Solar tracking sensing device and method for realizing dynamic scanning of light radiation quantity

Abstract

The invention relates to the field of sun tracking sensing devices, and aims to solve the problems that a light radiation detection system is delayed in response and high in analysis complexity due to indirect calculation or image analysis for obtaining a sunlight radiation angle, and accumulative errors exist under a dynamic illumination condition. According to the solar tracking sensing device and method for realizing dynamic scanning of the light radiation quantity, measurement and direct output of the light radiation quantity and the angle are realized through rotation of the two-axis holder, and the maximum value of the light radiation quantity and the angle value corresponding to the light radiation quantity of a to-be-measured site can be obtained by directly using the device disclosed by the invention at the to-be-measured site; the light radiation quantity and the corresponding angle are directly output, dependence on continuous light intensity distribution is reduced, the problems that dynamic response of a sun tracking device in the prior art is delayed, and the light radiation quantity and the corresponding angle cannot be directly output are solved, and the device can be widely applied to the photovoltaic panel fixing and installing process and a dynamic angle adjusting system of a photovoltaic panel.

Description

Technical Field

[0001] The present invention relates to the field of solar tracking sensor devices, and more particularly to a solar tracking sensor device and method for realizing dynamic scanning of light radiation. Background Art

[0002] With the rapid development of photovoltaic power generation and concentrated solar power systems, high-precision sun tracking technology has become crucial for improving solar energy utilization. As a core technology for improving the energy efficiency of solar energy equipment, solar tracking technology is primarily developing in three key areas: photoelectric sensors, solar motion trajectory analysis, and image recognition. Among them, the active tracking technology based on photoelectric sensors has become the mainstream solution for current commercial applications due to its advantages of fast response and strong real-time performance. It adopts a four-quadrant photosensor array with a sunshade structure, drives the steering mechanism by comparing the output current difference of each quadrant, detects the light intensity distribution through multi-quadrant photodiodes, and reversely infers the solar azimuth angle based on geometric relationships. This method relies on a complex signal interpolation algorithm and has the problem of dynamic response hysteresis. At the same time, the photoelectric sensor also has the problem of weak anti-interference ability. In a scattered light environment such as cloudy weather, the quadrant sensors are easily affected by indirect light and misjudgment. When the cloud conditions change, the sky scattered radiation value is not constant, and the detection result has low accuracy and large error; relying solely on the differential comparison of discrete quadrants, it is impossible to achieve accurate identification of continuous angles; the photoelectric sensor is unstable and requires frequent manual on-site calibration; at the same time, the photoelectric sensor is easily affected by environmental factors and has low detection accuracy.

[0003] In response to the above problems, the industry's attempts to improve them still face the following technical bottlenecks: (1) Separation of scattered light features: direct light and scattered light have highly overlapping time domain / frequency domain features. When processing scattered light, part of the direct light will be filtered together, resulting in distortion of the actual light radiation intensity; (2) Conflict between dynamic scanning accuracy and speed: In the Chinese patent "Method, sensor, and system for improving solar radiation detection accuracy" (CN202410534781.6), detection is performed by alternating static and dynamic processes in real time. First, static light intensity changes at or above the second level are independently collected by a thermopile array and a silicon photodiode array. The data collected by the thermopile array is used to calibrate the data collected by the silicon photodiode array to generate a silicon photodiode array calibration. The coefficient is then used to detect the dynamic change process at the millisecond level using a silicon photodiode array. Although alternating detection of static and dynamic processes reduces the error caused by environmental factors, it increases the scanning speed, making it difficult to achieve a balance between scanning accuracy and speed. Solar tracking devices based on light radiation detection on the market all require GPS positioning, and the light radiation and corresponding angle are calculated based on the positioning. They cannot be separated from the positioning system and cannot directly output the light radiation and angle data. GPS is used to calculate the solar altitude angle, that is, the angle between the sun's rays and the local horizontal plane. However, the solar altitude angle is not the angle with the strongest light radiation. GPS calculations also require UTC time data, and the calculation process is cumbersome, and many astronomical formulas need to be cited. It is difficult to calculate using a low-power controller. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a solar tracking sensor device and method for realizing dynamic scanning of light radiation. The invention realizes the measurement and direct output of light radiation and angle through two-axis pan-tilt rotation. The device of the present invention can be directly used at the measured location to obtain the maximum light radiation amount and the corresponding angle value of the light radiation amount, that is, the angle value of the strongest light radiation, without the need for additional data conversion.

