西班牙专利ES2607710A1 Calibration method for heliostats (Machine-translation by Google Translate, not legally binding)

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专利摘要:
Calibration method for heliostats comprising carrying out at least one search to visualize at least one reference by means of an artificial vision device fixedly arranged in each of the heliostats to be calibrated; recognize the reference sought; carrying out a capture of the reference for each of the searches, the capture comprising a capture of an image displayed by the artificial vision device in which the reference appears and a reading of a value of the sensors; collect and store data of the taking and reading; compare the value of the sensors of the capture with the value of the sensors according to a kinematic relationship that is in force; set an error for each of the captures; and determine a new cinematic relationship. (Machine-translation by Google Translate, not legally binding)
公开号:ES2607710A1
申请号:ES201531419
申请日:2015-10-02
公开日:2017-04-03
发明作者:Michael BURISCH；Marcelino Sánchez González；Aitor OLARRA URBERUAGA；Cristóbal VILLASANTE CORREDOIRA；David OLASOLO DON
申请人:Fundacion Tekniker；Fundacion Cener Ciemat；
IPC主号:

专利说明:

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DESCRIPTION
CALIBRATION METHOD FOR HELIOSATA
Technical field
The present invention relates to the electric power generation sector by capturing solar energy through solar receivers, proposing a calibration method for heliostats that allows direct sunlight to be guided to a solar receiver during sunlight hours. .
State of the art
The operation of central receiver solar thermal power plants is highly influenced by the efficiency of heliostat fields. The efficiency of heliostat fields depends largely on the ability of heliostats to reflect sunlight to a solar receiver during sunlight hours.
There is a wide variety of solutions to meet the functional requirements and thus orient the heliostats correctly. All heliostats comprise: actuators such as rotary motors and linear actuators on the one hand and transmission systems on the other hand. Transmission systems are mechanisms that comprise components such as belts, chains, gearboxes, structural components, joints, etc.
Heliostats comprise control means that set desired setpoint values of the actuators (angular position, linear displacements, etc.) to adequately reflect sunlight towards the corresponding solar receiver at all times. For this, the control means must relate the position of the actuators and orientation of the heliostats. This relationship is defined as a kinematic relationship and can be established by methods that use equations that represent some kinematic chains, methods that implement tables that relate the position of the actuators and the orientation of the heliostats, etc. When heliostats are installed, an initial kinematic relationship is established in the control means according to the design of the heliostats and their position in the solar field.
Different types of problems can change this initial kinematic relationship generating a
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incorrect orientation of heliostats, that is, by making normal central vectors of reflective surfaces of heliostats not focus or point in a desired direction, so that sunlight does not adequately reflect towards solar receivers during the hours of sunlight. Some of these problems are the result of inaccurate manufacturing, assembly and installation, unwanted dirt in parts such as gears or joints, impacts, subsidence of the ground where heliostats, storms, etc. are located.
Some known heliostats comprise two axes of rotation according to an azimuthal or vertical axis and a horizontal or elevation axis, others of the known heliostats are of the type commonly referred to as "pitch-roll", some others are of the type commonly called "target" alligned ”, and some other known heliostats are based on parallel kinematic configurations.
At present, different calibration methods are known to correct such incorrect orientations of heliostats. Some of these well known methods require a manual calibration of heliostats, one by one, by at least one operator. These methods are not efficient and are more suitable for heliostat fields with a reduced number of heliostats.
Other known methods require the use of expensive vision devices because in these methods it is necessary to use the vision devices that can receive several reflections of sunlight from some of the heliostats at the same time without being damaged. In some cases, vision devices additionally require the use of some filters to directly focus the sun, which has the disadvantage of not allowing any object other than the sun to be observed.
Methods are also known in which both vision devices and references used for the calibration of heliostats are arranged at high posts away from heliostats. These conditions mean that vision devices must be prepared to withstand adverse weather conditions, such as rain and snow, in addition to the fact that these posts generate shadows that can interfere with a correct identification of the references depending on the calibration method used .
Conventional calibration methods that require simultaneous observation of the sun and the
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solar receiver by means of the vision devices, being one of these known by US2009 / 249787A1, have another disadvantage added. This disadvantage is a need to use the vision devices with special high-cost lenses to optimally cover a wide field of vision or a limitation of carrying out the calibration only when the sun and the receiver are close to their alignment with respect to the position of the corresponding vision devices.
Additionally, some of the conventional calibration methods do not allow several heliostats to be calibrated simultaneously. This fact represents a clear and undesirable disadvantage in fields where there are tens of thousands of heliostats because these methods take too much time to calibrate.
In addition, conventional calibration methods do not offer simultaneous and automatic calibration of all heliostats that maximizes the efficiency of heliostat fields.
Object of the invention
Calibration method for heliostats that comprise a reflective element and that have actuators, sensors that define a position of the actuators and a kinematic relationship that is in effect for heliostats. The method comprises the steps of:
- carry out at least one search to display at least one reference with a known location by means of an artificial vision device fixedly arranged in each of the heliostats to be calibrated, so that the artificial vision devices move together with the reflective elements and in the same way;
- recognize the reference sought;
- to carry out a capture of the reference for each of the searches, the capture comprising a taking of an image displayed by the artificial vision device in which the reference appears and a reading of a value of the sensors;
- collect and store data from the collection and reading;
- compare the value of the capture sensors with the value of the sensors according to the current kinematic relationship;
- establish an error for each of the catches according to differences between the value of the capture sensors and the value of the sensors according to the current kinematic relationship; Y
