• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Procedure for the measurement of heliostats. The present invention relates to a method for the measurement of heliostats (1) of a heliostat field of a central tower solar power plant having several heliostats (1). The heliostats (1) respectively have at least one reflector (3) which has a mirror surface (5) with the following steps: - positioning of an aircraft (9) controllable above the field of heliostats in a predetermined initial position (p), - movement of the aircraft (9) according to a predetermined flight pattern (15) and simultaneously taking images of a heliostat (1) or several heliostats by means of a camera (13) at a predetermined time interval, evaluating the images, - generation of at least one evaluation image of a reflection (11 ') of a target (11) formed by the aircraft (9) or a part of the aircraft (9) on the mirror surface (5) of the at least one reflector (3) of the heliostat (1) and determination of the position of the objective (11) with reference to the at least one reflector (3), - evaluation of the at least one evaluation image for the determination of at least one normal vector (n) of the mirror surface (5) by the position of the objective (11), determining the optical axis of the heliostat (1) through of the at least one normal vector (n) and/or determining the shape error of the mirror surface (5). (Machine-translation by Google Translate, not legally binding)
    公开号:ES2604554A2
    申请号:ES201631154
    申请日:2016-09-05
    公开日:2017-03-07
    发明作者:Christoph Prahl；Felix Göhring；Dr.-ing. Marc RÖGER；Christoph Hilgert；Dr.-ing. Steffen ULMER
    申请人:Csp Services GmbH；Deutsches Zentrum fuer Luft und Raumfahrt eV；
    IPC主号:
    专利说明:

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    In addition, there are approaches to perform a photometric evaluation of the mirror surface images. These are described in EP 1 717 568 A2 and DE 10 2011 080 969 of the applicant. In these procedures, reflections of a target on the mirror surface of the reflector are taken with a camera and evaluated. These two known procedures are optimized for the measurement of parabolic trough collectors and therefore can only be used conditionally for the heliostats of a central tower solar power plant.
    The known procedures, based on the flux density, require a fixed hardware installation in the tower and also depend on the position of the sun or the availability of direct solar radiation.
    Therefore, the objective of the present invention is to provide a procedure for the measurement of heliostats, which is independent of solar radiation and, in addition, can be performed with low technical cost of hardware and in a very exact way.
    The invention is defined by the characteristics of the invention 1.
    In the process according to the invention of a heliostat field of a central tower solar power plant having several heliostats, the heliostats having at least one reflector having a mirror surface with a focal length f respectively, the following steps are provided:
    - positioning of a controllable aircraft above the heliostat field at a predetermined initial position,
    - movement of the aircraft according to a predetermined flight pattern and takes simultaneous images of a heliostat or several heliostats by means of a camera in a predetermined time interval, evaluating the images,
    - generation of at least one image for evaluation of the reflection of an objective formed by the aircraft or a part of the aircraft on the mirror surface of the at least one reflector of the heliostat or one and determination of the position of the objective in reference to the at least one reflector,
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    - evaluation of the at least one evaluation image for the determination of at least one normal vector of the mirror surface by means of the position of the objective, determining the optical axis of the heliostat through at least one normal vector and / or determining the error of shape of the mirror surface.
    The method according to the invention has the advantage that thanks to the use of an objective in the form of an aircraft or a part of an aircraft a mobile objective is used which can therefore be used very flexibly.
    The method according to the invention can therefore be realized with a low technical cost in devices, the technical devices necessary for the procedure being used, such as the aircraft, also in different central tower solar plants. Therefore, by means of the method according to the invention, an economical method for the measurement of heliostats is provided.
    The predetermined time interval, in which images are taken or evaluated, can be predetermined depending on the speed of the aircraft. Obviously there is also the possibility of taking pictures continuously, for example in the form of a film, in which the individual images are then evaluated.
