CN117029786A - Heliostat installation deviation measurement method and system - Google Patents
Heliostat installation deviation measurement method and system Download PDFInfo
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Abstract
The invention relates to a heliostat installation deviation measuring method and system. The method comprises the following steps: the aerial photographing device photographs a plurality of groups of aerial photographing images with the same heliostat according to a plurality of preset photographing postures; processing the aerial image to obtain an aerial triangulation result; identifying heliostat corner points in the image; and according to the angular points of the heliostats, combining the aerial triangulation results, and obtaining at least one of initial positioning three-dimensional coordinates of the heliostats, initial azimuth installation deviation and inclination of the upright posts and the gravity direction. The invention reduces the consumption of measuring manpower resources, improves the measuring efficiency, shortens the measuring operation period, reduces the project management cost and improves the stability of the angle measuring result.
Description
Technical Field
The invention relates to the technical field of solar power generation, in particular to a heliostat installation deviation measuring method and system.
Background
Solar thermal power generation is currently one of the main ways of solar energy utilization. The current solar thermal power generation adopts a tower type solar thermal power generation method, a tower type solar thermal power generation system utilizes heliostats tracking the sun in real time to reflect the sunlight to a heat absorber on a tower, and high-temperature and high-pressure steam is generated by heating heat absorbing working media in the heat absorber to drive a steam turbine generator unit to generate power.
Heliostat fields are an important component of a tower solar thermal power plant system, and are typically composed of thousands of heliostats. Because the mechanical structure of the heliostat has certain deviation in the production and installation processes, the heliostat is difficult to accurately reflect the sun rays to the heat absorber at the beginning of the installation of the heliostat, and therefore the heliostat needs to be corrected. Heliostat correction procedures typically perform parameter calibration by reflecting sunlight to a target or correcting a camera. When the initial installation deviation of the heliostat is small, under the uncorrected condition, for a target scheme, heliostat light spots may deviate from the target center to a certain extent, even only part of the light spots are on the target; for the camera correction scheme, the flare recognized by the camera is smaller and darker than the flare of the heliostat with better accuracy after normal correction. In either scheme, the correction flow can be adjusted through an internal light spot recognition feedback mechanism, and finally the light spots can be adjusted to be opposite to the target or corrected to the camera, so that the purpose of calibrating the heliostat is achieved. However, when the initial installation deviation of the heliostat is large, there may be no light spot on the target or any bright spot cannot be recognized by the correction camera (in order to be able to recognize the light spot of the heliostat with normal accuracy, the aperture and exposure time of the camera are low, the brightness of the picture is low, and only the area where the sunlight is directly incident on the camera can be recognized), so that the relevant adjustment cannot be performed according to the feedback information of the target or the camera. For the above reasons, in order for the correction procedure to function properly, the initial installation deviation of the heliostat must be controlled within a certain range or an initial estimate of the error within a certain range may be obtained by some method.
Disclosure of Invention
In order to solve the problems, the invention aims to provide a heliostat installation deviation measuring method and system for automatically mapping heliostats and measuring installation deviation, so that the consumption of measuring manpower resources is reduced, the measuring efficiency is improved, and the measuring operation period is shortened.
One aspect of the present invention provides a heliostat installation deviation measurement method, comprising the steps of:
the aerial photographing device photographs a plurality of groups of aerial photographing images with the same heliostat according to a plurality of preset photographing postures;
processing the aerial image to obtain an aerial triangulation result;
identifying heliostat corner points in the image according to the aerial triangulation result;
and according to the angular points of the heliostats, combining the aerial triangulation results, and obtaining at least one of initial positioning three-dimensional coordinates of the heliostats, initial azimuth installation deviation and inclination of the upright posts and the gravity direction.
According to an embodiment of the invention, the aerial photographing device comprises a positioning module and an orientation module, which are used for determining the position and the cradle head angle of the aerial photographing device when photographing; the aerial triangulation result comprises the position, the gesture, the image and the three-dimensional coordinates of each pixel point in the image when the aerial photographing device shoots; the preset shooting postures comprise at least seven groups of pitching angles and azimuth angles.
According to an embodiment of the present invention, the identifying heliostat corner points in the image according to the aerial triangulation result includes the following steps:
identifying heliostats in the image;
performing binarization processing on the image;
carrying out maximum communication domain processing on the image subjected to binarization processing;
performing hough transformation on the image processed by the maximum communication domain, and identifying a straight line;
and acquiring the edges of the heliostats and determining corner points of the heliostats.
