflect sunlight to the absorber for a long time. The heliostat with closed-loop control is no longer sensitive to the manufacturing and installation accuracy of the transmission system and the bracket system, thereby greatly reducing the overall manufacturing cost of the heliostat.

[0006] On the one hand, the utility model provides a heliostat closed-loop tracking and control system, which comprises a heliostat, a digital camera, an image acquisition processor and a heliostat controller. A central sub-mirror is provided at the central position of the heliostat. The digital camera and the image acquisition processor are fixedly mounted on the back of the central area of ​​the central sub-mirror. The central area of ​​the central sub-mirror is transparent glass, and the glass surface of the transparent glass is parallel to the photosensitive surface of the digital camera.

[0007] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the heliostat closed-loop tracking control system further includes a light source and a telephoto camera, and the light source and the telephoto camera are arranged directly below the object to be tracked.

[0008] According to the above aspects and any possible implementation manner, there is further provided an implementation manner, wherein the light source is a searchlight.

[0009] According to the above aspects and any possible implementation manner, there is further provided an implementation manner, wherein the object to be tracked is a heat absorber.

[0010] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the searchlight and the telephoto camera are both visually arranged in a lens of a digital camera.

[0011] According to the above aspects and any possible implementation manner, an implementation manner is further provided, in which the heat absorber is visibly disposed inside a lens of a digital camera.

[0012] According to the above aspects and any possible implementation, an implementation is further provided, wherein the digital camera and the image acquisition processor are both provided with an auxiliary housing on the outside, and the digital camera and the image acquisition processor are both fixed in their auxiliary housings and bonded to the transparent glass position at the center of the heliostat.

[0013] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the heliostat controller and the image acquisition processor use wired communication, and the heliostat controller provides power for the image acquisition processor and the digital camera.

[0014] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the long side of the rectangular photosensitive surface of the digital camera is parallel to the ground.

[0015] According to the above aspects and any possible implementation, an implementation is further provided, wherein the lens of the digital camera faces the mounting surface, and a color-changing glass lens is provided at a position of the mounting surface corresponding to the lens of the digital camera according to the intensity of incident light.

[0016] The utility model applies a digital camera to the control of a heliostat, and realizes closed-loop control of the heliostat. As long as the heliostat is simply calibrated, the heliostat can stably reflect sunlight onto a heat absorber for a long time. The heliostat under closed-loop control is no longer sensitive to the manufacturing and installation accuracy of a transmission system and a bracket system, thereby greatly reducing the overall manufacturing cost of the heliostat.

[0017] Of course, any product implementing the present utility model does not necessarily need to achieve all of the above-mentioned technical effects at the same time.

Brief Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a process diagram of determining the coordinates of the marking points of the normal line of the heliostat in the collected picture provided by one embodiment of the utility model;

[0020] Figure 2 This is a structural diagram of an embodiment of the utility model providing a digital camera and an image acquisition processor installed on the back of the central sub-mirror of the heliostat mirror surface;

[0021] Figure 3 An embodiment of the utility model provides a structural diagram in which the sun and the heliostat reflected light spots are symmetrical about the heliostat center normal mark point;

[0022] Figure 4 It is a structural diagram of a heliostat closed-loop tracking control system provided by an embodiment of the utility model.

[0023] Among them, 1-heliostat; 2-central sub-mirror; 3-object to be tracked; 4-light source; 5-telephoto camera; 6-digital camera. [Specific implementation method]

[0024] In order to better understand the technical solution of the present utility model, the embodiments of the present utility model are described in detail below with reference to the accompanying drawings.

[0025] It should be clear that the described embodiments are only part of the embodiments of the utility model, not all of them. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0027] like Figure 4 As shown, the utility model provides a closed-loop tracking control system for a heliostat. By applying a wide-angle and high-pixel digital camera to the control of the heliostat, the closed-loop control of the heliostat is realized. As long as the heliostat is simply calibrated, the heliostat can stably reflect sunlight to the absorber for a long time. The heliostat with closed-loop control is no longer sensitive to the manufacturing and installation accuracy of the transmission system and the bracket system, thereby greatly reducing the overall manufacturing cost of the heliostat.

