CN113342064B - Automatic sun tracker based on imaging feedback technology and automatic sun tracking method - Google Patents
Automatic sun tracker based on imaging feedback technology and automatic sun tracking method Download PDFInfo
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Abstract
The invention provides an automatic sun tracker based on an imaging feedback technology, which uses two plane reflectors and two rotary sliding tables to vertically guide sunlight into a light splitting and imaging light path, the sunlight is converted into a horizontal direction through the plane reflectors and then is divided into infrared light and ultraviolet-visible light through a spectroscope, wherein the ultraviolet-visible light is filtered and focused to image the sun on a diaphragm, a camera is used for shooting images of a diaphragm hole and the sun, the deviation between the central position of the sun and the central position of the diaphragm hole is determined, and the deviation is fed back to the two rotary sliding tables to adjust the orientation of the two reflectors, so that the coincidence of the center of the sun and the center of the diaphragm hole is realized. Meanwhile, the device is provided with a GPS and an inertial navigation system, and can compensate sun tracking errors caused by bumping when the device is used for moving a platform. The automatic sun tracker of the invention has more stable, accurate and reliable sun tracking, and can be applied to sun tracking in multiple scenes, such as fixed point use or vehicle-mounted, shipborne, airborne and other mobile platforms.
Description
Technical Field
The invention belongs to the field of environmental monitoring and optical remote sensing, and particularly relates to an automatic sun tracker based on an imaging feedback technology.
Background
Volatile organic compounds emitted by man-made sources or natural sources are key precursors for atmospheric ozone pollution and fine particulate matters. Ozone generation in urban areas of China is dominated by volatile organic compounds, while ozone generation in non-urban areas is dominated by nitrogen oxides. With the stricter emission control of nitrogen oxides, volatile organic compounds have become key factors for controlling the pollution of ozone and fine particulate matters in urban atmosphere in China. The industrial park is an important artificial emission source of volatile organic compounds, and is mainly embodied in the unorganized emission of characteristic pollutants such as alkane, olefin and the like. The volatile organic compound emission of the industrial park mainly comes from the respiration and the leakage of a storage tank, the leakage of equipment and a pipe valve piece, the volatilization of oil gas in the oil product loading process, the dissipation of a sewage treatment system and the like. The emission sources have the characteristics of multiple emission points, wide area, dispersion, irregularity and the like, are large-scale non-point sources or volume sources, and are compounded with polluted gas to form complex pollution characteristics, so that the emission monitoring and control of trace polluted gas are difficult.
The method has the advantages that the solar radiation is used as a light source, the column concentration of the trace polluted gas is measured on a mobile platform based on an optical remote sensing technology, the discharge rate of the trace gas is calculated by combining wind speed and direction measurement and GPS data, and the method has important significance for monitoring and evaluating the site polluted gas discharge amount of a large pollution source. To achieve moving column concentration measurements, differential absorption spectroscopy and solar occultation flux techniques have been developed. Among them, the differential absorption spectroscopy technique is generally applicable to the ultraviolet-visible band, and has been applied to the evaluation of industrial emissions of nitrogen oxides, sulfur dioxide and formaldehyde; the solar occultation flux technology is generally used in mid-infrared bands and is mainly used for measuring the emission of volatile organic compounds of petrochemical enterprises and the emission of ammonia gas in agricultural production.
Differential absorption spectroscopy techniques can use both scattered sunlight and direct solar radiation, whereas solar occultation flux techniques can only use direct solar radiation. Therefore, a solar tracker that can accurately track the movement of the sun and guide the sunlight to spectrometers measuring different wave bands becomes a key device. Solar trackers for spectrometers typically use two parallel mirrors to direct solar radiation into the spectrometer to achieve tracking of the solar altitude and azimuth. However, adjusting the attitude of the two mirrors using open-loop control does not allow for high-precision tracking of the sun, and therefore closed-loop feedback control is essential for mobile platform measurements. In the prior art, a photoelectric position detector is generally used for detecting the distance between the center of a solar facula and the center of the detector, and the postures of two reflectors are adjusted according to the distance to ensure that the two centers are superposed; the other technical route is as follows: the high-speed camera is used for shooting an image formed by the sun on the diaphragm, the distance between the center of the sun image and the center of the aperture diaphragm is detected, and the postures of the two reflectors are adjusted according to the distance.
