Active sun tracking device and reference positioning method and control method thereof

Abstract

The invention discloses an active solar tracking device and a reference positioning method and a control method thereof, and relates to the field of solar tracking equipment. The control method comprises: calibrating the coordinate system of the solar tracking device to coincide with the horizontal coordinate system of the solar position, reading the current clock information and the local longitude, latitude and altitude information by a controller module using geographic information and a clock module, calculating the solar position vector of the sun in the horizontal coordinate system of the solar position using the read information, calculating the altitude angle and azimuth angle of a sunlight working mirror in the horizontal coordinate system of the solar position according to the solar position vector, and controlling two motor drive modules to rotate and drive the sunlight working mirror to rotate to a corresponding angle by using a controller module to send a pulse signal proportional to the altitude angle and the azimuth angle, so that the solar tracking device can work in either a heliostat or a heliocentric mode as required, thereby increasing the function of the solar tracking device and expanding its application range.

Description

Technical Field

[0001] The invention relates to a sun tracking device and an operating method thereof, and in particular to an active sun tracking device and a reference positioning method and a control method thereof. Background Art

[0002] Solar energy is a low-density, intermittent, clean energy that changes with time and space. There are generally two types of solar tracking methods: one is to use photoelectric sensors to detect the position of the sun relative to the earth in real time and control the passive tracking of the angle of the sun by the lighting device; the other is to calculate the position of the sun relative to the earth in real time according to astronomical mathematical formulas and control the active tracking of the angle of the sun by the lighting device.

[0003] Photoelectric passive tracking itself has high accuracy, but it has the following disadvantages in the field of solar energy utilization: on cloudy days, the solar irradiance is weak, and it is difficult for photoelectric sensors to respond to changes in light, and the tracking results are unsatisfactory; in cloudy weather, when the sun itself is blocked by clouds, or when a relatively bright spot appears somewhere in the sky due to thinning clouds, photoelectric passive tracking may cause the lighting device to malfunction or even start suddenly and cause an accident.

[0004] Active tracking is determined by calculating the position of the sun in the sky. Given the longitude, latitude, altitude and current standard time of the observation point, the position of the sun in the sky can be calculated using astronomical mathematical formulas, which are specifically expressed as the altitude angle of the sun relative to the horizontal plane of the observation point and the azimuth relative to the north-south direction of the observation point, with the horizontal coordinate system of the observation point as the reference. When the local longitude, latitude, altitude and time are determined, the tracking accuracy of the solar tracking device depends on the coincidence between the motion reference coordinate system of the solar tracking device itself and the horizontal coordinate system of the sun's position, that is, the installation accuracy; and secondly, it depends on the mechanical and transmission accuracy of the solar tracking device itself. Active tracking is controllable at all times and is not affected by weather changes.

[0005] The prior art generally adopts a dual-axis tracking device that can control the pitch angle and azimuth angle. The bottom of the solar tracking device is kept parallel to the horizontal plane of the earth. At the same time, a certain coordinate axis of the reference coordinate system of the solar tracking device itself needs to coincide with the geographic north-south line of the solar tracking device installation site to determine the reference zero point of the pitch angle and azimuth angle of the sun's position. Since the geographic north and south poles do not coincide with the geomagnetic north and south poles, and the magnetic declination angles of different places are also different, it is difficult for compasses and electronic compasses based on the principle of geomagnetic induction to find the true north direction with high precision, which easily leads to installation errors of the solar tracking device, and it is difficult to ensure the coincidence degree of the reference coordinate system of the solar tracking device itself and the horizontal coordinate system of the sun's position. At the same time, the solar tracking device itself generally has mechanical errors, such as non-orthogonal declination errors between the pitch rotation axis and the azimuth rotation axis, non-parallel declination errors between the sunlight working mirror and the pitch axis, and zero declination errors between the pitch rotation axis and the azimuth rotation axis.

[0006] As mentioned above, if the cumulative error caused by installation errors and various mechanical errors is too large, it will make it difficult to ensure the tracking accuracy of the solar tracking device. How to reduce or eliminate the cumulative error caused by installation errors and mechanical errors is the main problem facing the solar tracking device. This also prompts most of the current solar tracking devices to use expensive high-precision angle sensors, laser ranging, CCD imaging, gyro theodolite, etc., and adopt closed-loop control systems to eliminate the true north direction and mechanical cumulative errors, which greatly increases the cost of the solar tracking device and makes installation and debugging complicated.