[0005] To achieve the above object, the present invention provides the following technical solutions: A sun tracking sensor device for dynamic scanning of light radiation comprises a two-axis pan-tilt platform, a light radiation detection sensor, and a three-axis angle sensor. The two-axis pan-tilt platform enables the light radiation detection sensor to continuously change the detection angle in the horizontal and vertical planes, wherein: The two-axis pan-tilt head includes a bottom rotating servo for driving a horizontal rotating platform of the two-axis pan-tilt head to rotate in a horizontal plane and a top rotating servo for driving a light radiation detection sensor to rotate in a vertical plane, and the two-axis pan-tilt head is placed on a chassis tray; The light radiation detection sensor and the three-axis angle sensor are fixedly connected to the outer side and inner side of the bottom plate of the U-shaped sensor fixing part respectively. The two ends of the U-shaped sensor fixing part are connected to the top rotating servo through a coupling to realize the rotation of the light radiation detection sensor and the three-axis angle sensor in the vertical plane. The three-axis angle sensor is used to measure the position change angle of the light radiation detection sensor in the vertical plane.

[0006] Furthermore, it also includes a control drive system for controlling the sun tracking sensor device, which includes a servo driver, a wireless transmission system, a storage system and a controller for receiving and processing sensor signals. The controller outputs an angle control signal to the servo driver, and the servo driver outputs a PWM signal according to the received angle control signal. The two rotating servos of the two-axis gimbal complete angle rotation according to the PWM signal under the action of the servo driver, and the servo driver supplies power to the two rotating servos of the two-axis gimbal.

[0007] Furthermore, the controller receives signals from the light radiation detection sensor and the three-axis angle sensor, and controls the two rotating servos through the servo driver and the output angle control signal. Several groups of data bidirectional transmission ports of the controller are respectively connected to the wireless transmission system, the storage system and the power management system. The wireless transmission system sends signals from the light radiation detection sensor and the three-axis angle sensor to the cloud server and receives control commands from the cloud server; the storage system and the power management system realize circuit power supply and data storage in the sun tracking sensor device through bidirectional data transmission with the controller; the light radiation detection sensor is connected to the first signal input end of the controller, the three-axis angle sensor is connected to the second signal input end of the controller, and the servo driver is connected to the first signal output end of the controller.

[0008] A method for achieving dynamic scanning of light radiation is provided. Based on the aforementioned sun-tracking sensor device for achieving dynamic scanning of light radiation, the sun-tracking sensor device is set at a location to be measured. The light radiation detection sensor of the sun-tracking sensor device samples light radiation during continuous rotation. The acquired light radiation sampling data is analyzed and processed by a controller to obtain the maximum value of solar radiation at the current location to be measured and the angle value corresponding to the maximum solar radiation. The angle value corresponding to the maximum solar radiation is then output to a cloud server via a wireless transmission system. The specific steps are as follows: Step 1. Place the sun-tracking sensor device at the location to be measured. Initialize the controller of the control drive system and transmit an angle control signal to the servo driver. The servo driver outputs a PWM signal to cause the top rotary servo to drive the U-shaped sensor fixture to rotate to a horizontal position facing the sun. The current position of the horizontal rotation stage of the two-axis pan / tilt head is used as the zero point for this measurement. Step 2. Keep the two servos of the two-axis gimbal stationary at zero position, while the radiation sensor and the three-axis angle sensor perform self-calibration. Step 3. The two-axis gimbal uses two rotating servos to drive the light radiation detection sensor to begin rotational scanning measurement. During the rotational scanning measurement, the light radiation detection sensor continuously collects light radiation. The controller uses the three-axis angle sensor to obtain all light radiation and the corresponding angle. The controller uses a quick sorting method to filter the light radiation. After the rotational scanning measurement is completed, the controller directly outputs the angle value corresponding to the maximum light radiation value and transmits it to the cloud server via a wireless transmission system. Step 4. To repeat the measurement of light radiation, rotate the top servo to drive the U-shaped sensor fixture to the zero position and repeat steps 2 and 3.

