Photovoltaic system based on sun-oriented trajectory, rotation method and storage medium

Abstract

The invention provides a photovoltaic system based on a sun-oriented trajectory, a rotation method and a storage medium. The photovoltaic system comprises a photovoltaic power generation panel, a motor, a data processing module, a motor control module, a sun-oriented tracking module and a photoelectric auxiliary tracking module. The motor is used for driving the photovoltaic power generation panel to rotate. The sun tracking module shoots a series of images of the sun and calculates the solar altitude and direction angle. The photoelectric auxiliary tracking module calculates the position of the sun through the angle of the sensor; and judging whether the illumination intensity reaches a threshold value or not, if so, selecting a sun tracking module for tracking, and if not, selecting photoelectric auxiliary tracking. The initial approximate position of the sun is tracked through an apparent sun view motion trail system, and the used tracking method is judged according to weather conditions and illumination intensity. And the sun can be stably and reliably tracked under most weather conditions.

Description

Technical Field

[0001] The present application relates to the photovoltaic field, and in particular, to a photovoltaic system, a rotation method and a storage medium based on an apparent solar trajectory. Background Art

[0002] Traditional solar panels are often fixed in one direction, which makes them vulnerable to natural factors, and their photoelectric conversion efficiency is too low. They also have many disadvantages such as high cost, which results in low efficiency of solar energy in photoelectric conversion and its application is not popular.

[0003] The most direct and effective way to improve efficiency is to increase the efficiency of collecting sunlight, so it is of great significance to design a system that converts photovoltaics with high efficiency. To maximize the utilization of solar energy, improvements can be made in three aspects: conversion, storage, and reception of solar energy. The sun position tracking system can maintain vertical incidence of light, so that the same solar panel can generate the most electricity.

[0004] The altitude angle (elevation angle) and direction angle (azimuth angle) of the sun can be accurately determined by astronomical calculation methods. These calculations are based on the rotation and revolution of the earth as well as the geographical location (latitude, longitude) and time (date, moment). The following is a detailed astronomical calculation method:

[0005] 1. Basic parameters

[0006] Latitude (φ): The geographical latitude of the observation point, positive in the Northern Hemisphere and negative in the Southern Hemisphere.

[0007] Longitude (λ): The geographical longitude of the observation point, with east longitude being positive and west longitude being negative.

[0008] Time Zone (TZ): The time zone where the observation point is located, usually expressed as a UTC offset (such as +8 hours for Beijing).

[0009] Date (D): Observation date, usually expressed in Julian Day (JD).

[0010] Time (t): The moment of observation, usually expressed in local standard time (LST).

[0011] 2. Solar declination (δ)

[0012] Solar declination is the latitude of the Sun in the celestial coordinate system, which varies with the seasons. The solar declination can be approximated using the following formula:

[0013] δ=0.006918-0.399912cos(n)+0.070257sin(n)-0.006758cos(2n)+0.000907sin(2n)-0.002697cos(3n)+0.00148sin(3n)

[0014] Where: n is the number of days from the vernal equinox (usually March 21) to the observation date, which can be calculated using the following formula:

[0015] n=N-79

[0016] N is the number of days from the beginning of the year to the observation date (Julian day minus the Julian day of January 1 of the current year).

[0017] 3. Hour angle (H)

[0018] The hour angle is the angle of the sun relative to the meridian, indicating the east-west position of the sun in the sky. The hour angle can be calculated using the following formula:

[0019] H=15°×(12-t LST )

[0020] t LST It is the local time (LST), which needs to take into account the influence of time zone and longitude. The standard time can be converted to local time by the following formula:

[0021]

[0022] t UTC is Coordinated Universal Time (UTC), TZ is the time zone offset, and λ is the longitude in degrees.