- determine a new kinematic relationship that minimizes errors.
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The artificial vision devices are arranged on a rear face of the reflective element, on a front face of the reflective element, between the rear face and the front face of the reflective element or on one side of the reflective element.
The references include identification characteristics to be visualized, recognized and captured unequivocally. The references are natural or artificial, and / or mobile or stationary. The location of the references is determined according to a pixel contained in a shape adjusted along an outer contour of the identification characteristics.
By means of an additional artificial vision device with a precisely known location, a reflection of one of the references in the reflective element of at least one of the heliostats is visualized, and a bisector is determined between a vector from the artificial vision device additional to the reflective element and a vector from the reflected reference to the reflective element. The method comprises establishing a relationship between the bisector and a focus direction of the artificial vision devices.
Reference searches are carried out by changing the orientation of the heliostats until a pixel of actual location of the references corresponds to a specific pixel of the images or varying the orientation of the heliostat according to known setpoints, based on the cinematic relationship that is in force and the reference sought.
The searches are carried out according to the references that have been previously selected or according to a spiral outward movement. Performing the search once, an offset value for the actuators is updated. Carrying out the search at least twice by visualizing one or more of the references, the orientation of the heliostats is varied for each of the catches. Carrying out the search at least three times, the new cinematic relationship is completely determined.
To improve the accuracy of the heliostat, more than one of the artificial vision devices can be arranged in a fixed manner in each of the heliostats. Additionally, each of the artificial vision devices is fixedly arranged in a facet of the heliostat.
Detailed description of the invention
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The present invention relates to a calibration method for heliostats that maximizes the efficiency of heliostat fields that include at least one solar receiver with a precisely known location. The present invention allows the calibration of a large number (for example thousands or tens of thousands) of the heliostats included in the heliostat fields simultaneously. This number is unlimited because all heliostats in the heliostat field can be calibrated simultaneously since the calibration of each of the heliostats is independent of the calibration of the rest of the heliostats. The calibration method can be applied in parallel to all heliostats in the heliostat field.
A calibration system for heliostats comprises a set of said heliostats, control means and a set of artificial vision devices. Each of the heliostats comprises a reflective element, which in turn comprises at least one facet. Additionally, each of the heliostats has one of the artificial vision devices fixedly arranged so that the artificial vision devices move or move together with the reflective elements and in the same way. The reflective elements have a reflective side and a non-reflective side, the reflective side being the side from which the reflective elements reflect sunlight. The reflective elements are configured to reflect sunlight towards the solar receiver and can be flat or non-flat, for example comprising some of the facets angled together or the reflecting elements being curved with a concave shape. Additionally, the arrangement of artificial vision devices in heliostats is free; that is, it can be performed at any point of the heliostats with respect to the central geometric points of the reflective elements.
Artificial vision devices are configured to visualize, recognize and capture references, which are described below. Artificial vision devices can display more than one of the references simultaneously, although this is not necessary to carry out the method. Artificial vision devices can display the references one by one to carry out the method. Artificial vision devices preferably comprise low-cost and / or small-sized cameras. The requirements of the artificial vision devices used in the present invention allow it. For example, artificial vision devices may comprise limited lenses to cover a narrow field of vision because artificial vision devices can be used only to visualize, recognize and capture references one at a time. Additionally, artificial vision devices can be of the type included in mobile phones. This is possible since these
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they also preferably comprise commonly considered low quality sensors.
According to a preferred embodiment, the artificial vision devices are arranged in a rear part of the heliostats, that is, in a rear face of the reflective elements in which the non-reflective side is located. For the visualization, the recognition and the capture of the references the artificial vision devices are arranged focusing backwards or laterally with respect to the corresponding heliostat. This arrangement makes it possible to avoid, by means of the reflective elements, that said artificial vision devices are directly exposed to solar radiation, and therefore their potential negative effect on the useful life of artificial vision devices is avoided. In addition, this arrangement of artificial vision devices allows the use of the entire area of the reflective surface to reflect sunlight or solar radiation to the solar receiver.
According to another preferred embodiment, the artificial vision devices are arranged in a front part of the heliostats, that is, in a front face of the reflective elements in which the reflective side is located. In this case, the artificial vision devices are arranged focusing forward or laterally with respect to the corresponding heliostat. Due to the small size of artificial vision devices, the reduction in the area of reflective surfaces intended to reflect solar radiation is very small.
According to a further preferred embodiment, the artificial vision devices are arranged between the front face and the rear face of the reflective elements, the reflective surfaces being flat or non-flat. In this case, the artificial vision devices are arranged focusing forward, laterally or backwards. The artificial vision devices are arranged integrated in the reflective elements, being completely or partially inserted in the reflective elements, for example by means of perforations or being located in spaces between the facets.
According to another additional preferred embodiment, the artificial vision devices are arranged on a lateral part of the heliostats, that is, on a side of the reflective element, and focusing forward, backward or laterally with respect to the corresponding heliostat. Thus, artificial vision devices do not reduce the area of reflective surfaces. Preferably, at least part of the reflective element is located between the sun and the artificial vision devices, so that the artificial vision devices, and more particularly their sensors and / or their lenses, are not directly exposed to the