    During a calibration of the heliostats, an approximate calibration (precalibration) is usually performed first, to determine the approximate parameters of the heliostat and to allow a fine calibration to follow as closely as possible to the most accurate control of the heliostat. By means of the method according to the invention, both the approximate calibration and the fine calibration can be performed. Therefore, it is possible to measure heliostats on whose actual initial orientation there are only approximate knowledge derived, for example, from construction documents. Through the evaluation of at least one evaluation image, the optical axis of the heliostat can be determined advantageously, so that a very good calibration of the heliostat control is possible.
    In an example of a preferred embodiment of the invention it is provided that the generation of the at least one evaluation image is carried out through a selection of the images previously taken. Therefore, one or several images are selected from the images taken, in which at least a part of the objective can be recognized as a reflection on the mirror surface of a heliostat. These images can be used
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    then as evaluation images for continuous evaluation. The method according to the invention therefore makes it possible to perform the flight pattern on several heliostats in the heliostat field and during the flight pattern a multiplicity of images is taken. Consequently, several heliostats can be mediated in a very short time interval by the method according to the invention.
    In an alternative preferred embodiment of the method according to the invention it is provided that, during the generation of the at least one evaluation image, the images taken during the flight are evaluated and the flight pattern is interrupted by recognizing at least a part of the objective as reflection on the mirror surface of the at least one reflector of the heliostat. The aircraft is then controlled until the reflection of the target is arranged in a predetermined position on the mirror surface. Now at least one image is taken to evaluate the reflection of the lens on the mirror surface using the camera.
    Such a procedure is especially appropriate when only one heliostat should be measured. The aircraft can then be positioned above the heliostat at a predetermined initial position and the flight pattern for the movement of the aircraft is predetermined widely above the heliostat.
    In this regard, by positioning the controllable aircraft in a predetermined initial position and a subsequent flight according to a flight pattern, it is guaranteed that after a short time a reflection of at least a part of the target on the mirror surface can already be recognized. continuation the aircraft is positioned through the control of the aircraft so that the reflection of the objective is arranged in a predetermined position on the mirror surface. In this way it is guaranteed that after relatively short time images of evaluation of the objective reflection can be taken, which are appropriate in the evaluation for the determination of the normal vector.
    It can also be provided that the flight pattern is interrupted directly when upon reaching the initial position the interruption criterion is already present in the form of a reflection of a part of the objective on the mirror surface.
    Even when the actual orientation of the heliostat or heliostats clearly deviates from the theoretical orientation, by the method according to the invention thanks to the use of a predetermined flight pattern and a subsequent fine adjustment of the flight of the aircraft
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    When a part of the lens appears as a reflection on the mirror surface, a calibration can be performed in a short period of time.
    Obviously, the method according to the invention can also provide that the flight pattern foresees a movement of the aircraft on several heliostats, the flight pattern being interrupted when the image evaluation results in a part of the objective being recognized as a reflection on a heliostat, in order to perform a more accurate positioning of the aircraft above the heliostat and take a more accurate evaluation image using the camera.
    It is preferably provided that the camera is arranged in the aircraft. Therefore the aircraft also presents the camera with the objective, so that in the process according to the invention there is a particularly high mobility. For the realization of the procedure, only the aircraft and a calculation unit are required, which performs an evaluation of the images and also performs an aircraft control. Obviously it is also possible that the aircraft is automatically controlled through an on-board control.
    In a preferred embodiment of the procedure it is provided that the initial position is arranged on a theoretical optical axis of one or of the heliostat. The theoretical optical axis can be, for example, the optical axis of the heliostat that is deduced from the construction documents. This ensures that the aircraft and therefore the objective is already in the initial position relatively close to the real optical axis, so that with a high probability in the shortest period of time at least a part of the objective can be recognized as reflection on the mirror surface.
    In this regard, it may be provided that the flight pattern contains a spiral shape around the theoretical optical axis of the heliostat. In other words: during the movement along the flight pattern, the spiral-shaped aircraft is controlled around the theoretical optical axis. This ensures that the target appears on the mirror surface of the heliostat with great probability in the shortest period of time.