[0009] Furthermore, in step 3, when the light radiation detection sensor continuously collects light radiation, after the horizontal rotation stage of the two-axis pan-tilt head returns to zero, a data collection method is selected according to the current time of the location to be measured: If the current time is between sunrise and noon, step i. The horizontal rotating platform of the two-axis pan-tilt head starts from the zero position, and the bottom rotating servo drives the horizontal rotating platform to rotate at a speed of 1° per 100ms in the horizontal plane, while the top rotating servo remains stationary; step ii. When the rotation angle of the horizontal rotating platform rotates from the zero position to 90°, the bottom rotating servo drives the horizontal rotating platform to return to the zero position. At this time, the top rotating servo drives the U-shaped sensor fixture to rotate 1° from the zero position, and step i is repeated; step iii. Repeat steps i and ii until the top rotating servo of the two-axis pan-tilt head drives the U-shaped sensor fixture to rotate from the zero position to 90° in the vertical plane. This measurement is completed, and the two rotating servos of the two-axis pan-tilt head drive the horizontal rotating platform and the U-shaped sensor fixture to return to zero; If the current time is between noon and sunset, the bottom rotary servo of the two-axis gimbal drives the horizontal rotary table to rotate 90° as the starting position of this measurement. Step I: Starting from the starting position of this measurement, the bottom rotary servo drives the horizontal rotary table to rotate at a speed of 1° per 100ms in the horizontal plane, while the top rotary servo remains stationary. Step II: When the rotation angle of the horizontal rotary table reaches 180°, that is, 90° from the starting position, the bottom rotary servo drives the horizontal rotary table to rotate back to the starting position of this measurement, and the top rotary servo drives the U-shaped sensor fixture to rotate 1° from the zero position, and repeat step I. Step III: Repeat steps I and II until the top rotary servo drives the U-shaped sensor fixture to rotate 90° from the zero position in the vertical plane. This measurement ends, and the two rotary servos drive the horizontal rotary table and the U-shaped sensor fixture to rotate to the starting position of this measurement. If the current time is not in the time interval between sunrise and sunset, the two rotary servos of the two-axis gimbal drive the horizontal rotary table and the U-shaped sensor fixture to return to the zero position of the last measurement.

[0010] Furthermore, during the rotation of the two rotating servos of the two-axis gimbal, when the angular position of the light radiation detection sensor in the horizontal or vertical direction changes, the light radiation detection sensor and the three-axis angle sensor perform data collection and save the collected data through the controller and storage system.

[0011] Furthermore, when the horizontal rotating platform rotates in the horizontal plane, the vertical axis perpendicular to the horizontal plane is used as the rotation axis, and when the U-shaped sensor fixing member rotates in the vertical plane, the horizontal axis parallel to the horizontal plane is used as the rotation axis.

[0012] In summary, the invention has the following beneficial effects: The present invention realizes continuous dynamic measurement of light radiation through a two-axis pan-tilt platform and a light radiation detection sensor, and directly outputs the angle corresponding to the maximum light radiation at the current location to be measured after analyzing the data of the continuous dynamic measurement. The present invention uses the angle encoder built into the controller to directly map the peak position of light radiation to the sun angle, which can achieve a fast response target with an output delay of less than 10ms. In addition, the present invention does not require photoelectric signal interpolation or image processing. Compared with the existing photoelectric signal interpolation operation or image processing technology with an average output delay of more than 200ms, the response speed is improved by more than 20 times, which solves the dynamic response hysteresis of the sun tracking device in the existing technology, and The problem that the light radiation amount and the corresponding angle cannot be directly output; the present invention adopts a thermoelectric light radiation detection sensor, which will not cause attenuation differences in the field environment for a long time, and does not require frequent calibration, reducing the maintenance cost during the later use period. The circuit part of the device of the present invention adopts a low-power design, and the power supply voltage and current are lower than the existing solar tracking device. The direct output of light radiation amount and the corresponding angle reduces the dependence on the continuous light intensity distribution, and remains stable under complex lighting conditions such as partial occlusion and cloud changes. The angle error is within ±0.1°, which is significantly better than the angle error of ±0.5°~±1° of the traditional method. It can be widely used in the fixed installation process of photovoltaic panels and the dynamic angle adjustment system of photovoltaic panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a principle block diagram of the control system of the sun tracking sensor device of the present invention.

[0014] Figure 2 This is a flow chart of the control system of the sun tracking sensor device of the present invention.

[0015] Figure 3This is a dynamic scanning sampling flow chart of the light radiation detection sensor of the present invention.