According to an embodiment of the invention, the acquiring heliostat edges comprises the steps of:
acquiring parallel lines in the identified straight lines;
acquiring parallel line pairs with parallel line intersection points positioned in a heliostat range in the image;
and two groups of parallel lines corresponding to the quadrangle with the largest quadrangle area surrounded by each group of parallel line pairs and other parallel line pairs are heliostat edges.
According to an embodiment of the present invention, the heliostat corner is an intersection of edges of the heliostat.
According to an embodiment of the present invention, the obtaining the initial positioning three-dimensional coordinates of the heliostat includes:
acquiring world coordinates of heliostat angular points according to the position and the posture of the aerial photographing equipment, heliostat related information, camera internal parameters and corresponding three-dimensional coordinates of the heliostat angular points in the image;
and obtaining a diagonal intersection point through intersection of connecting lines of opposite corner points of the heliostat, determining a central point of the heliostat and coordinates of the central point, and obtaining initial positioning three-dimensional coordinates of the heliostat.
According to an embodiment of the present invention, the obtaining the initial azimuth installation deviation includes the steps of:
obtaining the normal vector of the heliostat mirror surface according to the angular point of the heliostat;
and combining the normal vectors of the heliostats in the plurality of groups of aerial images to obtain the initial azimuth angle installation deviation of the heliostats.
According to an embodiment of the present invention, the obtaining the heliostat mirror normal vector according to the heliostat corner and in combination with the aerial triangulation result includes:
determining heliostat angular point coordinates;
taking any one corner point of the heliostat corner points as a starting point, and taking any two other corner points as vector end points respectively, and establishing two vectors;
calculating the modes of the two vectors according to the angular point coordinates;
and obtaining the normal vector of the heliostat mirror surface by means of two vector cross multiplication.
According to an embodiment of the present invention, the obtaining the inclination of the heliostat upright from the gravity direction includes the following steps:
the heliostat angular points are used for obtaining the normal vector of the heliostat mirror surface, and the angles obtained according to a plurality of shooting postures form sample data;
and calculating the inclination of the upright post and the gravity direction through sample data and a kinematic model.
Another aspect of the present invention provides a heliostat installation bias measurement system for implementing any of the foregoing embodiments, comprising:
the image acquisition module is used for shooting a plurality of groups of aerial images with the same heliostat according to a plurality of preset shooting postures by the aerial shooting equipment;
the image processing module is used for processing the aerial image and acquiring an aerial triangulation result;
the angular point identification module is used for identifying angular points of heliostats in the image according to the aerial triangulation result;
and the installation parameter determining module is used for obtaining at least one of initial positioning three-dimensional coordinates, initial azimuth installation deviation and inclination of the upright post and the gravity direction of the heliostat according to the angular point of the heliostat and combining the aerial triangulation result.
The invention has the advantages that:
the invention discloses a heliostat installation deviation measuring method and system. Aerial photography based on aerial triangle technology automatically measures heliostat installation deviation in batches, and measurement of initial positioning three-dimensional coordinates of heliostats, initial azimuth installation deviation of heliostats and inclination of heliostat upright posts and gravity direction is achieved at one time. Compared with the existing method for measuring heliostats by surface, the method provided by the invention has the advantages that the consumption of human resources is greatly reduced, the measurement efficiency is improved, and the measurement operation period is shortened. Because the measurement does not need to consume a large amount of manpower and time, the requirement on the installation precision of the concentrating field is reduced, and the measurement and engineering construction cost is greatly reduced. And the device is decoupled with the installation progress of the condensing field, can be measured at any time, and reduces project management cost. Errors caused by interference of the compass are thoroughly eliminated, and the stability of the angle measurement result is improved. Wherein, survey initial positioning three-dimensional coordinates has realized the survey and drawing of heliostat simultaneously.
Drawings
FIG. 1 illustrates a flow chart of a heliostat installation deviation measurement method, according to an embodiment of the invention;
FIG. 2 illustrates a flow chart of a method of identifying heliostat corner points in an image, in accordance with an embodiment of the invention;
FIG. 3 illustrates a flow chart of a method of determining heliostat mirror normal vectors, according to an embodiment of the invention;
FIG. 4 illustrates a schematic diagram of a heliostat installation deviation measurement method, according to an embodiment of the invention;
FIG. 5 shows a schematic diagram of an aerial device according to an embodiment of the present invention;
FIG. 6 illustrates an aerial triangulation output according to an embodiment of the present invention;
FIG. 7 illustrates a schematic diagram of identifying heliostat corner points in an image, according to an embodiment of the invention;
FIG. 8 illustrates a schematic diagram of a heliostat installation deviation measurement system, according to an embodiment of the invention;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The term "comprising" and variations thereof as used herein means that the term "including" is inclusive, i.e. "including but not limited to", as well as other explicit and implicit definitions may be provided below.