    In the case of a flight pattern that flies over several heliostats of the heliostat field, it may be provided that the flight pattern provides a spiral shape for each theoretical optical axis of a heliostat. Therefore, the flight pattern may provide that the aircraft is controlled in the first place with respect to a position above the heliostat on the
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    theoretical optical axis and then controlled in a spiral way. The aircraft then flies to the next heliostats provided within the flight pattern. In this way there is a very high probability that some of the images taken will show the reflection of the objective on the mirror surface, so that these are appropriate as evaluation images.
    In a preferred embodiment of the invention it is provided that, in a field of heliostats with heliostats whose reflectors respectively have a focal length f, the initial position is arranged at a distance between f and 2f from the mirror surface of a heliostat. For example, the initial position may be arranged along the theoretical optical axis at this distance from the mirror surface. Such a distance has the advantage that the drone is represented in an enlarged manner on the mirror surface. In the case of a distance of twice the focal length (2f), the objective can be recognized with a maximum magnification on the mirror surface.
    Obviously there is also the possibility that the initial position is arranged firstly closer to the mirror surface. When a part of the aircraft or the target can now be recognized on the mirror surface, the aircraft can be controlled so that the target is placed in a predetermined position on the mirror surface, for example, in the center of the surface of mirror, and a normal vector of the mirror surface can be determined. The aircraft can then fly along this normal vector away from the heliostat, so that an effect of enlargement on the mirror surface originates. In this way a final adaptation of the calculated normal vector can be made.
    Basically, a greater distance between the drone and the heliostat has the advantage that position deviations have a minor influence on the determination of the target position for the accuracy of the normal vector. It is intended to determine the optical axis of the heliostat with an accuracy of 0.1 mrad. With a distance between the lens and the mirror surface of 10 m, it will therefore be necessary to determine the accuracy of the objective position of 1 mm. With a distance of several hundred meters to the heliostat, for example, in the range of f to 2f, the position of the objective should only be determined with an accuracy of a few centimeters, in order to respect the accuracy of intended measurement. Position determinations of this type can be achieved with the means currently available at justifiable cost.
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    The evaluation of the images for the determination of at least one normal vector of the mirror surface can be performed during the operation of the aircraft and therefore online or also offline after the operation of the aircraft.
    In the evaluation of the images during the operation of the aircraft it may be provided that the aircraft transmits the images wirelessly to an evaluation unit. In the case of offline evaluation it may be provided that the aircraft first stores the images and then the aircraft memory for offline evaluation is read.
    During the evaluation of the at least one evaluation image for the determination of the optical axis of the heliostat or of errors in the shape of the mirror surface, several normal vectors of the mirror surface can also be determined and then the vectors are averaged normal.
    In an example of carrying out the procedure, it can be provided that several mirror surfaces of adjacent heliostats are photographed during the image taking. This can be done as long as a camera with corresponding focal length is selected. In a form of realization of the procedure with a camera, which is arranged stationary and therefore is not carried by the aircraft, this has the advantage that the camera should not be focused on an individual heliostat, but rather Aircraft can go one after another in several heliostats, without requiring a modification of the camera.
    It is preferably provided that the aircraft is controlled during the generation of the evaluation image through an evaluation of images, the evaluation of the images being performed in a calculation unit in the aircraft or after the wireless transmission to an external calculation unit. In other words: When controlling the aircraft after the interruption or cutting of the flight pattern, to accurately position the reflection of the target on the mirror surface, the images on the aircraft are evaluated either externally or on the aircraft. The evaluation of the images in a calculation unit in the aircraft has the advantage that this can be done very quickly, since transmission times are avoided. In addition, there is the possibility of realizing a complete automatic control of the aircraft. The wireless transmission to an external calculation unit has the advantage that consequently the calculation capabilities can be dispensed with
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    corresponding in the aircraft and, in addition, a higher calculation power is available in an external calculation unit.