Among the invention patents published in China, the patent with the publication number of CN103246292B relates to an automatic sun tracking method on a moving platform, and a photoelectric detection unit of the patent adopts a photoelectric position detector, does not use an imaging feedback technology and cannot divide sunlight into infrared light and ultraviolet-visible light. The patent with publication number CN102597798B relates to a sun tracker device and system that aims at directing heliostats automatically towards the sun and cannot be used for applications where solar radiation is directed into a spectrometer for trace gas column concentration measurements.
Therefore, in order to solve the above problems, the present invention provides a device for automatically tracking the sun based on an imaging feedback technology, dividing the solar radiation into infrared light and ultraviolet-visible light, and guiding the infrared light and the ultraviolet-visible light to a spectrometer for measuring different wave bands.
Disclosure of Invention
Aiming at the limitation of the current sun tracking technology, the invention provides a device for automatically tracking the sun based on an imaging feedback technology and dividing solar radiation into infrared light and ultraviolet-visible light.
The technical scheme adopted by the invention is as follows:
an automatic sun tracker based on an imaging feedback technology comprises a tracker head, a control system and a light splitting and imaging light path. The tracker head comprises a first reflecting mirror, a vertical rotating sliding table, a second reflecting mirror and a horizontal rotating sliding table, wherein the first reflecting mirror is used for tracking the sun and receiving solar radiation; the second reflecting mirror is used for reflecting the solar radiation received by the first reflecting mirror to a light splitting and imaging light path, and the vertical rotating sliding table and the horizontal rotating sliding table are respectively used for adjusting the postures of the first reflecting mirror and the second reflecting mirror so as to track the altitude angle and the azimuth angle of the sun.
The light splitting and imaging light path is sequentially provided with a third reflecting mirror, a spectroscope, a neutral density optical filter, a convex lens and a diaphragm which are arranged on a straight line, wherein the third reflecting mirror is used for receiving sunlight reflected by the second reflecting mirror, the spectroscope and a main optical axis are arranged at an angle of 45 degrees, and the spectroscope transmits ultraviolet-visible light and reflects infrared light. Solar radiation is split into two parts to enter spectrometers that measure different wavebands.
The control system comprises a controller, a GPS and inertial navigation system, a computer and a camera, wherein the camera is used for acquiring images of the aperture of the diaphragm and feeding the images back to the computer. The GPS and inertial navigation system is used for automatically controlling the motion state of the sun tracker and feeding back the obtained real-time, longitude and latitude information, pitch angle and roll angle information to the computer. The computer is used for judging and calculating according to the camera, the GPS and the information fed back by the inertial navigation system: if the photo acquired by the camera does not have a complete sun image, the current solar altitude angle and azimuth angle are calculated according to the real-time and longitude and latitude information, the deviation of the first reflector and the current solar altitude angle in the pitching direction and the deviation of the second reflector and the current solar azimuth angle in the horizontal direction are calculated by combining the pitch angle and roll angle information, and the controller adjusts the vertical rotating sliding table and the horizontal rotating sliding table by using open-loop control according to the deviation so that the reflector is aligned with the sun. If the complete sun image exists in the photo, the current sun altitude and azimuth angle are calculated according to the real-time and longitude and latitude information, meanwhile, circle fitting or ellipse fitting is carried out on the shot sun image to find the center of the sun image, the pixel point deviation of the center of the sun image and the center of the aperture of the diaphragm is calculated, and the deviation combines the pitch angle and roll angle information to calculate the deviation of the first reflector and the current sun altitude in the pitch direction and the deviation of the second reflector and the current sun azimuth angle in the horizontal direction. And feeding back the calculated deviation result to a controller, and controlling the vertical rotating sliding table and the horizontal rotating sliding table by the controller according to the deviation result to adjust the postures of the first reflecting mirror and the second reflecting mirror so as to track the altitude angle and the azimuth angle of the sun.
Furthermore, the system also comprises a frame, and the light splitting and imaging optical path, the camera, the GPS and inertial navigation system and the tracker head are all fixed on the frame.