[0023] Sun altitude angle (θ s )

[0024] The solar altitude angle is the angle of the sun relative to the horizon and can be calculated using the following formula:

[0025] sin(θ s )=sin(φ)sin(δ)+cos(φ)cos(δ)cos(H)

[0026] θ s =arcsin(sin(φ)sin(δ)+cos(φ)cos(δ)cos(H))

[0027] Sun direction angle (α s )

[0028] The solar direction angle is the angle of the sun relative to due south, which can be calculated using the following formula:

[0029]

[0030] The existing technology mainly uses astronomical methods to calculate the altitude and direction of the sun, relying on pre-calculated fixed trajectories. However, due to motor rotation errors and climate influences, errors will gradually accumulate and cannot be automatically eliminated. Therefore, this method cannot achieve accurate positioning of photovoltaic panels. Summary of the invention

[0031] The purpose of the embodiments of the present application is to provide a photovoltaic system based on the apparent solar trajectory, a photovoltaic system rotation method and a computer-readable storage medium, so as to accurately track the solar altitude angle and azimuth angle.

[0032] In a first aspect, the present invention provides a photovoltaic system based on an apparent sun track, comprising: a photovoltaic power generation panel, a motor, a data processing module, a motor control module, an apparent sun tracking module, and a photoelectric auxiliary tracking module;

[0033] The motor is used to drive the photovoltaic panel to rotate;

[0034] The apparent sun tracking module includes a camera, which takes a series of images of the sun at a fixed angle at a predetermined time, and the data processing module calculates the sun's altitude angle and direction angle by analyzing the position of the sun in the image;

[0035] The photoelectric assisted tracking module includes a plurality of sensors, the sensors are at different angles, and the data processing module analyzes the light intensity of the sensors at each angle to calculate the solar azimuth and altitude, and identifies the sensor with the greatest light intensity;

[0036] The data processing module determines whether the light intensity of the sensor with the highest light intensity reaches a threshold value. When it is greater than the threshold value, the solar altitude angle and direction angle calculated by the apparent sun tracking module are converted into parameters required for motor rotation and sent to the motor control module; when it is less than the threshold value, the photoelectric assisted tracking module calculates the sun position as the parameter required for motor rotation and sends it to the motor control module; the threshold value is the minimum light intensity that the apparent sun tracking module can use to identify the sun position; the motor module controls the motor rotation.

[0037] In an optional embodiment, the camera is a CCD camera.

[0038] In an optional implementation, the method for the apparent sun tracking module to calculate the solar direction angle and altitude angle is as follows:

[0039] Calibrate the CCD camera to determine the conversion relationship between the pixel coordinates in the image and the actual world coordinates;

[0040] Collect a series of images of the sun over a preset time;

[0041] Preprocess the image to remove noise;

[0042] Set threshold: According to the brightness distribution of the sun spot, set a threshold to separate the sun spot area from the background;

[0043] Binarization: Convert the sun spot image into a binary image;

[0044] Calculate the sun spot centroid (xc, yc) through the binary image:

[0045]

[0046] Where: I(xi,yi) is the grayscale value of pixel (xi,yi) in the image. N is the number of all pixels in the spot area.

[0047] In an optional embodiment, the photoelectric assisted tracking module includes at least two groups of sensors, the photosensitive surfaces of the sensors in the first group are vertically arranged, and at the same moment, the angles between the photosensitive surfaces of the sensors in the first group and the horizontal components of the sunlight are all different; the angles between the photosensitive surfaces of the sensors in the second group and the horizontal plane are different from each other; the solar direction angle is identified by identifying the setting angle of the sensor with the largest light intensity in the first group of sensors, and the solar altitude angle is identified by identifying the sensor with the largest light intensity in the second group of sensors, and the photosensitive surface refers to the surface of the sensor that collects sunlight.

[0048] In an optional embodiment, when the photoelectric assisted tracking module calculates the sun's position as a parameter required for motor rotation, the sensor collects sunlight intensity at a set frequency. When the photovoltaic panel completes one rotation, when the light intensity change of one or two sensors exceeds a set threshold, the motor control module controls the motor rotation to rotate the photovoltaic panel to the position corresponding to the solar altitude angle and azimuth angle identified by the sensor.

[0049] In an optional embodiment, when the light intensity change of one or two sensors exceeds 10%-20% of the sensor's range, the motor control module controls the motor to rotate the photovoltaic panel to a position corresponding to the solar altitude angle and direction angle recognized by the sensor.

[0050] In an optional embodiment, when the apparent sun tracking module calculates the sun position as the parameter required for motor rotation, after the photovoltaic panel completes one rotation, when the change amplitude of the solar direction angle and altitude angle is greater than the corresponding threshold value, the motor control module controls the motor rotation to rotate the photovoltaic panel to the position corresponding to the solar altitude angle and direction angle identified by the apparent sun tracking module.