The initial installation bias of the heliostat includes initial positioning three-dimensional coordinates and initial azimuth installation bias of the heliostat (different heliostat designers may have different azimuth zero standards, and the north direction or the south direction is generally considered to be the azimuth zero degree direction), the inclination of the heliostat upright post and the gravity direction, and the like. The prior art is as follows: the initial positioning three-dimensional coordinates of the heliostat are generally obtained through total station or RTK measurement; the initial azimuth angle installation deviation of the heliostat is generally measured by combining a compass with a certain tool; the inclination of the heliostat upright post and the gravity direction can be measured through a level bar. In the prior art, the three solutions are independently executed, the construction engineering amount is large, and in addition, when the compass is used for measuring the initial azimuth angle installation deviation of the heliostat, the following problems are also caused: the measurement results of different compasses have deviation, and the calibration is needed in advance, so that the complexity of a measurement scheme is further increased; the measurement result of the compass is geomagnetic north, and the measurement result in the photo-thermal field is generally geographic north, and correction is needed. The magnetic declination angles in different areas are different, and even the magnetic declination angles in different years have small changes. The compass is extremely easy to be interfered by an environmental magnetic field and an electric field, even if the measuring tool is manufactured by using materials such as wood, plastics and the like, the compass is possibly interfered by equipment such as a metal upright post, peripheral other construction equipment, automobiles and the like, and the milliradian level precision requirement of the photo-thermal field is difficult to be met. Besides coordinate measurement, the measurement result data of the compass and the level bar scheme are difficult to electronize, massive data arrangement analysis is needed after the on-site measurement is finished, and the construction complexity is further increased. In order to solve the above problems, some improvements, such as a device and a method for testing initial installation deviation of heliostat (CN 113375632), have been proposed in the industry, and compared with the traditional compass, the measurement efficiency is greatly improved, but still there is a problem that manual face-by-face measurement is required, the whole measurement period is long, and there is still a great improvement space in terms of reducing manpower resources and time consumption.
The invention discloses a heliostat installation deviation measuring method and system, comprising aerial photographing equipment such as an Unmanned Aerial Vehicle (UAV), a method for processing aerial photographs by aerial triangulation, a method for identifying heliostat angular points in the photographs, a method for calculating heliostat coordinates through the identified heliostat angular points, a preset heliostat photographing gesture, a method for calculating mirror surface normal directions through the identified heliostat angular points, and a method for calculating initial installation parameters of heliostats through heliostat normal directions of different gestures.
An embodiment of the present invention provides a specific implementation manner of a heliostat installation deviation measurement method, referring to fig. 1 to 7, including the following steps:
s100: and the aerial photographing equipment photographs a plurality of groups of aerial photographing images with the same heliostat according to a plurality of preset photographing postures. As shown in fig. 5, the aerial photographing device 4 comprises a positioning module and an orientation module 5, wherein the orientation module is used for determining a holder angle (initial value, further determining an accurate value in combination with different photographed pictures), and the positioning module is used for determining a position of the aerial photographing device when photographing. The positioning module and the orientation module are a high-precision positioning module and an orientation module, wherein the positioning module can be a high-precision GNSS positioning device, such as RTK (real-time dynamic differential) device, for acquiring accurate three-dimensional coordinates; the cradle head angle obtained by the orientation module can be a cradle head angle calculated through RTK coordinates, and the orientation module can also directly use a gyroscope. The preset shooting postures comprise at least seven groups of pitch angles and azimuth angles such as [0,0] (wherein the pitch angles and the azimuth angles are respectively represented by the unit of degrees and the same are the same as the above), and [30,0], [30,120], [30,240], [60,60], [60,180], [60,300]. Of course, in other embodiments, other preset shooting orientations may be selected based on being distributed as much as possible within the heliostat workspace. The method comprises the steps of acquiring a plurality of groups of aerial images of the same heliostat in the same gesture, and respectively shooting seven groups of images according to the preset seven groups of shooting gestures by using aerial equipment. Illustratively, the aerial photographing is performed 3 to 10 times, and each time the aerial photographing is performed, the heliostat rotates to a preset posture and keeps a static state until the aerial photographing is completed. The heliostat coordinate measurement can be completed by taking the 1 st group measurement gesture by plane, and the 2 nd and later data are mainly used for heliostat initial installation parameter measurement. The aerial photographing shoots the heliostat on the same plane from different positions, and the number of identifiable points on the heliostat on the same plane can obviously be larger than the external parameter number of one photo, so that the measurement of the empty three is completed. In fig. 4, 2 represents images of heliostats on the same plane in different photographs in the same posture; reference numeral 3 denotes an aerial photographing device 4 which photographs heliostats on the same surface at different positions. Wherein, the external reference refers to extrinsic parameters of the camera, any parameters that move and rotate the camera itself can cause image change, including: camera coordinates, PT angle of pan-tilt, spin angle around optical center, relative, internal reference refers to intrinsic parameters of camera, including: the focus, the deviation of the focus center and the image center, the pixel size, the inclination angle of the pixel arrangement in two directions and the image distortion parameters.