    It is preferably provided that during the determination of the position of the objective in reference to at least one reflector the position of the objective and the position of the reflector in a common coordinate system is determined. The common coordinate system can be, for example, a global coordinate system. Such a determination has the advantage that expensive conversions between different coordinate systems can be dispensed with. Additionally, in the global coordinate system, the position of the camera and in particular of the camera sensor can also be determined or verified.
    During the determination of the position of the objective in reference to at least one reflector, the determination of the position of the objective can be done through satellite navigation or through an evaluation of images. The determination of the position of the camera in reference to at least one reflector can also be done in this way. The determined position of the reflector can be carried out through a specification of the construction of the heliostat field or through an evaluation of the images taken. In this way, the position of the objective, as well as the position of the reflector and therefore also the position of these two elements between them is possible in a simple way and way. In the evaluation of the position by means of an evaluation of images several images can be evaluated. In particular there is the possibility that marking points or characteristic shapes, whose position is known, are used in the evaluation of images. In the evaluation of images, photogrammetric methods are used that allow accuracies in the range of a few centimeters.
    The use of satellite navigation to determine the position of the target has the advantage that it is directly available and can provide sufficient accuracy. For the technical evaluation of satellite navigation, only a corresponding receiver must be carried on the aircraft. For satellite navigation, for example, a differential GPS can be used.
    It is preferably provided that, during the evaluation of images for the control of the aircraft by means of the evaluated images, the position of the reflection of the objective on the mirror surface and characteristic characteristics of the photographed reflector are determined. This can be done, for example, in the common coordinate system. For example, in the evaluation of the images you can then determine the corners or
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    edges of the reflector and the deviation of the reflection position of the target from the predetermined position on the mirror surface, for example at the center point. The deviation of the reflection position of the objective from the predetermined position on the mirror surface can then be used to control the aircraft until the reflection of the objective is arranged on the desired position or within a range of position deviation desired. In this way the fine positioning of the reflection of the objective on the mirror surface can be done very simply and accurately.
    It is preferably provided that the objective is configured as a pattern or a characteristic form in the aircraft. In this way you can determine not only the position of the reflection of the objective, but also eventually an orientation. In this way, a control of the aircraft can be carried out in a simpler way to reach the predetermined position of the reflection of the objective, since by means of the pattern one can better recognize in which direction a movement of the aircraft is necessary. Furthermore, by means of the characteristic patterns or shapes, simple shape errors can be determined in the mirror surface. For this, it refers, for example, to the procedure described in EP 1 717 568 A2.
    In an example of a preferred embodiment of the invention, it is intended that the objective be composed of several light sources that are preferably arranged in a pattern. The provision of light sources as an objective has the advantage that the procedure can be performed independently of the ambient light. For example, the procedure can be performed at night. The luminaires can be, for example, LEDs or a laser light source. There is also the possibility that the light sources are provided with different colors, so that in a situation in which only a part of the objective of the mirror surface is reflected, the light source can be recognized more quickly than The reflection is done. The various light sources can be arranged, for example, in a circular shape or in a matrix. A triangular arrangement is also possible. Obviously there is also the possibility that the objective only presents a light source, and the reflection of the light source must be positioned in a predetermined position in this embodiment.
    In the process according to the invention it can also be provided that several heliostats are measured one after another. To this end, it may be foreseen that a flight plan will be predetermined in the aircraft and the heliostats will be set successively. In this regard, you can
    be provided that within a flight plan set course successively to several
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    heliostats with the same or similar focal length. This prevents the aircraft from making large changes in height between two heliostats, in order to reach the heliostats in the desired distance range. In this way a very fast measurement of several heliostats is possible.
    As an aircraft, so-called drones can be used. For example, the aircraft can be a quadcopter or an octocopter. Aircraft of this type have proved especially advantageous, in particular in reference to flight stability.