[0016] Figure 4 Schematic diagram of the structure of the sun tracking sensor device of the present invention.

[0017] Figure 5 It is a side view of the sun tracking sensor device of the present invention.

[0018] In the figure, 1. bottom rotary servo, 2. top rotary servo, 3. light radiation detection sensor, 4. three-axis angle sensor, 5. U-shaped sensor fixing part, 6. chassis tray, 7. controller chassis. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0020] like Figures 1 to 5 As shown, the present invention discloses a sun tracking sensor device for realizing dynamic scanning of light radiation, comprising a two-axis pan-tilt platform, a light radiation detection sensor 3, and a three-axis angle sensor 4. The two-axis pan-tilt platform realizes continuous changes in the detection angle of the light radiation detection sensor 3 in the horizontal and vertical planes, and the three-axis angle sensor 4 detects the angle corresponding to each light radiation data collected by the light radiation detection sensor 3, wherein: The two-axis gimbal includes a bottom rotating servo 1 for driving the horizontal rotating platform of the two-axis gimbal to rotate in the horizontal plane and a top rotating servo 2 for driving the light radiation detection sensor 3 to rotate in the vertical plane. The two-axis gimbal is placed on a chassis tray 6; the light radiation detection sensor 3 and the three-axis angle sensor 4 are fixedly connected to the outer side and inner side of the bottom plate of the U-shaped sensor fixing member 5 respectively, and the two ends of the U-shaped sensor fixing member 5 are connected to the top rotating servo 2 through a coupling to realize the rotation of the light radiation detection sensor 3 and the three-axis angle sensor 4 in the vertical plane, and the three-axis angle sensor 4 is used to measure the position change angle of the light radiation detection sensor 3 in the vertical plane. When the horizontal rotating platform rotates in the horizontal plane, the vertical axis perpendicular to the horizontal plane is used as the rotation axis. When the U-shaped sensor fixing member 5 rotates in the vertical plane, the horizontal axis parallel to the horizontal plane is used as the rotation axis. The direction of the horizontal axis is in the same direction as the line connecting the two ends of the U-shaped sensor fixing member 5.

[0021] The device of the present invention also includes a control drive system for controlling the sun tracking sensor device, the control drive system includes a steering gear driver, a wireless transmission system, a storage system and a controller for receiving and processing sensor signals, the controller outputs an angle control signal to the steering gear driver, Figure 5In the illustrated embodiment, the controller is placed in the controller chassis 7, and the servo driver outputs a PWM signal according to the received angle control signal. The two rotating servos of the two-axis pan-tilt head complete the angle rotation according to the PWM signal under the action of the servo driver, and the servo driver supplies power to the two rotating servos of the two-axis pan-tilt head; the controller receives signals from the light radiation detection sensor 3 and the three-axis angle sensor 4, and controls the two rotating servos through the servo driver and the output angle control signal. Several groups of bidirectional data transmission ports of the controller are respectively connected to the wireless transmission system, the storage system and the power management system. The wireless transmission system sends the signals from the light radiation detection sensor 3 and the three-axis angle sensor 4 to the cloud server and receives the control commands of the cloud server. In this embodiment, the cloud server sends the control commands of the ModbusTCP protocol; the storage system and the power management system realize the circuit power supply and data storage in the sun tracking sensor device through bidirectional data transmission with the controller.

[0022] The light radiation detection sensor 3 is connected to the first signal input terminal of the controller, the three-axis angle sensor 4 is connected to the second signal input terminal of the controller, and the servo driver is connected to the first signal output terminal of the controller. According to actual detection requirements, the first signal input terminal can be set to the first group of signal input terminals, and multiple light radiation detection sensors are connected to realize multi-channel light radiation detection. Different working modes are selected according to the detection environment and weather. For example, in rainy or cloudy weather or haze, the air quality is poor and the solar radiation intensity is low. At this time, it is necessary to increase the sampling value accuracy, reduce the sampling value range, and start the multi-channel sampling mode; on sunny days, the air quality is good and the solar radiation intensity is high. At this time, it is necessary to increase the sampling value range and use a single-channel large-range sampling mode.