S200: and processing the aerial image to obtain an aerial triangulation result.
Illustratively, aerial triangulation output files as shown in FIG. 6, which may be in a tag image file format, may be derived by solving aerial photographs using three-space software such as Context Caprue, photoMod AT, etc. The aerial triangulation results comprise the position, the gesture, the image and the three-dimensional coordinates of each pixel point in the image when the aerial photographing device shoots. Each pixel point of the label image file format image contains information of world coordinates corresponding to the pixel point.
S300: and identifying the heliostat corner 1 in the image according to the aerial triangulation result.
The step S300 specifically includes the following steps:
s310: identifying heliostats in the image;
s320: performing binarization processing on the image;
s330: carrying out maximum communication domain processing on the image subjected to binarization processing;
s340: performing hough transformation on the image processed by the maximum communication domain, and identifying a straight line;
s350: the heliostat edge is acquired and the heliostat corner 1 is determined. Wherein, obtaining heliostat edges comprises the following: acquiring parallel lines in the identified straight lines; acquiring parallel line pairs with parallel line intersection points positioned in a heliostat range in an image and a heliostat range in the image; and two groups of parallel lines corresponding to the quadrangle with the largest quadrangle area surrounded by each group of parallel line pairs and other parallel line pairs are heliostat edges. The heliostat corner 1 is the intersection of heliostat edges.
S400: and according to the heliostat angular point 1, combining the aerial triangulation result to obtain at least one of initial positioning three-dimensional coordinates, initial azimuth installation deviation and inclination of the upright post and the gravity direction of the heliostat.
Wherein, obtaining the initial positioning three-dimensional coordinates of the heliostat comprises: acquiring world coordinates of the heliostat corner 1 according to the position and the posture of the aerial photographing equipment, heliostat related information, camera internal parameters and corresponding three-dimensional coordinates of the heliostat corner 1 in the image; and obtaining diagonal intersection points through intersection of connecting lines of opposite corner points of the heliostat, determining central points and central point coordinates of the heliostat, obtaining initial positioning three-dimensional coordinates of the heliostat, and simultaneously completing mapping. The heliostat related information comprises information such as theoretical heliostat coordinates, known heliostat dimensions and the like. Specific:
for the ith photo, the camera coordinate is noted as C Cam(i) Focal length f i Vector of vector pointed to target corner point is Vec i The distance between the camera and the corner point is d i . Since the same object is photographed, its world coordinates are as follows:
in the above, d i For an unknown scalar, the equation is a three-dimensional coordinate vector, and a minimum of 2 pictures can be solved. In the above-mentioned method, the step of,x i ,y i the pixel coordinates of the corner in the picture, px, py are the pel sizes.
Wherein obtaining an initial azimuth installation bias comprises: according to the heliostat corner 1, combining the aerial triangulation result to obtain a heliostat mirror normal vector; and combining heliostat normal vectors in the multiple groups of aerial images to obtain initial azimuth angle installation deviation of the heliostat.
The method for obtaining the inclination of the heliostat upright post and the gravity direction comprises the following steps:
the heliostat angular points are used for obtaining the normal vector of the heliostat mirror surface, and the angles obtained according to a plurality of shooting postures form sample data;
and calculating the inclination of the upright post and the gravity direction through sample data and a kinematic model.
In one embodiment, according to the heliostat corner 1, in combination with the aerial triangulation result, obtaining the heliostat mirror normal vector includes:
s410: determining the coordinates of a heliostat corner 1;
s420: taking any one corner point in the heliostat corner points 1 as a starting point, and respectively taking any other two corner points as vector end points to establish two vectors;
s430: calculating the modes of the two vectors according to the angular point coordinates; illustratively, the modulus is obtained by subtracting the two corner points established;
s440: and obtaining the normal vector of the heliostat mirror surface by cross multiplication of the two vectors.