[0051] In an optional embodiment, it also includes a display screen, which is used to display the light intensity corresponding to all sensors, the real-time image of the sun, and the sun altitude angle.

[0052] In a second aspect, the present invention provides a photovoltaic system rotation method, using a photovoltaic system based on a solar track CCD camera as described in any of the aforementioned embodiments.

[0053] In a third aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described in the aforementioned embodiment is implemented.

[0054] The present invention can obtain the actual position information of the sun in real time. Each tracking is based on the current actual image data for positioning and adjustment, rather than simply relying on a pre-calculated fixed trajectory. Therefore, even if there is a small error, it will not accumulate over time like the traditional method, but will be corrected during each image acquisition and processing process, thereby avoiding the generation of cumulative errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0056] Figure 1 A flow chart of a photoelectric tracking method provided in an embodiment of the present application;

[0057] Figure 2 A flow chart of a method for tracking the sun provided in an embodiment of the present application;

[0058] Figure 3 A schematic flow chart of a photovoltaic system rotation method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application. Unless otherwise defined, the technical terms or scientific terms used in this application should be the common meanings understood by people with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar words used in this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Including" or "including" and other similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connected", "coupled" or "connected" and other similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0060] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0061] Figure 1-Figure 3 As shown, the photovoltaic system based on the apparent sun trajectory provided in the embodiment of the present application includes a photovoltaic power generation panel, a motor, a data processing module, a motor control module, a apparent sun tracking module and a photoelectric auxiliary tracking module.

[0062] The motor is used to drive the photovoltaic panel to rotate. The rotating motor is a key component in the photovoltaic tracking system, which is used to adjust the angle of the photovoltaic panel so that it is always aligned with the best position of the sun. This motor can be precisely controlled according to the altitude and azimuth of the sun to maximize the efficiency of photovoltaic power generation. Depending on the application requirements and the complexity of the system, different types of motors can be selected to drive the rotation of the photovoltaic panel. Common motor types include:

[0063] Stepper Motor: It achieves precise position control through discrete step angles. It is simple to control and suitable for low-speed, high-precision applications. It does not require feedback sensors and is low cost. It is suitable for single-axis or dual-axis tracking systems, especially where high precision is required. It is suitable for small photovoltaic systems or distributed photovoltaic applications. Servo Motor: It has a built-in encoder that can provide real-time position feedback to ensure high precision and high response speed. It supports closed-loop control and can adjust the position and speed of the motor in real time. It has a wide power range and is suitable for large and medium-sized photovoltaic systems. It is suitable for dual-axis tracking systems, especially where fast response and high-precision positioning are required. It is suitable for large photovoltaic power stations or industrial-level applications.

[0064] The motor control module is responsible for controlling the movement of the motor, ensuring that the photovoltaic panel can be accurately adjusted according to the position of the sun. The motor controller not only needs to have basic drive functions, but also needs to be able to process complex control algorithms to achieve efficient and stable solar tracking.

[0065] The solar tracking module uses a CCD camera, which takes a series of images of the sun at a fixed angle at a predetermined time. The data processing module calculates the solar altitude angle and direction angle by analyzing the position of the sun in the image. Figure 2 The specific calculation method is as follows:

[0066] 1. Image preprocessing

[0067] Denoising: Since the actual captured images may contain noise, especially images under low light conditions, Gaussian filtering, median filtering and other methods can be used to remove noise and improve image quality.

[0068] Enhance contrast: Enhance the brightness contrast in the image through histogram equalization, gamma correction and other methods to make the light spot more obvious.

[0069] Threshold segmentation: Set a suitable threshold to separate the light spot from the background. You can choose a global threshold or an adaptive threshold, depending on the complexity of the image. For sun images, areas with higher brightness are usually selected as light spots.

[0070] Morphological operations: In order to remove small noise points and disconnected light spots, morphological operations (such as dilation, erosion, opening and closing operations) can be used to optimize the shape of the light spots.

[0071] 2. Light spot detection

[0072] Circular fitting: If the light spot is close to a circle, you can use algorithms such as Hough Transform or least squares method to perform circular fitting to find the edge of the light spot and determine the position of its center.