    The method according to the invention has the advantage that a measurement of heliostats can be carried out very quickly and with very high precision. The procedure can be used, for example, for the initial characterization of compensation and monitoring of heliostats directly after the construction of individual heliostats in the heliostat field. In this way they can be fully available quickly after construction. The procedure can also be used for the subsequent control of the calibration status of larger areas of the heliostat field or of all heliostat fields.
    The method according to the invention can be developed, for example, as described below:
    From the operating state of the central tower solar power plant, a setpoint state of the heliostat is derived, from which the ideal direction of the normal vector is determined. In this case it is theoretical magnitudes.
    Starting from this position of the heliostat, the initial position is calculated, in which a reflection of the aircraft or the objective of the aircraft in the reflector should be visible. Here, the initial position is usually selected with the maximum increase in reflection, which is located at a distance of twice the focal length of the heliostat.
    The aircraft then navigates in a controlled manner through a position recognition, for example, through a GPS, to the position. If the camera is arranged in the aircraft, it is oriented towards the heliostat and examined through an image evaluation, which will be carried out on board, for example, if the aircraft sees its own mirror image or the mirror image of the target. If you cannot recognize a reflection on
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    The mirror surface, the aircraft begins to spiral around the ideal direction of the normal vector, until the camera detects a reflection of the target.
    With the help of the image information of the images taken, the aircraft can now be controlled in a directed manner, so that the reflection of the objective is centered on the mirror surface.
    The current position of the aircraft or the target is stored. This is why the orientation of the heliostat and therefore the optical axis through the position of the heliostat can be determined.
    For the method according to the invention, an aircraft is used which has an objective next to a drive. In addition, the aircraft may have a camera that is preferably fixed in a mobile manner in the aircraft. The aircraft can present a control that presents an image processing software for the processing of the images taken by the camera. The target can be configured, for example, as an active target and have at least one light source. Preferably several light sources are provided, for example LEDs, which may have different colors. For example, light sources may be arranged in a matrix.
    The procedure according to the invention is explained in more detail below with reference to the following images.
    They show:
    Figure 1 a schematic arrangement of a heliostat with the aircraft during the realization of a method of carrying out the method according to the invention,
    Figure 2 a schematic view of the mirror surface of the heliostat with partially visible objective, and
    Figure 3 a schematic arrangement of an active objective.
    Referring to Figures 1-3, the procedure according to the invention is explained. In fig. 1 is schematically represented a heliostat 1 of a heliostat field of a central tower solar power plant. Heliostat 1 has a reflector with a mirror surface 5. The mirror surface 5 of the heliostat has a central point M with a vector
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    normal real Nreal. In addition, there is information about a theoretical normal vector Ntheo, which is deduced from the construction of heliostat 1. The normal vectors Nreal and Ntheo slightly deviate from each other, which is produced due to manufacturing inaccuracies. For illustrative purposes, in fig. 1 a very exaggerated deviation is represented.
    An aircraft 9 with the objective 11 arranged in the aircraft 9 is positioned in an initial position P. In this respect, the objective 11 is preferably located in the initial position P. The initial position P may be arranged, for example, as represented in fig. 1, on the theoretical normal vector Ntheo at a distance of 2f from the mirror surface 5. With this distance, a reflection of the objective 11 on the mirror surface 5 has the maximum size. By means of a camera 13 which, for example, can also be arranged in the aircraft 9, an image of the mirror surface 5 of the heliostat 1 is taken. When a reflection of the objective 11 and of the entire aircraft 9 cannot be recognized on the mirror surface 5, the aircraft 9 is controlled along a flight pattern. Flight pattern 15 is schematically indicated in fig. 1 for a corresponding arrow. Flight pattern 15 can be spirally formed around the theoretical normal vector Ntheo. When flying according to the flight pattern 15, the camera 13 continuously takes pictures of the mirror surface 5. These are evaluated through an own evaluation unit on board, not shown, of the aircraft 9. As soon as a reflection of the target 11 or of the aircraft 9 by the camera 13 on the mirror surface 5 the flight pattern 15 is interrupted or ceases.