[0007] The existing solar tracking devices generally only have "sun-facing" or "sun-fixed" lighting modes, which makes the solar tracking devices single-function, limited in scope of application, and difficult to promote. Summary of the invention

[0008] In view of the deficiencies in the prior art, the present invention discloses an active sun tracking device and a reference positioning method and a control method thereof.

[0009] The technical solution of the present invention is as follows:

[0010] An active solar tracking device comprises: a controller module, a first motor drive module, a second motor drive module, a first zero position switch, a second zero position switch, a sunlight working mirror, a light source module, a level bubble, a geographic information and clock module and a support module; the second motor drive module is fixed on the support module, the first motor drive module is fixed on the output shaft of the second motor drive module, and the first motor drive module rotates relative to the second motor drive module under the drive of the second motor drive module; the axis of the output shaft of the first motor drive module is perpendicular to the axis of the output shaft of the second motor drive module, the sunlight working mirror is fixed on the output shaft of the first motor drive module, and the sunlight working mirror rotates relative to the first motor drive module under the drive of the first motor drive module; the first zero position switch is fixed on the first motor drive module, the second zero position switch is fixed on the second motor drive module, and the light source module and the level bubble are respectively fixed on the support module; the first motor drive module, the second motor drive module, the first zero position switch, the second zero position switch, the light source module and the geographic information and clock module are respectively electrically connected to the controller module and controlled by the controller module.

[0011] A further technical solution is that the base plane of the support module is parallel to the horizontal plane when the bubble of the level bubble is centered, is perpendicular to the axis of the output shaft of the second motor drive module, and is parallel to the axis of the output shaft of the first motor drive module.

[0012] Its further technical solution is that the light source module emits a cross-shaped light ray under the control of the controller module, and the cross-shaped light ray includes two mutually perpendicular light rays, namely a horizontal light ray and a vertical light ray. The horizontal light ray is parallel to the base plane of the support module, and the vertical light ray is perpendicular to the base plane of the support module.

[0013] Its further technical solution is that the active solar tracking device also includes a joystick handle module, the joystick handle module is electrically connected to the controller module and controlled by the controller module, and the controller module is used to control the rotation of the first motor drive module and / or the second motor drive module according to the operation of the joystick handle module.

[0014] A further technical solution is that the joystick handle module is implemented by using a physical joystick handle or a virtual joystick handle.

[0015] A reference positioning method for an active solar tracking device, the method being used in the above-mentioned active solar tracking device, the method comprising:

[0016] According to the bubble position of the level bubble, the base plane of the support module is adjusted to be parallel to the horizontal plane, and the cross-shaped light rays emitted by the light source module on the support module are directed toward the geographic south, and the cross-shaped light rays are projected onto a reference object at a predetermined distance from the active sun tracking device;

[0017] The controller module uses the geographic information and clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system based on the read information. The sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction. The geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively.

[0018] The normal vector of the sunlight working mirror is obtained by calculating the vector sum of the geographic south vector and the sun position vector according to the parallelogram law;

[0019] By decomposing the normal vector of the sunlight working mirror, the altitude angle and azimuth angle of the sunlight working mirror in the horizontal coordinate system of the sun's position are obtained;

[0020] The controller module sends a first pulse signal according to the altitude angle and sends a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the rotation of the first motor drive module. The second pulse signal and the second zero position switch work together to control the rotation of the second motor drive module. The sunlight working mirror reflects sunlight to the geographic south under the drive of the first motor drive module and the second motor drive module. The sunlight spot reflected by the sunlight working mirror is projected onto the reference object.

[0021] The support module is rotated until the vertical center line of the solar spot reflected by the sunlight working mirror coincides with the vertical light ray of the cross-shaped light ray, and the support module is tightened to complete the reference positioning of the active solar tracking device.

[0022] A control method for an active solar tracking device, the method being used in the above-mentioned active solar tracking device, the active solar tracking device working in a heliostat mode, the method comprising:

[0023] Benchmark positioning of active sun tracking devices;

[0024] The controller module uses the geographic information and clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system based on the read information. The sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction. The geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively.

[0025] The normal vector of the sunlight working mirror is obtained by calculating the vector sum of the target vector and the sun position vector according to the parallelogram law. The target vector is the vector of the target point in the sun position horizontal coordinate system.