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solar radiation.
In the present invention, artificial vision devices focus in any direction with respect to a normal central vector of the reflective element, and more specifically of the reflective side. In other words, the focus direction of the artificial vision devices may be different from the direction of the central normal vectors of the reflective sides. The normal central vectors start from the points of the geometric center of both the flat and non-flat reflective sides.
The references are arranged at any height with respect to heliostats, that is, on the ground or in elevated positions with respect to heliostats and geographically distributed throughout or around the heliostat field. The references are arranged so that they are in the field of vision of artificial vision devices. The locations of the references are known with precession at any time of the calibration method in the 3D environment in which they are distributed.
Each of these references includes identification characteristics to be visualized, recognized and captured unequivocally by the calibration system by means of artificial vision devices and control means. References can be natural, such as celestial bodies, or artificial.
Natural references are preferably selected from stars, the Sun and the Moon. Natural references are sources of natural light that emit natural light. The identification characteristics of natural references are determined according to this natural light. Preferably, the identification characteristics are based on the shape of natural light. Additionally or alternatively, the identification characteristics may be based on the size, color and / or intensity of said natural light.
Artificial references comprise include an identification element by which they understand the identification characteristics. In case the references are artificial, the identification characteristics are preferably based on the form of the identification element. Additionally or alternatively, the identification characteristics may be based on size, color, brightness, etc. of the identification element of said artificial references.
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The identification element is preferably an artificial light emitted by the artificial references. This artificial light can also be turned on and off to be displayed, recognized and captured unequivocally by the calibration system. Additionally or alternatively, it is a continuous or intermittent light and / or of specific intensities for the same purpose.
Alternatively, the identification element is an object configured so that each of the references can be visualized, recognized and captured unequivocally by means of the calibration system by means of artificial vision devices and control means. The objects may comprise elements encoded for that purpose. These objects can be panels arranged only to act as references or any other element located in the field of heliostats and which, in addition to acting as one of the references, plays another role in the field of heliostats.
According to what has been described, the references are also mobile or stationary. In both cases, its location is known with precision or accuracy during the calibration method. For this, means such as GPS locators, laser tracking systems or photogrammetry are used. In this way, mobile references can be devices such as drones, flying or not.
The orientation of the heliostats is changed or varied by means of the control means, which define setpoint values of actuators to orient the heliostats. In other words, the orientation of the heliostats is changed or varied by changing or varying the setpoint values of the actuators. Depending on the kinematic chain of the heliostats, the setpoint values can be angular positions, linear displacements, etc. In the present invention, heliostats are not limited to any type or configuration.
To visualize the references through artificial vision devices in the 3D environment, a search is carried out. To carry out the search, the orientation of the heliostats to visualize and recognize the references is varied, having been previously selected or determined references. Thus, the variation in the orientation of the heliostats is carried out according to the known location of the references. If, after said variation in the orientation of the heliostats, the previously selected or determined references are not displayed, the orientation of the heliostats is varied again, for example according to a spiral outward movement until said references are visualized and
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recognize
After the search, and by means of the control means, a capture of the corresponding reference takes place. Said captures comprise a shot of an image displayed by means of the artificial vision device in which the sought reference appears, as well as a reading of the value of the sensors that determine the position of the actuators. The control means are also configured to collect or store data related to said sockets and readings for further processing.
In these images in which references appear, natural light sources and identification elements may appear with a non-circular exterior contour. This may be, for example, because the references are natural or because the identification elements do not have a spherical shape. Additionally, despite having a circular outer contour, when the identification elements and natural lights are focused at an angle with respect to their frontal, that is, not frontally, they appear with the non-circular outer contour, such as an ellipse.
For the capture of the references, according to the 2D image of the 3D environment in which they are located, the control means preferably detect the external contour of the references; that is to say, the control means detect the external contour of the natural lights and the identification elements. After said detection, the control means adjust a shape along said contour. Next, a pixel is determined, which is defined as a location pixel, by means of the control means for said shape in the image taken in the corresponding capture. The location pixel in the images represents the known location of the references in the 3D environment. Said location pixel corresponds to any pixel of said form, such as a central or midpoint pixel of said form.
The control means determine the location of the references in the images taken according to their location pixel. This fact provides high precision in the calculations carried out by the method.
As examples, when the identification elements are not focused frontally by means of artificial vision devices, the external contour of the identification elements with a spherical shape appears as a circle in the images and the outline
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Outside of the identification elements with a circular shape appears as an ellipse. In these cases, the control means determine the location pixel of the circle and the ellipse that appear in the images.