Furthermore, the tracker head further comprises a tracker frame, the first reflecting mirror is fixed on the vertical rotating sliding table, the vertical rotating sliding table and the second reflecting mirror are fixed on the tracker frame, and the position centers of the first reflecting mirror and the second reflecting mirror are on the same straight line and coincide with the main optical axis. The tracker frame is fixed on the horizontal rotating sliding table which is fixed on the rack.
Further, the device also comprises an optical fiber for leading out the ultraviolet-visible light passing through the diaphragm hole.
Further, the camera aligns the lens to the diaphragm aperture at 10-45 degrees, preferably 20 degrees.
Further, calculating the pixel point deviation between the center of the sun image and the center of the aperture of the diaphragm specifically comprises:
calculating the pixel point deviation number of the center of the sun image and the center of the aperture of the diaphragm on the x axis and the y axis, calculating the arc value of each pixel point by combining the solar angle diameter and the diameter of the sun image on the photo, and converting the pixel point deviation number on the x axis and the y axis into an angle according to the arc value of each pixel point, namely the pixel point deviation in the horizontal direction and the pitching direction.
The invention also provides an automatic sun tracking method based on the automatic sun tracker, which comprises the following steps:
the camera takes a picture of the diaphragm and transmits the picture to the computer for analysis:
if the photo obtained by the camera does not have a complete sun image, calculating the elevation angle and the azimuth angle of the current sun according to the physical law of the celestial body by utilizing the real-time and longitude and latitude information of the GPS and the inertial navigation system, calculating the deviation of the first reflector and the elevation angle of the current sun in the pitching direction and the deviation of the second reflector and the azimuth angle of the current sun in the horizontal direction by combining the pitch angle and roll angle information of the GPS and the inertial navigation system, and adjusting the vertical rotating sliding table and the horizontal rotating sliding table by using open-loop control according to the deviation so that the reflectors are aligned with the sun.
If the photo contains a complete sun image, the real-time and longitude and latitude information of a GPS and an inertial navigation system are utilized to calculate the current solar altitude angle and azimuth angle according to the physical law of a celestial body, meanwhile, circle fitting or ellipse fitting is carried out on the shot solar image to find the center of the sun image, the pixel point deviation of the center of the sun image and the center of the image of the aperture is calculated, the deviation is combined with the real-time and longitude and latitude information, the pitch angle and the roll angle information of the GPS and the inertial navigation system, the deviation of the first reflector and the current solar altitude angle in the pitch direction and the deviation of the second reflector and the current solar azimuth angle in the horizontal direction are calculated, the calculated deviation result is fed back to a controller, and the controller controls the vertical rotating sliding table and the horizontal rotating sliding table according to the deviation result to adjust the posture of the reflector, so that the reflector is aligned with the sun.
And (4) photographing the diaphragm again, and circularly performing the operations to correct the posture of the sun tracker in real time so as to ensure that the sun tracker is always aligned with the sun.
Compared with the prior art, the invention has the following advantages:
1. the imaging feedback technology is used, a special circuit does not need to be customized, and the imaging feedback device is simple in structure and stable in performance.
2. The solar radiation can be divided into ultraviolet-visible light and infrared light by using a spectroscope so as to enter a spectrometer for measuring different wave bands.
Drawings
Fig. 1 is a schematic structural diagram of an automatic sun tracker based on an imaging feedback technology.
FIG. 2 is a flow chart of the system control logic of the present invention.
In the figure, a first reflecting mirror 1, a vertical rotating sliding table 2, a second reflecting mirror 3, a tracker frame 4, a horizontal rotating sliding table 5, a controller 6, a GPS and inertial navigation system 7, a frame 8, a computer 9, a third reflecting mirror 10, a spectroscope 11, a neutral density optical filter 12, a convex lens 13, a diaphragm 14 and a camera 15.