[0023] like Figure 2 and Figure 3 As shown, the present invention also discloses a method for realizing dynamic scanning of light radiation. Based on the above-mentioned sun tracking sensor device for realizing dynamic scanning of light radiation, a sun tracking sensor device is set at the location to be measured. The light radiation detection sensor 3 of the sun tracking sensor device samples the light radiation during continuous rotation. The obtained light radiation sampling data is analyzed and processed by the controller to obtain the maximum value of the solar radiation at the current location to be measured and the angle value corresponding to the maximum solar radiation. The angle value corresponding to the maximum solar radiation is output to the cloud server via a wireless transmission system. The specific steps are as follows: Step 1. Place the sun-tracking sensor device at the test location. Initialize the control drive system controller and transmit an angle control signal to the servo driver. The servo driver outputs a PWM signal to cause the top rotary servo 2 to rotate the U-shaped sensor fixture 5 to a horizontal position facing the sun. The current position of the two-axis pan / tilt head's horizontal rotation stage serves as the zero point for this measurement.

[0024] Step 2. The two rotary servos of the two-axis gimbal remain stationary at the zero position, the light radiation detection sensor 3 performs self-calibration, and the three-axis angle sensor 4 performs self-calibration.

[0025] Step 3. The two-axis gimbal drives the light radiation detection sensor 3 through two rotating servos to start rotational scanning measurement. During the rotational scanning measurement process, the light radiation detection sensor 3 continuously collects the light radiation. The controller obtains all light radiation and the corresponding angle through the three-axis angle sensor 4. The controller screens the light radiation by the quick sorting method. The collected raw data of the light radiation is the ADC value, which ranges from 0 to 65535. Light radiation = ADC / 65535×3300×K, where K is a calibration constant. Each sun tracking sensor device has a different value range of 0-1. After the rotational scanning measurement is completed, the controller directly outputs the angle value corresponding to the maximum light radiation and transmits it to the cloud server via the wireless transmission system. When the light radiation detection sensor 3 continuously collects the light radiation, after the horizontal rotation stage position of the two-axis gimbal is reset to zero, the data collection method is selected according to the current time of the measured location: If the current time is between sunrise and noon, step i. The horizontal rotating platform of the two-axis pan-tilt head starts from the zero position, and the bottom rotating servo 1 drives the horizontal rotating platform to rotate at a speed of 1° per 100ms in the horizontal plane, while the top rotating servo 2 remains stationary; step ii. When the rotation angle of the horizontal rotating platform rotates from the zero position to 90°, the bottom rotating servo 1 drives the horizontal rotating platform to return to the zero position. At this time, the top rotating servo 2 drives the U-shaped sensor fixture 5 to rotate 1° from the zero position, and step i is repeated; step iii. Repeat steps i and ii until the top rotating servo 2 of the two-axis pan-tilt head drives the U-shaped sensor fixture 5 to rotate from the zero position to 90° in the vertical plane. This measurement is completed, and the two rotating servos of the two-axis pan-tilt head drive the horizontal rotating platform and the U-shaped sensor fixture 5 to return to zero.

[0026] If the current time is between noon and sunset, the bottom rotary servo 1 of the two-axis gimbal drives the horizontal rotary table to rotate 90° as the starting position for this measurement. Step I: Starting from the starting position for this measurement, the bottom rotary servo 1 drives the horizontal rotary table to rotate at a speed of 1° per 100 ms in the horizontal plane, while the top rotary servo 2 remains stationary. Step II: When the rotation angle of the horizontal rotary table reaches 180°, that is, 90° from the starting position, the bottom rotary servo 1 drives the horizontal rotary table to rotate back to the starting position for this measurement, and the top rotary servo 2 drives the U-shaped sensor fixture 5 to rotate 1° from the zero position, and step I is repeated. Step III: Repeat steps I and II until the top rotary servo 2 drives the U-shaped sensor fixture 5 to rotate 90° from the zero position in the vertical plane. This measurement ends, and the two rotary servos drive the horizontal rotary table and the U-shaped sensor fixture 5 to rotate to the starting position for this measurement.

[0027] If the current time is not in the time interval from sunrise to sunset, the two rotary servos of the two-axis pan / tilt platform drive the horizontal rotary platform and the U-shaped sensor fixing member 5 to return to the zero position of the last measurement.

[0028] During the rotation of the two rotary servos of the two-axis gimbal, when the angular position of the light radiation detection sensor 3 in the horizontal or vertical direction changes, the light radiation detection sensor 3 and the three-axis angle sensor 4 perform data collection and save the collected data through the controller and storage system.