[0073] Contour extraction: Use edge detection algorithms (such as Canny edge detection) to extract the contour of the light spot, and then calculate the geometric center of the contour. This method is suitable for irregularly shaped light spots.

[0074] Connected region marking: For the binarized image, a connected region marking algorithm (such as Blob analysis) can be used to identify all connected bright spot regions and calculate the centroid of each region.

[0075] 3. Centroid calculation

[0076] Centroid calculation is the core step of spot positioning. Assuming that we have obtained the binary image of the spot through threshold segmentation or other methods, we can then calculate the centroid coordinates (xc, yc) of the spot using the following formula:

[0077]

[0078] Where: I(xi,yi) is the gray value of the pixel (xi,yi) in the image. N is the number of all pixels in the spot area.

[0079] Sub-pixel precision centroid calculation

[0080] In order to improve the accuracy of centroid positioning, a sub-pixel centroid calculation method can be used. Common sub-pixel centroid calculation methods include:

[0081] Gradient weighted centroid method: According to the gradient information of the edge of the spot, the edge pixels are given a greater weight, thereby improving the accuracy of the centroid calculation. The specific formula is:

[0082]

[0083] Where G(xi,yi) is the gradient magnitude at pixel (xi,yi).

[0084] Quadratic polynomial fitting method: fit a quadratic polynomial surface in the spot area, and determine the centroid position by solving the extreme points of the surface. This method can further improve sub-pixel accuracy.

[0085] 4. Error analysis and correction

[0086] Multi-frame averaging: In order to reduce the error of a single shot, you can shoot multiple frames and take the average of the centroid coordinates to improve the stability of positioning.

[0087] Occlusion detection: If the light spot is partially obscured (such as clouds, buildings, etc.), it may cause deviations in the centroid calculation results. The occlusion can be identified by detecting the integrity and symmetry of the light spot and taking corresponding corrective measures.

[0088] Compared with traditional sun tracking methods based on sensors or astronomical algorithms, image-based sun tracking has several significant advantages.

[0089] Image-based solar tracking can provide very accurate information about the sun's position by directly capturing images of the sun and calculating the sun's center of mass. Compared to relying on preset astronomical data or sensor feedback, the image method can track the sun in real time and dynamically, avoiding problems such as model errors and sensor drift.

[0090] By using sub-pixel centroid calculation methods (such as gradient weighted centroid method and quadratic polynomial fitting method), image sun tracking can achieve higher positioning accuracy than traditional methods, usually up to 0.1° or even higher.

[0091] Unlike traditional sensor-based tracking systems, image-based sun tracking does not require the installation of multiple sensors or complex mechanical structures. Only one camera is needed to detect the sun's position, reducing system complexity and cost.

[0092] Without a large number of sensors and connecting wires, the maintenance workload of the image tracking system is greatly reduced. The camera itself is relatively durable and not easily affected by the external environment, which reduces the failure rate.

[0093] Although solar tracking has the advantages mentioned above, it still has the following shortcomings: in poor light conditions, such as cloudy weather, the position of the sun may not be identified.

[0094] The photoelectric assisted tracking module includes multiple sensors with different angles. The data processing module analyzes the light intensity of sensors at different angles, selects the sensor with the largest light intensity, and calculates the sun's position based on the sensor angle. The specific arrangement of the sensors is as follows:

[0095] The photosensitive surfaces of the sensors in the first group are set vertically. At the same moment, the angles between the photosensitive surfaces of the sensors in the first group and the horizontal components of the sunlight are all different; the angles between the photosensitive surfaces of the sensors in the second group and the horizontal plane are different from each other; the solar direction angle is identified by identifying the setting angle of the sensor with the largest light intensity in the first group of sensors, and the solar altitude angle is identified by identifying the sensor with the largest light intensity in the second group of sensors.