Detailed Description
The invention provides an automatic sun tracker based on an imaging feedback technology, which uses two plane reflectors and two rotary sliding tables to vertically guide sunlight into a light splitting and imaging light path, the sunlight is changed into a horizontal direction by the plane reflectors and then is divided into infrared light and ultraviolet-visible light by a spectroscope, wherein the ultraviolet light and the visible light are filtered by a neutral density filter and focused by a convex lens to image the sun on a diaphragm, an image of a diaphragm hole and the sun is shot by a high-resolution camera, the deviation between the central position of the sun and the central position of the diaphragm hole is determined, and the deviation is fed back to the two rotary sliding tables by a closed-loop control algorithm to adjust the orientation of the two reflectors, so that the center of the sun is coincided with the center of the diaphragm hole. The ultraviolet-visible light passing through the diaphragm hole can be guided into the ultraviolet-visible spectrometer through the optical fiber for measurement, and the infrared light separated by the spectroscope can be directly coupled into the Fourier transform infrared spectrometer for measurement. Meanwhile, the device is provided with a motion compensation system, and can compensate sun tracking errors caused by bumping when the device is used for moving the platform. Compared with the traditional photoelectric position detector based on a simpler structure and working under adverse conditions (thin cloud layers, tree sheltering and the like), the imaging feedback technology utilizing the camera is more stable, accurate and reliable in sun tracking of the device, and in addition, the device can be applied to sun tracking under multiple scenes, such as fixed point use or vehicle-mounted, shipborne, airborne and other mobile platforms.
The invention will be further described with reference to figures 1 and 2:
as shown in fig. 1, an automatic sun tracker based on imaging feedback technology comprises a first reflector 1, a vertical rotary sliding table 2, a second reflector 3, a tracker frame 4, a horizontal rotary sliding table 5, a controller 6, a GPS and inertial navigation system 7, a frame 8, a computer 9, a third reflector 10, a spectroscope 11, a neutral density filter 12, a convex lens 13, a diaphragm 14 and a camera 15. The first reflector 1 is fixed on the vertical rotary sliding table 2, the vertical rotary sliding table 2 and the second reflector 3 are fixed on the tracker frame 4, and the position centers of the first reflector and the second reflector are on the same straight line and coincide with the main optical axis. The tracker frame 4 is fixed on the horizontal rotating sliding table 5, and the horizontal rotating sliding table 5 is fixed on the frame 8. The vertical rotary sliding table 2 and the horizontal rotary sliding table 5 are respectively connected with a controller 6 through a control line. A light splitting and imaging light path formed by the reflector III 10, the spectroscope 11, the neutral density filter 12, the convex lens 13 and the diaphragm 14 in a straight line (a main optical axis) is arranged on a bottom plate of the frame 8, wherein the reflector III 10 is arranged below the reflector II 3 and is used for receiving sunlight reflected by the reflector II 3; the spectroscope 11 is placed at an angle of 45 degrees, the spectroscope 11 transmits ultraviolet-visible light, reflects infrared light, and divides solar radiation into two parts to enter spectrometers for measuring different wave bands. The lens of the camera 15 is aligned with the diaphragm 14 and at an angle, e.g. 10-45 degrees, preferably 20 degrees, to the main optical axis, the camera 15 being connected to the computer 9 via a communication cable.
The GPS and inertial navigation system 7 is fixed to the frame 8 and measures the movement of the diaphragm 14 and the camera 15. The controller 6 and the GPS and inertial navigation system 7 are respectively connected with the computer 9 through a communication cable for communication transmission.
As shown in fig. 2, the specific automatic sun tracking method specifically includes:
the camera 15 takes a picture of the diaphragm 14 and passes the picture to the computer 9 for analysis:
if the photo does not have a complete sun image, the real-time and longitude and latitude information of the GPS and inertial navigation system 7 are utilized to calculate the sun position, namely the current solar altitude angle and azimuth angle according to the physical law of the celestial body, then the pitch angle and roll angle information of the GPS and inertial navigation system 7 are utilized to calculate the deviation of the first reflector 1 and the current solar altitude angle in the pitching direction and the deviation of the second reflector 3 and the current solar azimuth angle in the horizontal direction, and the open-loop control is used to adjust the vertical rotating sliding table 2 and the horizontal rotating sliding table 5 according to the deviation so as to adjust the postures of the first reflector 1 and the second reflector 3, so that the first reflector 1 is aligned with the sun.