    In fig. 2 is a plan view of the mirror surface 5 of heliostat 1 of fig. 1. A reflection 11 'of the objective 11 is seen on the mirror surface 5. By means of an image evaluation, the corners 17 of the mirror surface 5 are determined By means of this information, the deviation of the reflection 11' from the objective 11 can be determined of a predetermined position, which in the exemplary embodiment shown is the center point M. In addition, the aircraft can be controlled so that the reflection 11 'of the target 11 appears in the predetermined position. Now objective 11 is placed on the real normal vector or with an acceptable deviation in the area of the real normal vector. The images taken are now used as evaluation images. By storing the position of the aircraft or objective 11, the actual normal vector can be calculated from it.
    For the determination of the optical axis of the heliostat, the normal vector at the central point M of the mirror surface 5 must not necessarily be determined.
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    possibility of determining a multiplicity of normal vectors N from several evaluation images and averaging.
    Objective 11 can also be configured as an asl called active objective. A corresponding configuration is schematically represented in fig. 3. The objective is composed in this form of realization by several light sources in the form of LED lamps. In the exemplary embodiment shown in fig. 3 nine LED lamps 19 are provided, which are arranged in a matrix. In this regard, LED lamps 19 have different colors. The LED lamps 19a have, for example, the color red, the lamps 19b, for example, the color green and the LED lamps 19c, for example, the color blue. In this way, during mirroring the mirror surface can be determined advantageously, with respect to the reflection that lamps can be seen in the image taken, so that an orientation of the target can be determined 11. Accordingly it can be determined in a simple way and way and very exactly in what direction the aircraft 9 must fly to reach the desired position.
    The determination of the positions of the individual elements is done in a global coordinate system. Therefore, the central point M of the mirror surface is in the same coordinate system as the objective 11. During the determination of the position of the objective 11 an image evaluation of the images taken can be performed, while in the image marks whose positions are known are detected. There is also the possibility of determining a position determination through a navigation sensor arranged in the aircraft 9, for example, a satellite navigation sensor. From the construction of the aircraft 9, the disposition of the objective 11 in reference to the navigation receiver not shown is known, so that the actual position of the objective 11 can be calculated in a simple way and way. It is also possible to determine the position of the camera 13 in this way, so that the direction of capture of the camera 13 can be determined and taken into account. In this way an especially accurate measurement is possible.
    In the process according to the invention, a heliostat can be measured in a simple manner and manner very quickly. This can be done regardless of the position of the sun and availability of direct solar radiation and can be done in a few minutes. The procedure can be used for a characterization of heliostat compensation and monitoring, which can be used for a heliostat control calibration. This can be done initially before the heliostat is put into operation. However, the
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    The procedure can also be used to quickly monitor the calibration status of the heliostat at a later time.
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    1. Procedure for the measurement of heliostats (1) of a heliostat field of a central tower solar power plant that has several heliostats (1), in which the heliostats (1) respectively have at least one reflector (3) presenting a mirror surface (5) with the following stages:
    - positioning of a controllable aircraft (9) above the heliostat field in a predetermined initial position (P),
    - movement of the aircraft (9) according to a predetermined flight pattern (15) and takes simultaneous images of a heliostat (1) or of several heliostats by means of a camera (13) in a predetermined time interval, evaluating the images,
    - generation of at least one evaluation image of a reflection (11 ') of an objective (11) formed by the aircraft (9) or a part of the aircraft (9) on the mirror surface (5) of the at least one reflector (3) of the heliostat (1) and determination of the position of the objective (11) in reference to at least one reflector (3),
    - evaluation of the at least one evaluation image for the determination of at least one normal vector (N) of the mirror surface (5) by the position of the objective (11), determining the optical axis of the heliostat (1) through of at least one normal vector (N) and / or determining the shape error of the mirror surface (5).