[0028] The utility model provides a heliostat closed-loop tracking control system, which comprises a heliostat 1, a digital camera 6, an image acquisition processor and a heliostat controller. A central sub-mirror 2 is provided at the central position of the heliostat. The digital camera 6 and the image acquisition processor are fixedly mounted on the back of the central area of ​​the central sub-mirror. The central area of ​​the central sub-mirror 2 is transparent glass, and the glass surface of the transparent glass is parallel to the photosensitive surface of the digital camera 6. The heliostat closed-loop tracking control system also comprises a light source 4 and a telephoto camera 5, which are arranged directly below an object 3 to be tracked. The light source 4 is a searchlight. The object 3 to be tracked is a heat absorber. The searchlight 4 and the telephoto camera 5 are both visually arranged in the lens of the digital camera 6. The heat absorber is visually arranged in the lens of the digital camera. The digital camera 6 and the image acquisition processor are both provided with an auxiliary housing on the outside, and the digital camera 6 and the image acquisition processor are both fixed in their auxiliary housings and bonded and fixed to the transparent glass position at the center of the heliostat 1. The heliostat controller and the image acquisition processor use wired communication, and the heliostat controller provides power for the image acquisition processor and the digital camera. The long side of the rectangular photosensitive surface of the digital camera 6 is parallel to the ground. The lens of the digital camera 6 faces the mounting surface, and the mounting surface is provided with a discolored glass lens according to the intensity of the incident light at the position corresponding to the lens of the digital camera. In the utility model, the searchlight 4 and the telephoto camera 5 are only used for initial setting, and do not participate in the closed-loop tracking control process in the subsequent closed-loop tracking control process. The image acquisition processor in the utility model is an electronic component that realizes high-speed image acquisition, storage and transmission of the camera on the market, including a single-chip microcomputer controlled ISP-PLD device. In addition to high-speed image acquisition and storage of the camera, it also includes single-chip microcomputer image compression and PC serial communication to realize image data transmission, and realizes image processing and display on the PC side. For example: PC image acquisition card, PC image processing card, embedded board and equipment, and smart camera, excluding the method flow, are all firmware in the prior art. The utility model adopts the existing Basler image acquisition card RAP4G CL DB P325 VDR recorder-video acquisition card. In addition, in the utility model, the heliostat controller is a heliostat array controller. The present invention can automatically perform tracking control after only calibration, because the heliostat controllers in the utility model are all existing in the prior art, and the more common ones include: the heliostat controller produced by Changchun Shengbo Optical Technology Development Co., Ltd., which is installed inside the heliostat control cabinet. The heliostat controller drives two DC brushless motors to make the heliostat rotate with the sun and reflect sunlight to a specified position; the target position of the heliostat is calculated by astronomical formulas and heliostat position parameters; the current position of the heliostat is measured by a magnetic scale; an initial position proximity switch is installed in the horizontal and pitch directions of the heliostat transmission box, and the initial position of the heliostat is determined by the proximity switch.A protection switch is installed in the horizontal and elevation directions of the heliostat. When the heliostat rotates to the protection switch position due to a fault, an alarm is triggered and the heliostat stops working. The alarm can only be cleared by on-site maintenance by staff. When the heliostat controller loses power, the position information of the magnetic scale is not lost. After power is restored, the current position information of the heliostat is calibrated through the next MARK point of the magnetic scale. Its characteristics.

[0029] It has slow start and slow stop functions to reduce starting current and impact on the transmission system.

[0030] The heliostat controller has a power-off brake function.

[0031] The controller communication network card meets the 100Mbps bandwidth requirement and uses an RJ45 shielded network port socket. Configure the human-machine interface.

[0032] Equipped with real-time clock module RTC.

[0033] It has the function of judging if communication is interrupted or lost, and can park the heliostat in a safe position.