When the reference location pixel is determined, the location for the references through one of the pixels, which is defined as the actual location pixel, is established in the images.
As described, references are recognized unequivocally for their identification characteristics, but if more than one of the references includes the same identification characteristics or only to confirm that the reference displayed is the reference that has been sought, carries out an additional step according to the known location with precision of each of the references. After the visualization of one of the references and the recognition of the identification characteristics of said reference, it is confirmed that the identification characteristics correspond to the identification characteristics of the reference located where the corresponding artificial vision device focuses. This confirmation is made through the control means.
According to a preferred embodiment, the search for references implies changing the orientation of the heliostats until the actual location pixel of the references corresponds to a specific pixel of the images displayed and taken. The specific pixel is previously defined or selected by the control means. Said specific pixel corresponds to any one of the images taken, such as a central pixel or a central point of said images.
For this specific pixel, the control means define the setpoint values for the position of the actuators according to a kinematic relationship that is in effect for the heliostats when the method is applied, which are defined as expected values of the sensors that determine the position of the actuators. This kinematic relationship can be for example an initial kinematic relationship established when heliostats are installed.
Starting from these values, the heliostat focuses the reference sought by means of its artificial vision device, so that the orientation of the heliostat is changed until the actual location pixel of said reference corresponds to the specific pixel. Therefore, the heliostat is oriented in the required direction. Reading the corresponding values of
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The sensors that define the positions of the actuators, which are defined as real values of the sensors that define the position of the actuators, are subsequently collected and stored in the control means together with the expected values.
Then, an error is established or calculated. The error is established by the control means based on a difference between the actual values of the sensors that define the position of the actuators and the expected values of the sensors that determine the position of the actuators. According to this error, the control means determine whether the location of the heliostat in the field of heliostats and the kinematic relationship that is in effect for said heliostat are correct to adequately reflect sunlight towards the solar receiver.
For this preferred embodiment, a set of references can be captured according to a set of specific pixels, that is, varying the orientation of the heliostat for each specific pixel. In this method, the error is set independently for each of the specific pixels of the set. In other words, each of the errors is determined as described above, each time the specific pixel is different.
The control means determine or identify a new kinematic relationship for the heliostat according to a mathematical minimization process, which is known in the state of the art, of said errors established independently for each of the differences between the actual values and the expected This new kinematic relationship will be the kinematic relationship that will be in effect when the calibration method is applied again.
The cinematic relationship that is in force for the heliostat that is implemented in the control means is replaced by the new kinematic relationship that will be used hereafter. This substitution supposes an update of the cinematic relation. At the same time, this update involves the calibration of heliostats. The update ensures that sunlight is reflected towards the solar receiver during daylight hours.
An advantage of this preferred embodiment is that artificial vision devices do not need to be calibrated, that is, it is not necessary to know internal parameters of artificial vision devices such as distortion.
According to another preferred embodiment, the search is carried out by varying the orientation of the heliostat according to known setpoint values, based on the kinematic relationship that
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It is in force and the reference sought. If, after this search, said reference is not displayed, the orientation of the heliostat is varied again according to, for example, the spiraling outward movement until said reference is displayed.
In this way, the search for the reference is carried out until the reference is displayed in any position within the image; that is, in an arbitrary or non-specific pixel.
After searching the references, the references are captured. The real location pixel of the references is established in the image taken using the artificial vision devices. Additionally, the actual values of the sensors that define the position of the actuators are collected and stored.
Based on the kinematic relationship that is in effect, the value of the sensors that define the position of the actuators corresponds to an expected orientation. Therefore, for a particular value of the sensors, one of the references is expected to appear in a particular pixel of the image defined as the expected location pixel. In the same way, if one of the references is identified in the image in a particular pixel, a corresponding sensor value is expected. This sensor value is defined as the expected value of the sensors.
The control means use the real location pixel to calculate the expected value of the sensors that define the position of the actuators. As indicated, this sensor value is the value for which the reference should be displayed in the actual location pixel according to the kinematic relationship that is valid.
Then, the actual value of the sensors and the expected value of the sensors are compared, and the error is calculated according to the difference between the two. This is equivalent to using the distance between the actual location pixel and the expected location pixel, where the expected location pixel is estimated according to the kinematic relationship that is valid and the projection properties of the corresponding artificial vision device.
If the actual values of the sensors and the expected values of the sensors are the same, the error is zero and therefore there is no need to carry out the corresponding heliostat calibration. But, if the actual values of the sensor and the expected values of the sensor are different, the control means establish the error. Therefore, for this preferred embodiment
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errors are established or calculated according to differences between the actual values of the sensor and the expected values of the sensors for the reference that has been captured.