    2. Method according to claim 1, characterized in that the generation of the at least one evaluation image is carried out through a selection of the images taken, while at least one part of the objective is recognized in the images taken (11) as a reflection (11 ') on the mirror surface (5) of the at least one heliostat reflector (1).
    3. Method according to claim 1, characterized in that during the generation of the at least one evaluation image, recognizing a part of the objective (11) as reflection (11 ') on the mirror surface of the at least one reflector (3) of a heliostat the flight pattern (15) is interrupted, the aircraft (9) is controlled until the reflection (11 ') of the objective (11) is arranged in a predetermined position on the
    mirror surface (5) and using the camera (13) at least one image of
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    权利要求:
    Claims (12)
    [1]
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    evaluation of the reflection (11 ’) of the objective (11) on the mirror surface (5) of the at least one reflector.
    [4]
    Method according to one of claims 1 to 3, characterized in that the camera (13) is arranged in the aircraft (9).
    [5]
    5. Method according to one of claims 1 to 4, characterized in that the initial position (P) is arranged on a theoretical optical axis (Nreal) of one or the heliostat (1).
    [6]
    6. Procedure according to revindication 5, characterized in that the flight pattern (15) contains a spiral shape around a theoretical optical axis (Nreal) of the heliostat (1).
    [7]
    7. Method according to one of claims 1 to 6, characterized
    because in a field of heliostats with heliostats whose reflectors respectively have a focal length f, the initial position (P) is arranged at a distance between f and 2f of the mirror surface (5) of a heliostat (1).
    [8]
    8. Method according to one of claims 1 to 7, characterized
    because the evaluation of the at least one evaluation image for the determination of the
    less a normal vector (N) of the mirror surface (5) is performed offline or during the
    operation of the aircraft (9).
    [9]
    9. Method according to one of claims 1 to 8, characterized
    because during mirroring several mirror surfaces (5) of adjacent heliostats (1) are photographed.
    [10]
    Method according to one of claims 3 to 9, characterized in that the aircraft (9) is controlled during the generation of the evaluation image through an image evaluation, the evaluation of the images being carried out in a calculation unit in the aircraft (9) or after the wireless transmission to an external calculation unit.
    [11]
    Method according to one of claims 1 to 10, characterized in that during the determination of the position of the objective (11) in reference to at least
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    A reflector (3) determines the position of the objective (11) and the position of the reflector (3) in a common coordinate system.
    [12]
    12. Method according to one of claims 1 to 11, characterized in that during the determination of the position of the objective (11) in reference to at least
    a reflector (3) is carried out the determination of the position of the objective (11) through satellite navigation or through an evaluation of images and the determination of the position of the reflector (3) is carried out through a construction specification from the heliostat field or through an image evaluation.
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    [13]
    13. Method according to one of claims 10 to 12, characterized in that during the evaluation of the images for the control of the aircraft (9) by means of the evaluated images the position of the reflection (11 ') of the objective (11) on the mirror surface (5) and the distinctive characteristics of the reflector (3) photographed.
    fifteen
    [14]
    14. Method according to one of claims 1 to 13, characterized in that the objective (11) is configured as a pattern or a characteristic shape in the aircraft (9).
    Method according to one of claims 1 to 14, characterized
    because the objective (11) is made up of several light sources (19).
    image 1
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    同族专利:
    公开号 | 公开日
    ES2604554B2|2018-03-08|
    DE102015217086A1|2017-03-09|
    DE102015217086B4|2019-11-07|
    ES2604554R1|2017-04-25|
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    优先权:
    申请号 | 申请日 | 专利标题
    DE102015217086.1A|DE102015217086B4|2015-09-07|2015-09-07|Method for measuring heliostats|
    DE102015217086|2015-09-07|
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