[0034] A communication table is provided to meet the requirements of command response and status feedback, and to meet the interactive communication function with the host computer.

[0035] It can realize the automatic control sun tracking function and meet the heliostat tracking accuracy requirements.

[0036] It is equipped with self-fault and external sensor fault alarm output function. Each alarm control should be equipped with corresponding indicator light or display the corresponding alarm code.

[0037] It has the function of quick start after power failure recovery, and the startup time is less than 5S.

[0038] It has a power-off restart protection function, and automatically enters the preset heliostat protection mode after power off and restart.

[0039] Equipped with an independent external cleaning switch interface.

[0040] At the same time, compared with domestic products, the heliostat controller can also use the existing HelioNode in the existing technology. TM Hardware platform.

[0041] Embodiment 1:

[0042] The utility model provides a closed-loop tracking control device for a heliostat based on a digital camera, comprising a wide-angle high-pixel digital camera (hereinafter referred to as a digital camera), an image acquisition processor and a heliostat controller. The digital camera is connected to the image acquisition processor, which receives pictures taken by the digital camera, analyzes the pictures and extracts the positions of the center of the sun and the center of the heat absorber in the pictures, and sends the processing results to the heliostat controller. The digital camera is installed at the center of the heliostat, and the main optical axis of the digital camera is parallel to the center normal of the heliostat. By controlling the rotation of the heliostat, the normal of the heliostat is located at the position of the angular bisector of ∠AOB formed by the sun A, the center normal mark point O of the heliostat and the target point B, so that the heliostat can reflect sunlight to the target position. As long as the heliostat can accurately reflect sunlight to the heat absorber, the tracking accuracy of this heliostat meets the requirements. When the heliostat reflects sunlight to the absorber, the digital camera will capture two bright objects, the sun and the absorber. These two objects are easy to identify and calibrate their centers in the captured images. If the coordinates of the center points of the sun and the absorber are symmetrical about the coordinates of the center normal mark point of the heliostat, the light spot of the heliostat has already hit the absorber. The closed-loop control of the heliostat can reduce the requirements for the manufacturing accuracy of the reducer and bracket of the heliostat, which is conducive to reducing the overall cost of the heliostat.

[0043] The hardware of the utility model includes a wide-angle high-pixel digital camera, an image acquisition processor and a heliostat controller. Figure 2 As shown, the digital camera and the image acquisition processor are fixedly installed in their auxiliary housing, the auxiliary housing has a mounting surface, the photosensitive surface of the digital camera is parallel to the mounting surface of the auxiliary housing, and the long side of the rectangular photosensitive surface of the camera is parallel to the ground. The lens of the digital camera faces the mounting surface, and the position of the lens of the digital camera is a glass lens that can change color according to the intensity of light to avoid damage to the photosensitive surface of the digital camera in sunlight. The area corresponding to the center of the mirror surface of the heliostat is transparent glass. The auxiliary housing is fixedly installed in the transparent glass area.

[0044] The image acquisition processor is used to receive and process the pictures collected by the digital camera, and transmit the coordinates of the center position (A) of the sun and the center position (B) of the absorber in the collected pictures to the heliostat controller through wired communication. The power supply of the image acquisition processor and the digital camera is provided by the heliostat controller. Computers and other devices can receive the pictures taken by the digital camera collected by the image acquisition processor through wireless communication.

[0045] like Figure 3As shown, after the multi-faceted heliostat reflects sunlight onto the absorber, the brightness of the absorber and its surroundings will be relatively high, and the digital camera of the heliostat can simultaneously observe two high-brightness objects: the sun and the absorber. The image acquisition processor collects the pictures taken by the digital camera and sends the coordinates of the center of the sun (A) and the center of the absorber (B) in the collected pictures to the heliostat controller. When the center normal mark point of the heliostat is located in the middle of the AB line segment, the sunlight spot reflected by the heliostat hits the absorber. If the center normal mark point (O) of the heliostat is not located in the center of the AB line segment, the heliostat can be rotated to make the two points coincide, and the heliostat light spot can hit the absorber.