It is apparent that any form of specular feature point has a corresponding method of identifying the center coordinates and heliostat specular normal, and that diagonal intersection and vector cross product in this embodiment are only one of the more obvious methods. And are not intended to be limiting.
1-7, the image of the Tag Image File Format (TIFF) shown in FIG. 6 derived from the three results of the sky, including the position, the attitude, the image and the three-dimensional coordinates of each pixel point in the image when the aerial device shoots, includes four groups of aerial images 8 with the same heliostat and with the same heliostat in the same attitude, taken by the unmanned aerial vehicle in the four attitudes. Binarization processing is carried out on the aerial image 8, and binarization can be carried out on the aerial image 8 according to the principle that the color average value or the gray average value of the color of the central area of the whole image, the color average value or the gray average value of the color of the heliostat in the image, and the color average value or the gray average value of the color in the vicinity of the image coordinate corresponding to the ideal heliostat central coordinate are close to each other, so as to obtain a binary image 9; the binary image 9 is subjected to the maximum communication domain processing to obtain a communication image 10, and the communication image 10 is subjected to the marginalization processing such as hough transform to obtain an marginalized image 11 and recognize a straight line. Parallel lines which are parallel to each other are obtained, and parallel line pairs with parallel line intersection points in the heliostat range in the image and the heliostat range in the image are obtained; and two groups of parallel lines corresponding to the quadrangle with the largest quadrangle area surrounded by each group of parallel line pairs and other parallel line pairs are heliostat edges, and the intersection point of the heliostat edges is determined to be the heliostat corner point. The identified heliostat corner points are compared with the original image at 12. Acquiring world coordinates of the heliostat corner points 1 according to the position and the posture of the aerial photographing equipment, the coordinates of a theoretical heliostat, the known heliostat size and the like, the camera internal parameters and the corresponding three-dimensional coordinates of the heliostat corner points 1 in the image; acquiring diagonal intersection points through intersection of connecting lines of opposite corner points of the heliostat, determining central points and central point coordinates of the heliostat, measuring initial positioning three-dimensional coordinates of the heliostat, and simultaneously finishing mapping; according to the heliostat corner 1, combining the aerial triangulation result to obtain a heliostat mirror normal vector; and combining heliostat normal vectors in the plurality of groups of aerial images to obtain initial azimuth angle installation deviation of the heliostat, thereby realizing the heliostat installation deviation measurement method.
An embodiment of the present invention provides a specific implementation manner of a heliostat installation deviation measurement system, referring to fig. 8, including the following details:
image acquisition module 510: the aerial photographing device is used for photographing a plurality of groups of aerial photographing images with the same heliostat according to a plurality of preset photographing postures;
image processing module 520: the method comprises the steps of processing aerial images and obtaining an aerial triangulation result;
corner recognition module 530: the method is used for identifying heliostat corner points in the image according to the aerial triangulation result;
the installation parameter determination module 540: and the method is used for obtaining at least one of initial positioning three-dimensional coordinates, initial azimuth angle installation deviation and inclination of the upright post and the gravity direction of the heliostat according to the angular points of the heliostat and by combining the aerial triangulation result.
It is to be appreciated that aspects of the present subject matter can be implemented as a system, method, or program product. Accordingly, aspects of the present invention may be embodied in the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects that may be referred to herein generally as a "circuit," unit, "or" platform.
It will be appreciated by those skilled in the art that the various elements or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may alternatively be implemented in program code executable by computing devices, so that they may be stored on a storage medium for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than what is shown or described, or they may be separately fabricated into individual integrated circuit elements, or multiple elements or steps of them may be fabricated into a single integrated circuit element.
In summary, by adopting the technical scheme provided by the invention, aerial photography automatic batch measurement based on the aerial triangle technology can be realized, and compared with the existing method for measuring the heliostat by plane, the method provided by the invention has the advantages that the consumption of manpower resources is greatly reduced, the measurement efficiency is improved, and the measurement operation period is shortened. Because the measurement does not need to consume a large amount of manpower and time, the requirement on the installation precision of the concentrating field is reduced, and the measurement and engineering construction cost is greatly reduced. And the device is decoupled with the installation progress of the condensing field, can be measured at any time, and reduces project management cost. Errors caused by interference of the compass are thoroughly eliminated, and the stability of the angle measurement result is improved.