If the photo has a complete sun image, the real-time and longitude and latitude information of the GPS and the inertial navigation system 7 are utilized to calculate the sun position according to the physical law of the celestial body, while using an algorithm to perform a circle or ellipse fit on the captured image of the sun to find the center of the image of the sun, and calculating pixel point deviation between the center of the image of the sun and the center of the image of the aperture of the diaphragm, wherein the pixel point deviation is combined with pitch angle and roll angle information in a GPS and an inertial navigation system 7, calculating the deviation of a first reflector 1 and the current solar altitude angle in the pitch direction and the deviation of a second reflector 3 and the current solar azimuth angle in the horizontal direction, feeding back the calculated deviation result to a controller, and controlling a vertical rotating sliding table 2 and a horizontal rotating sliding table 5 by the controller according to the deviation result to adjust the postures of the first reflector 1 and the second reflector 3 so as to enable the first reflector 1 to be aligned with the sun.
The method specifically comprises the following steps of calculating pixel point deviation between the center of the sun image and the center of the aperture of the diaphragm:
calculating the pixel point deviation number of the center of the sun image and the center of the aperture of the diaphragm on the x axis and the y axis, calculating the arc value of each pixel point by combining the solar angle diameter and the diameter of the sun image on the photo, and converting the pixel point deviation number on the x axis and the y axis into an angle according to the arc value of each pixel point, namely the pixel point deviation in the horizontal direction and the pitching direction.
And (4) photographing the diaphragm again, and circularly performing the operations to correct the posture of the sun tracker in real time so as to ensure that the sun tracker is always aligned with the sun.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should all embodiments be exhaustive. And obvious variations or modifications of the invention may be made without departing from the scope of the invention.
Claims (8)
1. An automatic sun tracker based on imaging feedback technology is characterized by comprising a tracker head, a control system, a light splitting and imaging light path; the tracker head comprises a first reflecting mirror, a vertical rotating sliding table, a second reflecting mirror and a horizontal rotating sliding table, wherein the first reflecting mirror is used for tracking the sun and receiving solar radiation; the second reflector is used for reflecting the solar radiation received by the first reflector to a light splitting and imaging light path, and the vertical rotating sliding table and the horizontal rotating sliding table are respectively used for adjusting the postures of the first reflector and the second reflector so as to track the altitude angle and the azimuth angle of the sun;
The light splitting and imaging light path is sequentially provided with a third reflecting mirror, a beam splitter, a neutral density filter, a convex lens and a diaphragm which are arranged on a straight line, wherein the third reflecting mirror is used for receiving sunlight reflected by the second reflecting mirror, the beam splitter and a main optical axis are arranged at an angle of 45 degrees, and the beam splitter transmits ultraviolet-visible light and reflects infrared light;
the control system comprises a controller, a GPS and inertial navigation system, a computer and a camera, wherein the camera is used for acquiring images of the small holes of the diaphragm and feeding the images back to the computer; the GPS and inertial navigation system is used for automatically controlling the motion state of the sun tracker and feeding back the obtained real-time, longitude and latitude information, pitch angle and roll angle information to the computer; the computer is used for judging and calculating according to the camera, the GPS and the information fed back by the inertial navigation system: if the photo acquired by the camera does not have a complete sun image, calculating the current solar altitude angle and azimuth angle according to the real-time and longitude and latitude information, and calculating the deviation of a first reflector and the current solar altitude angle in the pitching direction and the deviation of a second reflector and the current solar azimuth angle in the horizontal direction by combining pitch angle and roll angle information, wherein the controller adjusts the vertical rotating sliding table and the horizontal rotating sliding table by using open-loop control according to the deviation magnitude to enable the reflector to be aligned with the sun; if the complete sun image exists in the photo, calculating the current sun altitude and azimuth angle according to the real-time and longitude and latitude information, simultaneously performing circle fitting or ellipse fitting on the shot sun image to find the center of the sun image, and calculating the pixel point deviation between the center of the sun image and the center of the aperture of the diaphragm, wherein the deviation combines the pitch angle and roll angle information to calculate the deviation between the first reflector and the current sun altitude in the pitch direction and the deviation between the second reflector and the current sun azimuth angle in the horizontal direction; and feeding back the calculated deviation result to a controller, and controlling the vertical rotating sliding table and the horizontal rotating sliding table by the controller according to the deviation result to adjust the postures of the first reflecting mirror and the second reflecting mirror so as to track the altitude angle and the azimuth angle of the sun.
2. The automatic solar tracker according to claim 1, further comprising a frame, said beam splitting and imaging optical path, camera and GPS and inertial navigation system, tracker head being fixed to said frame.