[0096] The photoelectric assisted tracking module includes two groups of sensors. The sensors use photoresistors. The photosensitive surface of the sensors in the first group is set vertically, with the horizontal line in the east-west direction as the reference line. The angles of the photosensitive surface of the sensors in the first group and the reference line are different. The more sensors there are, the higher the detection accuracy. Taking 6 sensors as an example, they are 0°, 30°, 60°, 90°, 120°, and 150° to the reference line respectively. The angles of sunlight shining on the sensors at the same time are different, resulting in different currents in each sensor; the angles of the sensors in the second group and the horizontal plane are different from each other. Taking 6 sensors as an example, they are 0°, 30°, 60°, 90°, 120°, and 150° to the reference line respectively. The sun direction angle is identified by identifying the setting angle of the sensor with the largest light intensity in the first group of sensors, and the sun altitude angle is identified by identifying the sensor with the largest light intensity in the second group of sensors.

[0097] For example, if the light intensity corresponding to the 30° sensor in the first group of sensors is the strongest, then the solar azimuth at this time can be calculated based on the mapping relationship between the sensor and the solar azimuth. Similarly, the solar altitude angle can be calculated.

[0098] Although the sun tracking has the above advantages, there are still some shortcomings. In poor light conditions, such as cloudy weather, the sun's position may not be recognized. The sensor also has a problem. When the light intensity is high, such as at noon, the light intensity received by each sensor is very small, unless a sensor with higher accuracy and larger range is used, which is more expensive.

[0099] Therefore, the following method is adopted in this embodiment.

[0100] The data processing module determines whether the light intensity of the sensor with the highest light intensity reaches a threshold value. When it is greater than the threshold value, the solar altitude angle and direction angle calculated by the apparent sun tracking module are converted into parameters required for motor rotation and sent to the motor control module; when it is less than the threshold value, the photoelectric assisted tracking module calculates the sun position as the parameter required for motor rotation and sends it to the motor control module; the threshold value is the minimum light intensity for the apparent sun tracking module to identify the sun position.

[0101] When the photoelectric assisted tracking module calculates the sun's position as a parameter required for motor rotation, the sensor collects sunlight intensity at a set frequency. When the photovoltaic panel completes a rotation, if the light intensity change of one or two sensors exceeds 10%-20% of the sensor's range, the motor control module controls the motor to rotate the photovoltaic panel to the position corresponding to the solar altitude and azimuth angle identified by the sensor. When the light intensity difference between two or more sensors reaches this threshold, it means that the sun's position has changed sufficiently and tracking adjustment needs to be initiated. At the same time, it is necessary to avoid false triggering caused by ambient light (such as reflected light from clouds, reflected light from buildings, etc.), so the threshold cannot be set too low.

[0102] When the sun position calculated by the apparent sun tracking module is used as the parameter required for motor rotation, after the photovoltaic panel completes one rotation, when the change amplitude of the solar direction angle and altitude angle is greater than the corresponding threshold, such as ±3 to ±5°, the motor control module controls the motor rotation to rotate the photovoltaic panel to the corresponding position of the solar altitude angle and direction angle recognized by the apparent sun tracking module.

[0103] The present invention also provides a display screen, which is used to display the light intensity corresponding to all sensors, the real-time image of the sun and the sun altitude angle.

[0104] The present invention can obtain the actual position information of the sun in real time. Each tracking is based on the current actual image data for positioning and adjustment, rather than simply relying on a pre-calculated fixed trajectory. Therefore, even if there is a small error, it will not accumulate over time like the traditional method, but will be corrected during each image acquisition and processing process, thereby avoiding the generation of cumulative errors.

[0105] On the basis of photoelectric tracking, a program for calculating the solar altitude and azimuth is added. When the tracking device starts working, the apparent solar motion trajectory system is used to track the initial approximate position of the sun, and the tracking method to be used is determined according to weather conditions and light intensity. In this way, the sun can be tracked stably and reliably under most weather conditions.

[0106] Corresponding to the above system, an embodiment of the present application further provides a method for rotating a photovoltaic panel, which adopts the above photovoltaic system based on the sun-track CCD camera.

[0107] Corresponding to the above system, an embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored, and the computer program implements the above method when executed by a processor.