In this way, the control means determine the new kinematic relationship according to the process of mathematical minimization of all errors in order to adequately reflect the sunlight towards the solar receiver throughout the day since the errors are established for each of the orientations or captures. The new kinematic relationship that is obtained is established so that errors are minimized, preferably so that they are null or almost null, causing sunlight to be adequately reflected towards the solar receiver by the corresponding heliostat.
In this calibration method, to establish said new kinematic relationship, the orientation of the heliostats during the capture of the references is varied as many times as required by the complexity of the cinematic relationship that is in force. That is, for the kinematic relationship that is in effect defined by a high number of heliostat parameters (such as more complex axis configurations), more captures are necessary in order to estimate all the aforementioned parameters. Alternatively, a small number of orientations can be used if only a small number of parameters have to be estimated or verified and others are considered known.
As an example, using one of the captures, a particular orientation of the corresponding heliostat can be set and, therefore, a reference angle can be established for the azimuthal and elevation axes for the heliostat with such configuration, provided that the orientation of said axes is consider known. This process does not imply completely identifying the kinematic relationship but updating an offset value for the actuators, or at least for said axes. Using more than one of the captures, more than one of the reference angles can be defined and, therefore, the sensors to be used can be cheaper, since their measurements can be corrected in said particular orientations improving the accuracy of the heliostat. This can also avoid certain hardware in each of the heliostats, such as reference switches or homing switches, since these elements are installed to define the reference angles. All this leads to a reduction in heliostat costs.
In the present calibration method, if the artificial vision devices are calibrated, the calibration method can use one of the references for more than one of the captures if the
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Pixel of the image in which it is displayed is varied for each of the captures. In this way, one of the references can be captured by varying the orientation of the heliostats for each of the catches. Therefore, the calibration method can be performed with only one of the references. That is, by varying the orientation of the heliostats, the reference is moved in the image and the pixel corresponding to the actual location pixel of the reference is varied in the image.
In the method, the actual values of the sensors that define the positions of the actuators and their expected values are stored by means of the control means for each of the captures according to the current kinematic relationship. The error is established by the control means based on the difference between the actual values and the expected values of the sensors.
In a combinable way, more than one of the references captured in one or multiple pixels of the images corresponding to different orientations of the heliostats can be used.
Preferably, the catches of one of the references imply varying the orientation of the heliostats as widely as possible. Actual location pixels are evenly distributed across all images; that is, not grouped in a part of the images. In this way, the variation of the real value of the sensors is maximized, thus reducing the influence of uncertainties in the positions of the actuators. As an example, said distribution can be made by determining the actual location pixel of the corresponding reference at or around a corner of the different image for each of the captures.
In the calibration method, the focus directions of the artificial vision devices and that of the central normal vectors are preferably known. Therefore, the relationship between the focus direction of the artificial vision device and that of the central normal vector for each of the heliostats is also known. Since the artificial vision devices are arranged in the heliostats so that the artificial vision devices move or move together with the reflective elements and in the same way, and the central normal vector is fixed for the reflective element, this relationship only has To be determined once. This relationship can be determined during the manufacturing process.
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This relationship is an important factor to allow adequate reflection of solar radiation to the solar receiver. Therefore, if this relationship is unknown, it has to be determined by an additional step. Preferably, said additional step is performed after the method, that is, once the new kinematic relationship for heliostats is established.
At least one additional artificial vision device is required for this additional step. This additional artificial vision device comprises a high quality camera independent of heliostats, that is, not attached to any of the heliostats. Preferably, said additional artificial vision device is arranged in an elevated position with respect to heliostats. For example, the additional artificial vision device is arranged in a central tower receiver comprised in the field of heliostats. The location of the additional artificial vision device is precisely known in the 3D environment as occurs with the location of the references.
The reflection of one of the references in the reflective element of the heliostats for which the relationship described is to be determined is visualized by means of the additional artificial vision device. By means of said additional artificial vision device, the reflection of one of the references in the reflective element of more than one of the heliostats can be visualized. This allows the relationship to be established for one or more of the heliostats at the same time.
While the reflection of the references is visualized with the additional artificial vision device, by means of the known location of the references, the known location of said additional artificial vision device and the new kinematic relationship established, the focus direction of the normal vector central and, therefore, the orientation of heliostats is restricted to a unique orientation. This unique orientation for each of the heliostats is determined as a bisector between a vector that goes from the additional artificial vision device to the reflective surface and a vector that goes from the reflected reference to the reflective surface.
The calibration method can be carried out during daylight hours, at night or in combination. Preferably, the calibration method is carried out at night, because in this way the hours of sunlight can be devoted entirely to reflect sunlight to the solar receiver. Therefore, the efficiency of the heliostat field is maximized.
If necessary, the control means, which manage and coordinate all operations,
the information and the elements involved in the present calibration method are also configured to correct inherent optical distortions of the images taken by means of the lenses of the artificial vision devices. Additionally, the control means are additionally configured to perform mathematical calculations appropriate for the necessary conversion from the 3D environment to the image, which is 2D.