[0026] By decomposing the normal vector of the sunlight working mirror, the altitude angle and azimuth angle of the sunlight working mirror in the horizontal coordinate system of the sun's position are obtained;

[0027] The controller module sends out a first pulse signal according to the altitude angle and a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the rotation of the first motor drive module. The second pulse signal and the second zero position switch work together to control the rotation of the second motor drive module. Driven by the first motor drive module and the second motor drive module, the sunlight working mirror reflects sunlight to the target point.

[0028] Its further technical solution is that the method further comprises:

[0029] Determine the target point;

[0030] The controller module sends pulse signals to the first motor drive module and / or the second motor drive module respectively according to the operation of the rocker handle module, until the sunlight working mirror reflects sunlight to the sun spot and moves to the target point under the drive of the first motor drive module and / or the second motor drive module;

[0031] Determine the vertical direction angle component of the normal vector of the sunlight working mirror according to the first zero position switch and the number of pulse signals sent by the controller module to the first motor driving module;

[0032] Determine the horizontal direction angle component of the normal vector of the sunlight working mirror according to the second zero position switch and the number of pulse signals sent by the controller module to the second motor driving module;

[0033] The vertical angle component and the horizontal angle component of the normal vector of the sunlight working mirror are combined into the normal vector of the sunlight working mirror;

[0034] Determine the sun position vector of the sun in the sun position horizontal coordinate system at this time, and obtain the target vector by calculating the vector difference between the normal vector of the sunlight working mirror and the sun position vector at this time according to the parallelogram law.

[0035] A control method for an active solar tracking device, the method being used in the above-mentioned active solar tracking device, the active solar tracking device working in a sun-facing mode, the method comprising:

[0036] Benchmark positioning of active sun tracking devices;

[0037] The controller module uses the geographic information and clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system based on the read information. The sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction. The geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively.

[0038] By decomposing the sun position vector, the altitude angle and azimuth angle of the sunlight working mirror in the sun position horizontal coordinate system are obtained;

[0039] The controller module sends out a first pulse signal according to the altitude angle and a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the rotation of the first motor drive module. The second pulse signal and the second zero position switch work together to control the rotation of the second motor drive module. Driven by the first motor drive module and the second motor drive module, the sunlight working mirror is perpendicular to the sunlight.

[0040] The beneficial technical effects of the present invention are:

[0041] 1. The present invention provides an active solar tracking device and a control method thereof. Since the position of the sun in the solar position horizontal coordinate system is calculated based on time and longitude and latitude, the sunlight is reflected to the south direction through the sunlight working mirror of the solar tracking device and visualized. This method directly calibrates and positions based on the use effect of sunlight, unifies the solar position horizontal coordinate system and the motion reference coordinate system of the solar tracking device itself, so that the two types of errors, installation error and mechanical error, are mutually compensated and corrected, reducing the cumulative errors formed by installation and machinery, and improving the tracking accuracy.

[0042] 2. The present invention provides a method for benchmarking a sun tracking device during installation and commissioning. In the process of determining a coordinate system, a benchmarking method for determining the true north direction by a sun tracking device based on time and longitude and latitude is provided.

[0043] 3. In the present invention, since the use of a compass and an electronic compass to determine the true north direction is avoided, the installation error of the sun tracking device is avoided.

[0044] 4. The present invention realizes the application of a solar tracking device that satisfies both "sun-fixed" and "sun-facing" lighting modes, increases the function of the solar tracking device, and expands its application range.

[0045] 5. The present invention provides a method for controlling a solar tracking device by means of a hardware joystick handle or a software virtual joystick handle. In the "sun-fixing" working mode, the solar tracking device can be controlled by the joystick handle to reflect sunlight to a target point, thereby improving the applicability of the solar tracking device.

[0046] 6. The present invention effectively reduces the manufacturing cost and installation and maintenance cost of the solar tracking device, improves the utilization rate of solar energy, and has extremely high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of the structure of an active sun tracking device.

[0048] Figure 2 It is a structural explosion diagram of the active solar tracking device.

[0049] Figure 3 It is a schematic diagram of the structural rotation of an active sun tracking device.

[0050] Figure 4 It is a schematic diagram of the circuit structure of an active solar tracking device.

[0051] Figure 5 It is a schematic diagram of a step for visually judging the coincidence calibration of the coordinate system reference of the solar tracking device with the horizontal coordinate system of the sun's position.

