A solar tracking sensing device and method for dynamic scanning of light radiation

Abstract

The present application relates to the field of sun tracking sensing device, the acquisition of sunlight radiation angle needs to pass through indirect calculation or image analysis, resulting in the response delay of light radiation detection system, the high complexity of analysis, and there is cumulative error under dynamic light condition, the present application provides a kind of sun tracking sensing device and method for realizing the dynamic scanning of light radiation amount, the measurement and direct output of light radiation amount and angle are realized by two-axis holder rotation, the maximum value of light radiation amount and the angle value of corresponding light radiation amount of the place to be measured can be obtained by directly using the device of the present application at the place to be measured, direct output light radiation amount and corresponding angle reduce the dependence on continuous light intensity distribution, solve the dynamic response lag of the sun tracking device in the prior art, and the problem that light radiation amount and corresponding angle cannot be directly output, can be widely applied in photovoltaic panel fixed installation process and photovoltaic panel dynamic angle adjusting system.

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 view of the above problems, the industry's improved attempts still face the following technical bottlenecks: (1) scattered light feature separation: direct light and scattered light are highly overlapped in time / frequency domain features, and when processing scattered light, part of the direct light will be filtered together, causing distortion of the true light intensity; (2) dynamic scanning accuracy and speed contradiction: in the method for improving solar radiation detection accuracy, sensor and system (CN202410534781.6), the static process and dynamic process are alternated in real time for detection. First, the thermoelectric array and silicon photodiode array are used to independently collect static light intensity changes at the second level and above. The data collected by the thermoelectric array is used to calibrate the data collected by the silicon photodiode array to generate a silicon photodiode array calibration coefficient. Then the silicon photodiode array is used to detect the millisecond-level dynamic change process. Although the static and dynamic processes are alternately detected to reduce errors caused by environmental factors, the scanning speed is improved, making it difficult to balance scanning accuracy and speed. The solar tracking device on the market based on light radiation detection needs GPS positioning to calculate the light radiation and the corresponding angle, which cannot be separated from the positioning system and cannot directly output the light radiation and angle data. The calculation of GPS is the solar elevation angle, that is, the angle between the sunlight and the local horizontal plane. However, the solar elevation angle is not the angle with the strongest light radiation. The calculation process is complicated and requires the use of many astronomical formulas, making it difficult for low-power controllers to calculate. SUMMARY

[0004] In view of the deficiencies of the prior art, the purpose of the present application is to provide a solar tracking sensing device and method for realizing dynamic scanning of light radiation, which measures and directly outputs light radiation and angle through a two-axis gimbal, and directly uses the device at the measurement site to obtain the maximum light radiation and the corresponding angle value of the light radiation at the measurement site, that is, the angle value of the strongest light radiation, without the need for additional data conversion.

[0005] To achieve the above purpose, the present application provides the following technical solutions:

[0006] A solar tracking sensing device for realizing dynamic scanning of light radiation, comprising a two-axis gimbal, a light radiation detection sensor, and a three-axis angle sensor, which realizes the continuous change of the angle detected by the light radiation detection sensor in the horizontal plane and the vertical plane through the two-axis gimbal, wherein:

[0007] The two-axis gimbal comprises a bottom rotation servo motor for driving the horizontal rotation table of the two-axis gimbal to rotate in the horizontal plane and a top rotation servo motor for driving the light radiation detection sensor to rotate in the vertical plane, and the two-axis gimbal is placed on the bottom bracket tray;

[0008] 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.

[0009] 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.

[0010] 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.

[0011] 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:

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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:

[0017] 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;

[0018] If the current time is in the time interval from noon to sunset, the bottom rotating servo of the two-axis holder drives the horizontal rotating table to rotate 90° as the starting position of the present measurement, step I. From the starting position of the present measurement, the bottom rotating servo drives the horizontal rotating table to rotate in the horizontal plane at the speed of 1° per 100 ms, and the top rotating servo remains stationary; step II. When the rotating angle of the horizontal rotating table is 180°, i.e. 90° from the starting position, the bottom rotating servo drives the horizontal rotating table to return to the starting position of the present measurement, and the top rotating servo drives the U-shaped sensor fixing member to rotate 1° from the zero position, repeating step I; step III. Repeat steps I and II until the top rotating servo drives the U-shaped sensor fixing member to rotate 90° from the zero position in the vertical plane, and the present measurement is completed. The two rotating servos drive the horizontal rotating table and the U-shaped sensor fixing member to rotate to the starting position of the present measurement.