权利要求:
Claims (16)
[1]
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1. - Calibration method for heliostats that comprise a reflective element and that have actuators, sensors that define a position of the actuators and a kinematic relationship that is in force for heliostats, characterized in that the method comprises the steps of:
- carry out at least one search to display at least one reference with a known location by means of an artificial vision device fixedly arranged in each of the heliostats to be calibrated, so that the artificial vision devices move together with the reflective elements and in the same way;
- recognize the reference sought;
- to carry out a capture of the reference for each of the searches, the capture comprising a taking of an image displayed by the artificial vision device in which the reference appears and a reading of a value of the sensors;
- collect and store data from the collection and reading;
- compare the value of the capture sensors with the value of the sensors according to the current kinematic relationship;
- establish an error for each of the catches according to differences between the value of the capture sensors and the value of the sensors according to the current kinematic relationship; Y
- determine a new kinematic relationship that minimizes errors.
[2]
2. - Calibration method according to claim 1, characterized in that the artificial vision devices are arranged on a rear face of the reflective element, on a front face of the reflective element, between the rear face and the front face of the reflective element or in one side of the reflective element.
[3]
3. - Calibration method according to any one of the preceding claims,
characterized in that the references comprise identification characteristics to be visualized, recognized and captured unequivocally.
[4]
4. - Calibration method according to any one of the preceding claims,
characterized in that the location of the references is determined according to a pixel contained in a shape adjusted along an outer contour of the characteristics of
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ID.
[5]
5. - Calibration method according to any one of the preceding claims,
characterized in that the references are natural or artificial.
[6]
6. - Calibration method according to any one of the preceding claims,
characterized in that the references are mobile or stationary.
[7]
7. - Calibration method according to any one of the preceding claims,
characterized in that the searches are carried out according to the references that have been previously selected or according to a spiral outward movement.
[8]
8. - Calibration method according to any one of the preceding claims,
characterized in that by means of an additional artificial vision device with a location known with precision a reflection of one of the references in the reflective element of at least one of the heliostats is visualized, and a bisector is determined between a vector that goes from the additional artificial vision device to the reflective element and a vector ranging from the reflected reference to the reflective element.
[9]
9. - Calibration method according to claim 8, characterized in that the method comprises establishing a relationship between the bisector and a focus direction of the artificial vision devices.
[10]
10. - Calibration method according to any one of the preceding claims,
characterized in that the searches of the references are carried out by changing the orientation of the heliostats until a pixel of real location of the references corresponds to a specific pixel of the images.
[11]
11. - Calibration method according to any one of claims 1 to 10, characterized in that the searches of the references are carried out by varying the orientation of the heliostat according to known setpoints, based on the kinematic relationship that is in force and the reference sought.
[12]
12. - Calibration method according to any one of the preceding claims,
characterized in that the search is carried out at least twice displaying one or more
of the references being the orientation of the heliostats varied for each of the catches.
[13]
13. - Calibration method according to any one of claims 1 to 11, characterized in that by carrying out the search once, an offset value is updated for the
actuators
[14]
14. - Calibration method according to any one of claims 1 to 12, characterized in that by carrying out the search at least three times, the measurement is completely determined.
10 new cinematic relationship.
[15]
15. - Calibration method according to any one of the preceding claims, characterized in that more than one of the artificial vision devices is fixedly arranged in each of the heliostats.
fifteen
[16]
16. - Calibration method according to claim 15, characterized in that each of the artificial vision devices is fixedly arranged in a facet of the heliostat.