3. The automatic solar tracker according to claim 2, wherein the tracker head further comprises a tracker frame, the first reflecting mirror is fixed on a vertical rotating sliding table, the vertical rotating sliding table and the second reflecting mirror are fixed on the tracker frame, and the centers of the first reflecting mirror and the second reflecting mirror are on the same straight line and coincide with the main optical axis; the tracker frame is fixed on the horizontal rotating sliding table which is fixed on the rack.
4. The automatic solar tracker according to claim 1, further comprising an optical fiber for guiding uv-vis light passing through the aperture.
5. The automatic sun tracker according to claim 1, wherein said camera directs a lens at a diaphragm aperture at 10-45 degrees.
6. The automatic sun tracker according to claim 1, wherein the pixel point deviation of the center of the sun image and the center of the aperture of the diaphragm is calculated by:
Calculating the pixel point deviation number of the center of the sun image on the photo and the center of the aperture image on the x axis and the y axis, calculating the arc value of each pixel point by combining the solar angle diameter and the diameter of the sun image on the photo, and converting the pixel point deviation number on the x axis and the y axis into an angle according to the arc value of each pixel point, namely the pixel point deviation in the horizontal direction and the pitching direction.
7. An automatic sun tracking method based on the automatic sun tracker of claim 1, specifically comprising:
the camera takes a picture of the diaphragm and transmits the picture to the computer for analysis:
if the photo acquired by the camera does not have a complete sun image, calculating the elevation angle and the azimuth angle of the current sun according to the physical law of the celestial body by utilizing the real-time and longitude and latitude information of a GPS and an inertial navigation system, calculating the deviation of a first reflector and the elevation angle of the current sun in the pitching direction and the deviation of a second reflector and the azimuth angle of the current sun in the horizontal direction by combining the pitch angle and roll angle information of the GPS and the inertial navigation system, and adjusting a vertical rotating sliding table and a horizontal rotating sliding table by using open-loop control according to the deviation so that the reflectors are aligned to the sun;
If a complete sun image exists in the photo, calculating the current sun altitude and azimuth angle by utilizing the real-time and longitude and latitude information of a GPS and an inertial navigation system according to the physical law of a celestial body, simultaneously carrying out circle fitting or ellipse fitting on the shot sun image to find the center of the sun image, calculating the pixel point deviation of the center of the sun image and the center of the image of the aperture of the diaphragm, combining the deviation with the real-time and longitude and latitude information, pitch angle and roll angle information of the GPS and the inertial navigation system, calculating the deviation of a first reflector and the current sun altitude in the pitch direction and the deviation of a second reflector and the current sun azimuth angle in the horizontal direction, feeding back the calculated deviation result to a controller, and controlling a vertical rotating sliding table and a horizontal rotating sliding table according to the deviation result to adjust the posture of the reflectors so that the reflectors align with the sun;
and (4) photographing the diaphragm again, and circularly performing the operations to correct the posture of the sun tracker in real time so as to ensure that the sun tracker is always aligned with the sun.
8. The automatic sun-tracking method according to claim 7, wherein calculating the pixel point deviation between the center of the sun's image and the center of the aperture of the diaphragm is specifically:
Calculating the pixel point deviation number of the center of the sun image on the photo and the center of the aperture image on the x axis and the y axis, calculating the arc value of each pixel point by combining the solar angle diameter and the diameter of the sun image on the photo, and converting the pixel point deviation number on the x axis and the y axis into an angle according to the arc value of each pixel point, namely the pixel point deviation in the horizontal direction and the pitching direction.
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| WO2002013366A1 (en) * | 2000-08-07 | 2002-02-14 | Norio Akamatsu | Solar ray energy conversion apparatus |
| US20080017784A1 (en) * | 2006-07-21 | 2008-01-24 | Hoot John E | Apparatus and methods to locate and track the sun |
| CN101588147B (en) * | 2008-05-20 | 2012-10-10 | 鸿富锦精密工业（深圳）有限公司 | Solar energy collecting system |
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| CN101661292B (en) * | 2009-09-18 | 2011-06-01 | 中国科学院安徽光学精密机械研究所 | Reflective type solar infrared radioactive dynamic optical path tracking system |
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