[0029] Step 4. If you want to repeat the measurement of light radiation, the top rotary servo 2 drives the U-shaped sensor fixing part 5 to rotate to the zero position, and repeat steps 2 to 3.

[0030] The device of the present invention can be used for cluster deployment. According to actual detection needs, several solar tracking sensor devices are used as terminal devices to complete the dynamic scanning of the light radiation amount of the location to be measured. The cloud server monitors and adjusts each terminal device in real time through the network. The cloud server modifies the operating parameters of the terminal device through control commands, such as sensor sampling temperature compensation, servo angle compensation, and power supply voltage and current compensation, so that the terminal device works in the best state; the number of light radiation detection sensors in the working state in the solar tracking sensor device is dynamically adjusted according to different weather conditions. Each light radiation detection sensor can be used as an acquisition channel for light radiation detection. The sampling value range and sampling accuracy are adjusted according to the weather environment and detection needs, which can greatly reduce power consumption.

[0031] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A solar tracking sensor device for dynamically scanning light radiation, characterized by: The invention comprises a two-axis pan-tilt platform, a light radiation detection sensor (3) and a three-axis angle sensor (4), wherein the two-axis pan-tilt platform is used to realize continuous changes in the angle detected by the light radiation detection sensor (3) in the horizontal plane and the vertical plane, wherein: The two-axis pan-tilt platform comprises a bottom rotating servo (1) for driving the horizontal rotating platform of the two-axis pan-tilt platform to rotate in a horizontal plane and a top rotating servo (2) for driving the light radiation amount detection sensor (3) to rotate in a vertical plane, and the two-axis pan-tilt platform is placed on a chassis tray (6); The light radiation detection sensor (3) and the three-axis angle sensor (4) are respectively fixedly connected to the outer side and the inner side of the bottom plate of the U-shaped sensor fixing member (5); the two ends of the U-shaped sensor fixing member (5) are connected to the top rotating steering gear (2) via a coupling to enable the light radiation detection sensor (3) and the three-axis angle sensor (4) to rotate in a vertical plane; and the three-axis angle sensor (4) is used to measure the position change angle of the light radiation detection sensor (3) in the vertical plane.

2. The sun tracking sensor device for realizing dynamic scanning of light radiation according to claim 1, characterized in that: It also includes a control drive system for controlling the sun tracking sensor device, which includes a servo driver, a wireless transmission system, a storage system and a controller for receiving and processing sensor signals. The controller outputs an angle control signal to the servo driver, and the servo driver outputs a PWM signal according to the received angle control signal. The two rotating servos of the two-axis gimbal complete angle rotation according to the PWM signal under the action of the servo driver. At the same time, the servo driver supplies power to the two rotating servos of the two-axis gimbal.

3. The sun tracking sensor device for realizing dynamic scanning of light radiation according to claim 2, characterized in that: The controller receives signals from the light radiation detection sensor (3) and the three-axis angle sensor (4), and controls the two rotating servos through the servo driver and the output angle control signal. Several groups of bidirectional data transmission ports of the controller are respectively connected to the wireless transmission system, the storage system and the power management system. The wireless transmission system sends the signals from the light radiation detection sensor (3) and the three-axis angle sensor (4) to the cloud server and receives control commands from the cloud server. The storage system and the power management system realize circuit power supply and data storage in the sun tracking sensor device through bidirectional data transmission with the controller. The light radiation detection sensor (3) is connected to the first signal input end of the controller, the three-axis angle sensor (4) is connected to the second signal input end of the controller, and the steering gear driver is connected to the first signal output end of the controller.