[0046] When installing a heliostat for the first time, you must first determine the coordinates of the mark point (O) of the center normal of the heliostat in the captured image. The center position of the sun and the target point should be symmetrical about this point. The method for determining the coordinates of the mark point (O) is based on the imaging principle of a plane mirror: the image (N) and the object (M) are symmetrical about the plane mirror. Install an object that is easy to observe at a distance from the heliostat, and install an observer (such as a telephoto camera) at the position of the object (M). When the observer observes that the image (N) of the object (M) is at the center of the heliostat, the straight line MN is the center normal of the heliostat. In the image taken by the high-pixel digital camera installed at the center of the back of the heliostat, the center position of the object (M) in the image is the coordinates of the mark point (O) of the center normal of the heliostat.

[0047] The heliostat controller records the coordinates of the heliostat center normal mark point in the image (O). Based on the coordinates of the sun center (A) and the absorber center (B) in the image collected by the image acquisition processor, it can be determined whether the reflected light spot of the heliostat hits the absorber. When points A and B are symmetrical about point O, the sun spot reflected by the heliostat hits the absorber. If the coordinate O of the heliostat center normal mark point is not the symmetry center O' of points AB, rotate the heliostat to make the two points coincide, and the reflected light spot of the heliostat hits the absorber.

[0048] When installing the heliostat for the first time, the coordinates of the mark point (O) of the normal line of the heliostat center in the collected image must be determined first. The specific positioning method of this embodiment is: install a strong light source (such as a searchlight) on the heat absorption tower, and place a long-focal-length digital camera (such as a searchlight) next to the strong light source. Figure 1As shown). The heliostat is rotated so that the center normal of the heliostat points to the strong light source installed on the heat absorption tower, so that the image of the strong light source in the picture captured by the telephoto digital camera falls on the center position of the central sub-mirror of the heliostat, that is, the position where the digital camera is installed. Since the heliostat is far away from the strong light source, the center point coordinates of the strong light source image in the picture captured by the image acquisition processor on the heliostat can be considered as the mark point coordinates (O) of the center normal of the heliostat. In the picture captured by the image acquisition processor, the center position of the sun (A) and the target point position (B) should be symmetrical about this point (O). The coordinates of the mark point (O) are saved in the heliostat controller.

[0049] Normal working state: the heliostat controller controls the heliostat to rotate and reflect sunlight to the absorber. After the vast majority of heliostats in the mirror field reflect sunlight to the absorber, the brightness of the absorber and its upper and lower protective plates will become higher. Take a heliostat in the heliostat field as an example to illustrate the difference between the correction method of this patent and the traditional correction method: the target position of the heliostat spot is the absorber. Due to various system errors, the spot of the heliostat may not hit the absorber accurately. The traditional heliostat correction method is: the spot of the heliostat is hit on the digital camera for correction installed on the absorber tower, and the brightness of the heliostat spot is observed by the digital camera. If the brightness is high, it means that the tracking is accurate. If the brightness is low (or not bright), the azimuth and pitch correction angle of the heliostat are modified until the brightness becomes high. The correction results of the heliostat at multiple times throughout the day are combined, and the correction parameters of the heliostat are regressively calculated. For a period of time thereafter, the tracking accuracy of the heliostat is high. The correction method of the heliostat described in this patent is: a digital camera installed at the center of the heliostat observes the position of the sun and the position of the heat absorber at the same time, and the image captured by the digital camera is analyzed and processed by the image acquisition processor to find the coordinates of the center of the sun and the center of the heat absorber in the image, and the two coordinates are transmitted to a given heliostat controller. The controller calculates the center point coordinates (O') of the two coordinates, and compares them with the coordinates of the normal mark point (O) of the center of the heliostat stored in the heliostat controller. If the two points coincide, it means that the tracking of this heliostat is accurate. If they do not coincide, the elevation angle and azimuth angle of the heliostat are adjusted (that is, the correction angle of the azimuth angle and pitch angle of the heliostat is modified) so that point O' coincides with point O, and the heliostat can accurately reflect sunlight to the heat absorber. According to the changes in the azimuth and pitch correction angles of the heliostat at multiple times throughout the day, the correction parameters of the heliostat can be regressively calculated. In this way, the heliostat spot can accurately track the sun, and the spot can be accurately hit at any other specified position.