[0052] Figure 6 It is a schematic diagram of another step for visually judging whether the coordinate system reference of the solar tracking device coincides with the horizontal coordinate system of the sun's position.

[0053] Figure 7 It is a working flow chart of the heliostat working mode of the active sun tracking device.

[0054] Figure 8 It is a working flow chart of the sun-facing working mode of the active sun tracking device. DETAILED DESCRIPTION

[0055] Figure 1 It is a schematic diagram of the structure of an active sun tracking device. Figure 2 This is the structural explosion diagram of the active solar tracking device. Figure 1 , Figure 2 As shown, the active sun tracking device includes a support module 8. A level bubble 7 and a light source module 6 are fixed on the support module 8. Specifically, the level bubble 7 is fixed on the upper surface of the support module 8. The light source module 6 is fixed on the side of the support module 8.

[0056] The second motor drive module 2 is fixed on the support module 8 by the second motor drive module fixing bolt 26. The second zero position switch 4 is fixed on the second motor drive module 2 by the second zero position switch fixing bolt 41. The second motor drive module output shaft 21 is installed on the second motor drive module 2. The second motor drive module output shaft 21 includes a flat keyway and a retaining spring groove. The second flat key 23 is placed in the flat keyway of the second motor drive module output shaft 21, and is installed on the second motor drive module 2 with the second motor drive module output shaft 21, for transmitting the output torque of the second motor drive module 2. The second retaining spring 24 is inserted into the retaining spring groove of the second motor drive module output shaft 21 to prevent the second motor drive module output shaft 21 from moving in the axial direction in the shaft hole. The second zero position switch trigger block 22 is fixed on the second motor drive module output shaft 21. There is a slender rod on the second zero position switch trigger block 22 for triggering the second zero position switch 4.

[0057] The first motor drive module 1 is fixed on the first motor seat 15 by the first motor drive module fixing bolt 16. The first zero position switch 3 is fixed on the first motor drive module 1 by the first zero position switch fixing bolt 31. The first motor drive module output shaft 11 is installed on the first motor drive module 1. The first motor drive module output shaft 11 includes a flat keyway and a retaining spring groove. The first flat key 13 is placed in the flat keyway of the first motor drive module output shaft 11, and is installed on the first motor drive module 1 with the first motor drive module output shaft 11, and is used to transmit the output torque of the first motor drive module 1. The first retaining spring 14 is inserted into the retaining spring groove of the first motor drive module output shaft 11 to prevent the first motor drive module output shaft 11 from moving in the axial direction in the shaft hole. The first zero position switch trigger block 12 is fixed on the first motor drive module output shaft 11. There is a slender rod on the first zero position switch trigger block 12, which is used to trigger the first zero position switch 3.

[0058] The sunlight working mirror 5 is fixed on the output shaft 11 of the first motor driving module by means of the sunlight working mirror fixing bolts 51 .

[0059] The first motor seat 15 is fixed on the output shaft 21 of the second motor drive module and can rotate relative to the second motor drive module 2 under the drive of the second motor. The sunlight working mirror 5 is connected to the output shaft 21 of the first motor drive module and can rotate relative to the first motor drive module 1 under the drive of the first motor drive module 1.

[0060] The axis of the first motor driving module output shaft 11 is perpendicular to the axis of the second motor driving module output shaft 21 .

[0061] The horizontal plane determined when the bubble of the level bubble 7 is centered is parallel to the axis of the output shaft 11 of the first motor drive module, and is perpendicular to the axis of the output shaft 21 of the second motor drive module.

[0062] The light source module 6 can emit eye-catching cross-shaped light rays, which include two mutually perpendicular light rays, namely horizontal light rays and vertical light rays. The horizontal light rays are parallel to the base plane of the support module 8, and the vertical light rays are perpendicular to the base plane of the support module 8, that is, the horizontal light rays are parallel to the axis of the output shaft 11 of the first motor drive module, and the vertical light rays are parallel to the axis of the output shaft 21 of the second motor drive module.

[0063] like Figure 4 As shown, the present invention further includes a controller module, and the first zero position switch 3, the second zero position switch 4, the first motor drive module 1, and the second motor drive module 2 are all connected to the controller module and controlled by the controller module. More specifically, the motor drive module 1 includes a first motor and a first motor driver, and the second drive module 2 includes a second motor and a second motor driver. The first motor and the second motor are respectively connected to the controller module through the motor drivers and controlled by the controller module.