[0108] The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0109] A readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which a readable computer program is carried. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0110] The computer program embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0111] The computer program for performing the operation of the present application can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer program can be executed entirely on the target object computing device, partially on the target object device, as a separate software package, partially on the target object computing device and partially on a remote computing device, or completely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the target object computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0112] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0113] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain a computer-usable computer program.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0118] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0119] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A photovoltaic system based on apparent sun trajectory, characterized in that: include: Photovoltaic panels, motors, data processing modules, motor control modules, sun tracking modules and photoelectric auxiliary tracking modules; The motor is used to drive the photovoltaic panel to rotate; The apparent sun tracking module includes a camera, which takes a series of images of the sun at a fixed angle at a predetermined time, and the data processing module calculates the sun's altitude angle and direction angle by analyzing the position of the sun in the image; The photoelectric assisted tracking module includes a plurality of sensors, the sensors are at different angles, and the data processing module analyzes the light intensity of the sensors at each angle to calculate the solar azimuth and altitude, and identifies the sensor with the greatest light intensity; The data processing module determines whether the light intensity of the sensor with the largest light intensity reaches a threshold value. When it is greater than the threshold value, the solar altitude angle and direction angle calculated by the apparent sun tracking module are converted into parameters required for motor rotation and sent to the motor control module; when it is less than the threshold value, the photoelectric auxiliary tracking module calculates the sun position as the parameter required for motor rotation and sends it to the motor control module; the threshold value is the minimum light intensity that the apparent sun tracking module can identify the sun position; The motor module controls the rotation of the motor.

2. The photovoltaic system based on the apparent sun trajectory according to claim 1, characterized in that: The camera is a CCD camera.

3. The photovoltaic system based on the apparent sun trajectory according to claim 1, characterized in that: The method for calculating the solar direction angle and altitude angle of the solar tracking module is as follows: Calibrate the CCD camera to determine the conversion relationship between the pixel coordinates in the image and the actual world coordinates. Collect a series of images of the sun over a preset time; Preprocess the image to remove noise; Set threshold: According to the brightness distribution of the sun spot, set a threshold to separate the sun spot area from the background; Binarization: Convert the sun spot image into a binary image. Calculate the sun spot centroid (x) through the binary image c ,y c ): Where: I(x i ,y i ) is the pixel (x) in the image i ,y i ) is the number of all pixels in the spot area.

4. The photovoltaic system based on the apparent sun trajectory according to claim 1, characterized in that: The photoelectric assisted tracking module includes at least two groups of sensors. The photosensitive surfaces of the sensors in the first group are vertically arranged. At the same time, the angles between the photosensitive surfaces of the sensors in the first group and the horizontal components of the sunlight are different. The angles between the photosensitive surfaces of the sensors in the second group and the horizontal plane are different from each other. The solar direction angle is identified by identifying the setting angle of the sensor with the largest light intensity in the first group of sensors, and the solar altitude angle is identified by identifying the sensor with the largest light intensity in the second group of sensors. The photosensitive surface refers to the surface of the sensor that collects sunlight.

5. The photovoltaic system based on the apparent sun trajectory according to claim 4, characterized in that: When the photoelectric assisted tracking module calculates the sun's position as the parameter required for motor rotation, the sensor collects sunlight intensity at a set frequency. When the photovoltaic panel completes one rotation, when the light intensity change of one or two sensors exceeds the set threshold, the motor control module controls the motor to rotate the photovoltaic panel to the position corresponding to the solar altitude angle and direction angle identified by the sensor.

6. The photovoltaic system based on the apparent sun trajectory according to claim 5, characterized in that: When the light intensity change of one or two sensors exceeds 10%-20% of the sensor's range, the motor control module controls the motor to rotate the photovoltaic panel to a position corresponding to the solar altitude angle and direction angle identified by the sensor.

7. The photovoltaic system based on the apparent sun trajectory according to claim 4, characterized in that: When the sun position calculated by the apparent sun tracking module is used as the parameter required for motor rotation, after the photovoltaic panel completes one rotation, when the change amplitude of the solar direction angle and altitude angle is greater than the corresponding threshold value, the motor control module controls the motor rotation to rotate the photovoltaic panel to the position corresponding to the solar altitude angle and direction angle recognized by the apparent sun tracking module.

8. The photovoltaic system based on the apparent sun trajectory according to claim 4, characterized in that: It also includes a display screen, which is used to display the light intensity corresponding to all sensors, the real-time image of the sun, and the sun altitude angle.

9. A photovoltaic system rotation method, characterized in that: A photovoltaic system based on the apparent sun track as described in any one of claims 1-8 is adopted.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to claim 9 is implemented.

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