[0050] The heliostat closed-loop control device and method realizes closed loop in the normal concentrated power generation process. When the heliostat is tracked in place, the heliostat controller sends a command to the image acquisition processor to start collecting pictures taken by the digital camera. If the brightness of the heat absorber is less than the set value compared with the brightness of the sun, it means that the reflected light of most heliostats has not been projected to the heat absorber. The image acquisition processor sends a fault code 1 to the heliostat controller. If there is no image of the sun or the heat absorber in the collected picture, the image acquisition processor sends a fault code 2 to the heliostat controller. If the heliostat controller receives the fault code information, it means that the parameters collected by the closed-loop tracking control device cannot be put into the heliostat closed-loop control process.

[0051] The heliostat closed-loop control device is installed on the back of the central sub-mirror located at the center of the heliostat mirror surface. The cleaning of the heliostat will not cause any damage to the device, and can clean the dust in front of the digital camera lens. The heliostat closed-loop control device and method can realize that all heliostats can self-perceive whether the sunlight is reflected onto the heat absorber during the process of tracking the sun, which is independent of the transmission accuracy of the heliostat, the bracket accuracy and the gravity deformation of the bracket, thereby reducing the requirements for the mechanical manufacturing accuracy of the heliostat and significantly reducing the manufacturing cost of the heliostat.

[0052] The above is a detailed introduction to a heliostat closed-loop tracking control system provided by the embodiment of the present application. The description of the above embodiment is only used to help understand the method and core idea of ​​the present application; at the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

[0053] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different nouns to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. As mentioned throughout the specification and claims, "including" and "comprising" are open-ended terms, so they should be interpreted as "including / including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application, and is not used to limit the scope of the present application. The scope of protection of the present application shall be determined by the definition of the attached claims.

[0054] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0055] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0056] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A heliostat closed-loop tracking control system, characterized in that: The heliostat closed-loop tracking control system comprises a heliostat, a digital camera, an image acquisition processor and a heliostat controller, wherein a central sub-mirror is provided at the central position of the heliostat, the digital camera and the image acquisition processor are fixedly mounted on the back of the central area of ​​the central sub-mirror, the central area of ​​the central sub-mirror is transparent glass, and the glass surface of the transparent glass is parallel to the photosensitive surface of the digital camera; The heliostat closed-loop tracking control system further includes a light source and a telephoto camera, wherein the light source and the telephoto camera are arranged directly below the object to be tracked; The light source is a searchlight; The object to be tracked is a heat absorber; The searchlight and the telephoto camera are both visually arranged in the lens of the digital camera; The heat absorber is visibly arranged in the lens of the digital camera.

2. The heliostat closed-loop tracking control system according to claim 1, characterized in that: The digital camera and the image acquisition processor are both provided with an auxiliary housing on the outside, and the digital camera and the image acquisition processor are both fixed in the auxiliary housing and bonded and fixed to the transparent glass position at the center of the heliostat.

3. The heliostat closed-loop tracking control system according to claim 1, characterized in that: The heliostat controller and the image acquisition processor use wired communication, and the heliostat controller provides power for the image acquisition processor and the digital camera.

4. The heliostat closed-loop tracking control system according to claim 1, characterized in that: The long side of the rectangular photosensitive surface of the digital camera is parallel to the ground.

5. The heliostat closed-loop tracking control system according to claim 1, characterized in that: The lens of the digital camera faces the mounting surface, and a glass lens that changes color according to the intensity of incident light is arranged on the mounting surface at a position corresponding to the lens of the digital camera.

Images