The foregoing description is only illustrative of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, as any changes and modifications made by those skilled in the art in light of the foregoing disclosure will fall within the scope of the appended claims.
Claims (10)
1. The heliostat installation deviation measuring method is characterized by comprising the following steps of:
the aerial photographing device photographs a plurality of groups of aerial photographing images with the same heliostat according to a plurality of preset photographing postures;
processing the aerial image to obtain an aerial triangulation result;
identifying heliostat corner points in the image according to the aerial triangulation result;
and according to the angular points of the heliostats, combining the aerial triangulation results, and obtaining at least one of initial positioning three-dimensional coordinates of the heliostats, initial azimuth installation deviation and inclination of the upright posts and the gravity direction.
2. The heliostat installation deviation measurement method of claim 1, wherein the aerial device comprises a positioning module and an orientation module for determining a position and a cradle head angle of the aerial device when the aerial device is photographed; the aerial triangulation result comprises the position, the gesture, the image and the three-dimensional coordinates of each pixel point in the image when the aerial photographing device shoots; the preset shooting postures comprise at least seven groups of pitching angles and azimuth angles.
3. The heliostat installation bias measurement method of claim 2, wherein said identifying heliostat corner points in said image from aerial triangulation results comprises the steps of:
identifying heliostats in the image;
performing binarization processing on the image;
carrying out maximum communication domain processing on the image subjected to binarization processing;
performing hough transformation on the image processed by the maximum communication domain, and identifying a straight line;
and acquiring the edges of the heliostats and determining corner points of the heliostats.
4. A heliostat installation bias measurement method according to claim 3, wherein said obtaining heliostat edges comprises the steps of:
acquiring parallel lines in the identified straight lines;
acquiring parallel line pairs with parallel line intersection points positioned in a heliostat range in the image;
and two groups of parallel lines corresponding to the quadrangle with the largest quadrangle area surrounded by each group of parallel line pairs and other parallel line pairs are heliostat edges.
5. A heliostat installation bias measurement method according to claim 3, wherein the heliostat corner is the intersection of the heliostat edges.
6. The method of claim 2, wherein obtaining initial positioning three-dimensional coordinates of the heliostat comprises:
acquiring world coordinates of heliostat angular points according to the position and the posture of the aerial photographing equipment, heliostat related information, camera internal parameters and corresponding three-dimensional coordinates of the heliostat angular points in the image;
and obtaining a diagonal intersection point through intersection of connecting lines of opposite corner points of the heliostat, determining a central point of the heliostat and coordinates of the central point, and obtaining initial positioning three-dimensional coordinates of the heliostat.
7. A heliostat installation bias measurement method according to claim 2, wherein said obtaining an initial azimuth installation bias comprises the steps of:
obtaining a heliostat mirror normal vector according to the heliostat corner;
and combining the normal vectors of the heliostats in the plurality of groups of aerial images to obtain the initial azimuth angle installation deviation of the heliostats.
8. The method of claim 7, wherein the obtaining the heliostat mirror normal vector from the heliostat corner in combination with the aerial triangulation result comprises:
determining heliostat angular point coordinates;
taking any one corner point of the heliostat corner points as a starting point, and taking any two other corner points as vector end points respectively, and establishing two vectors;
calculating the modes of the two vectors according to the angular point coordinates;
and obtaining the normal vector of the heliostat mirror surface by means of two vector cross multiplication.
9. The heliostat installation bias measurement method of claim 2, wherein said obtaining the inclination of the heliostat uprights from the direction of gravity comprises the steps of:
the heliostat mirror normal vector is obtained according to the heliostat corner points, and the sample data are formed according to angles obtained by a plurality of shooting postures;
and calculating the inclination of the upright post and the gravity direction through sample data and a kinematic model.
10. A heliostat installation bias measurement system for implementing a heliostat installation bias measurement method of any of claims 1-9, comprising:
the image acquisition module is used for shooting a plurality of groups of aerial images with the same heliostat according to a plurality of preset shooting postures by the aerial shooting equipment;
the image processing module is used for processing the aerial image and acquiring an aerial triangulation result;
the angular point identification module is used for identifying angular points of heliostats in the image according to the aerial triangulation result;
and the installation parameter determining module is used for obtaining at least one of initial positioning three-dimensional coordinates, initial azimuth installation deviation and inclination of the upright post and the gravity direction of the heliostat according to the angular point of the heliostat and combining the aerial triangulation result.
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