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公开号 | 公开日

MA42176B1|2020-05-29|

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MA42176A1|2018-09-28|

ZA201802045B|2021-04-28|

ES2607710B1|2017-10-11|

WO2017055663A1|2017-04-06|

AU2016329628A1|2018-05-10|

US20180274819A1|2018-09-27|

CL2018000842A1|2018-09-14|

CN108139115B|2019-12-17|

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ES201531419A|ES2607710B1|2015-10-02|2015-10-02|Calibration method for heliostats|ES201531419A| ES2607710B1|2015-10-02|2015-10-02|Calibration method for heliostats|

PCT/ES2016/070681| WO2017055663A1|2015-10-02|2016-09-28|Calibration method for heliostats|

US15/763,941| US20180274819A1|2015-10-02|2016-09-28|Calibration method for heliostats|

MA42176A| MA42176B1|2015-10-02|2016-09-28|Calibration process for heliostats|

CN201680057449.9A| CN108139115B|2015-10-02|2016-09-28|Calibration method for heliostat|

AU2016329628A| AU2016329628A1|2015-10-02|2016-09-28|Calibration method for heliostats|

ZA2018/02045A| ZA201802045B|2015-10-02|2018-03-27|Calibration method for heliostats|

CL2018000842A| CL2018000842A1|2015-10-02|2018-03-29|Calibration method for heliostats|

SA518391255A| SA518391255B1|2015-10-02|2018-04-01|Calibration Method for Heliostats|

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