[0019] If the current time is not in the time interval from sunrise to sunset, the two rotating servos of the two-axis holder drive the horizontal rotating table and the U-shaped sensor fixing member to return to the zero position of the last measurement.

[0020] Further, when the angle position of the light radiation amount detection sensor changes in the horizontal direction or the vertical direction during the rotation of the two rotating servos of the two-axis holder, the light radiation amount detection sensor and the three-axis angle sensor perform data acquisition once, and the collected data is saved through the controller and the storage system.

[0021] Further, when the horizontal rotating table rotates in the horizontal plane, the vertical axis perpendicular to the horizontal plane is used as the rotating 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 rotating axis.

[0022] In summary, the application has the following beneficial effects:

[0023] 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

[0024] Figure 1 This is a principle block diagram of the control system of the sun tracking sensor device of the present invention.

[0025] Figure 2 This is a flow chart of the control system of the sun tracking sensor device of the present invention.

[0026] Figure 3 This is a dynamic scanning sampling flow chart of the light radiation detection sensor of the present invention.

[0027] Figure 4 Schematic diagram of the structure of the sun tracking sensor device of the present invention.

[0028] Figure 5 It is a side view of the sun tracking sensor device of the present invention.

[0029] 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. bottom frame tray, 7. controller chassis. DETAILED DESCRIPTION

[0030] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0031] like Figures 1 to 5As 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:

[0032] 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.

[0033] 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 5 In 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.

[0034] 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.

[0035] 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:

[0036] Step 1. Place the sun-tracking sensor device at the location to be measured. 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.

[0037] 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.

[0038] 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:

[0039] 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.

[0040] 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.

[0041] If the current time is not in the time interval from sunrise to sunset, the two rotating rudders of the two-axis holder drive the horizontal rotating table and the U-shaped sensor fixing piece 5 to return to the zero position of the last measurement.

[0042] During the rotation of the two rotating rudders of the two-axis holder, when the angle position of the light radiation amount detection sensor 3 in the horizontal direction or the vertical direction changes, the light radiation amount detection sensor 3 and the three-axis angle sensor 4 perform data acquisition once, and the collected data is saved through the controller and the storage system.

[0043] Step 4. If the light radiation amount is repeatedly measured, the top rotating rudder 2 drives the U-shaped sensor fixing piece 5 to rotate to the zero position, and steps 2-3 are repeated.

[0044] The device of the application can be used for cluster deployment. According to the actual detection requirements, a plurality of sun tracking sensor devices are used as terminal equipment to complete the dynamic scanning of the light radiation amount of the measured place, the cloud server monitors and adjusts each terminal equipment in real time through the network, and the cloud server modifies the operating parameters of the terminal equipment through control commands, such as sensor sampling temperature compensation, rudder angle compensation, and power voltage and current stabilization compensation, so that the terminal equipment works in the best state. According to different weather conditions, the number of light radiation amount detection sensors in the working state in the sun tracking sensor device is dynamically adjusted. Each light radiation amount detection sensor can be used as a light radiation amount detection acquisition channel. The sampling value range and sampling accuracy are adjusted according to the weather environment and detection requirements, which can greatly reduce the power consumption.

[0045] The above is only the preferred embodiment of the application, and the protection scope of the application is not limited to the above-mentioned embodiments. Any technical solution falling within the scope of the application should be considered within the protection scope of the application. It should be noted that for ordinary skilled persons in the art, some improvements and refinements without departing from the principles of the application should also be considered within the protection scope of the application.

Claims

1. A sun-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 rotating 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 you want to repeat the measurement of light radiation, 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.

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