4. A method for realizing dynamic scanning of light radiation, based on the sun tracking sensor device for realizing dynamic scanning of light radiation according to any one of claims 1 to 3, characterized in that: A sun tracking sensor device is set at the location to be measured, and the light radiation detection sensor (3) of the sun tracking sensor device samples the light radiation during continuous rotation. The obtained light radiation sampling data is analyzed and processed by the controller to obtain the maximum value of the solar radiation at the current location to be measured and the angle value corresponding to the maximum value of the solar radiation. The angle value corresponding to the maximum value of the solar radiation is output to the cloud server through the wireless transmission system. The specific steps are as follows: Step 1. Place the sun tracking sensor device at the location to be measured, initialize the controller of the control drive system, transmit the angle control signal to the servo driver, and the servo driver outputs a PWM signal to make the top rotary servo (2) drive the U-shaped sensor fixture (5) to rotate to a horizontal position facing the sun, and use the current position of the horizontal rotating platform of the two-axis pan-tilt head as the zero position of this measurement; Step 2. The two rotary servos of the two-axis gimbal remain stationary at the zero position, the light radiation detection sensor (3) performs self-calibration, and the three-axis angle sensor (4) performs self-calibration; Step 3. The two-axis gimbal drives the light radiation detection sensor (3) through two rotating servos to start rotational scanning measurement. During the rotational scanning measurement process, the light radiation detection sensor (3) continuously collects light radiation. The controller obtains all light radiation quantities and corresponding angles through the three-axis angle sensor (4). The controller selects the light radiation quantities through a quick sorting method. After the rotational scanning measurement is completed, the controller directly outputs the angle value corresponding to the maximum light radiation quantity and transmits it to the cloud server through a wireless transmission system. Step 4. If the light radiation measurement is repeated, the top rotary servo (2) drives the U-shaped sensor fixing part to rotate to the zero position and repeat steps 2 to 3.

5. The method for realizing dynamic scanning of light radiation according to claim 4, characterized in that: In step 3, when the light radiation detection sensor (3) continuously collects light radiation, after the horizontal rotation platform of the two-axis pan-tilt head returns to zero, a data collection method is selected according to the current time of the location to be measured: If the current time is between sunrise and noon, step i. the horizontal rotating platform of the two-axis gimbal starts from the zero position, the bottom rotating servo (1) drives the horizontal rotating platform to rotate at a speed of 1° per 100ms in the horizontal plane, and the top rotating servo (2) remains stationary; step ii. when the rotation angle of the horizontal rotating platform rotates from the zero position to 90°, the bottom rotating servo (1) drives the horizontal rotating platform to return to the zero position, and at this time the top rotating servo (2) drives the U-shaped sensor fixing part (5) to rotate 1° from the zero position, and step i is repeated; step iii. repeat steps i and ii until the top rotating servo (2) of the two-axis gimbal drives the U-shaped sensor fixing part (5) to rotate from the zero position to 90° in the vertical plane, and this measurement is completed, and the two rotating servos of the two-axis gimbal drive the horizontal rotating platform and the U-shaped sensor fixing part (5) to return to zero position; If the current time is between noon and sunset, the bottom rotary servo (1) of the two-axis gimbal drives the horizontal rotary table to rotate 90° as the starting position of this measurement. Step I. Starting from the starting position of this measurement, the bottom rotary servo (1) drives the horizontal rotary table to rotate at a speed of 1° per 100ms in the horizontal plane, and the top rotary servo (2) remains stationary. Step II. When the rotation angle of the horizontal rotary table reaches 180°, that is, 90° from the starting position, the bottom rotary servo (1) drives the horizontal rotary table to rotate back to the starting position of this measurement, and the top rotary servo (2) drives the U-shaped sensor fixing part (5) to rotate 1° from the zero position, and repeat step I. Step III. Repeat steps I and II until the top rotary servo (2) drives the U-shaped sensor fixing part (5) to rotate from the zero position to 90° in the vertical plane, and this measurement ends. The two rotary servos drive the horizontal rotary table and the U-shaped sensor fixing part (5) to rotate to the starting position of this measurement. If the current time is not in the time interval between sunrise and sunset, the two rotary servos of the two-axis pan / tilt platform drive the horizontal rotary platform and the U-shaped sensor fixing member (5) to return to the zero position of the last measurement.

6. The method for realizing dynamic scanning of light radiation according to claim 5, characterized in that: During the rotation of the two rotary servos of the two-axis gimbal, when the angular position of the light radiation detection sensor (3) in the horizontal direction or the vertical direction changes, the light radiation detection sensor (3) and the three-axis angle sensor (4) collect data once, and the collected data is stored through the controller and the storage system.

7. The method for realizing dynamic scanning of light radiation according to claim 5, characterized in that: When the horizontal rotating platform rotates in the horizontal plane, the vertical axis perpendicular to the horizontal plane is used as the rotation axis. When the U-shaped sensor fixing member (5) rotates in the vertical plane, the horizontal axis parallel to the horizontal plane is used as the rotation axis.

Images