[0064] The light source module 6 is also connected to the controller module.

[0065] The present invention also includes a geographic information and clock module, a rocker handle module, and a remote communication module, all of which are connected to the controller module.

[0066] The joystick handle module can control the rotation of the first motor and the second motor by connecting to the controller module. Specifically, shaking the joystick handle module up, down, left, and right can control the forward and reverse rotation of the first motor drive module and the forward and reverse rotation of the second motor drive module respectively.

[0067] Further:

[0068] The first motor driving module 1 can be a stepper motor driving a worm gear reduction, the stepper motor step angle is 0.72 degrees to 1.8 degrees, and the worm gear reduction ratio is 1:10 to 1:1000.

[0069] The second motor driving module 2 can be a stepper motor or a servo motor to drive a worm gear reduction. A typical stepper motor step angle is 0.72 degrees to 1.8 degrees, and a worm gear reduction ratio is 1:10 to 1:1000.

[0070] The first zero position switch 3 is typically a slot-shaped photoelectric switch, and is used to relatively locate the movement origin of the first motor drive module 1 .

[0071] The second zero position switch 4 is typically a slot-shaped photoelectric switch, and is used to relatively locate the movement origin of the second motor drive module 2 .

[0072] The controller module is a single chip microcomputer or a PLC (Programmable Logic Controller), and the single chip microcomputer ATmega2560 or the PLC S7-200 can be used.

[0073] The geographic information and clock module is used to obtain the local latitude, longitude and time information, and can be implemented as a GPS (Global Positioning System) or Beidou module.

[0074] The sunlight working mirror 5 can be a sunlight working mirror or a solar photovoltaic panel.

[0075] The light source module 6 may be a red cross laser light.

[0076] The joystick handle module can be connected to the controller module by a physical joystick handle based on the principle of resistance change, or it can be realized by a virtual joystick handle or button generated by software, such as a mobile phone APP or a touch screen. The joystick handle module is connected to the controller module by wired means, such as cable connection; or it is connected to the controller module by wireless means, such as Bluetooth, WIFI (WIreless-Fidelity, wireless fidelity), etc. The controller module can control the rotation of the motor according to the operation of the joystick handle in the joystick handle module.

[0077] The present invention also discloses a method for benchmarking the active solar tracking device during installation of the active solar tracking device, and a method for aligning the coordinate system of the active solar tracking device itself with the horizontal coordinate system of the sun's position. Figure 5 , Figure 6 , where the coordinate system xyz represents the horizontal coordinate system of the sun's position, and the coordinate system x'y'z' is the coordinate system of the sun tracking device itself, specifically including:

[0078] Step 1: According to the position of the bubble in the level bubble 7 installed on the support module 8, adjust the sun tracking device to the horizontal plane, that is, adjust the base plane of the support module 8 to be parallel to the horizontal plane. Make the projection direction of the light source module 6 roughly toward the geographic south, and place a reference object at a predetermined distance in this direction, so that the cross-shaped light rays emitted by the light source module 6 are projected on the reference object. The predetermined distance is a custom value.

[0079] The distance between the reference object and the sun tracking device is generally 0.1 meters to 500 meters, typically 1 to 10 meters.

[0080] Step 2: The controller module reads the current clock information and the local longitude, latitude and altitude information through the geographic information and clock module. The horizontal plane where the solar tracking device is located is the xy plane, and the vertical line direction is the z direction to establish a coordinate system, which is the horizontal coordinate system of the solar position. The geographic east-west direction and the geographic north-south direction are the x direction and y direction of the xy plane respectively. The solar position vector of the sun in this coordinate system is calculated based on the current clock information and the local longitude, latitude and altitude information read.

[0081] Step 3, calculate the vector sum of the geographic south vector and the sun position vector calculated in step 2 according to the parallelogram law, and use this vector sum as the normal vector of the sunlight working mirror 5.

[0082] Step 4: decompose the normal vector calculated in step 3 into the altitude angle and azimuth angle of the sunlight working mirror 5 in the horizontal coordinate system of the sun's position in step 2.

[0083] Step 5, the controller module sends a first pulse signal proportional to the altitude angle and sends a second pulse signal proportional to the azimuth angle. The first pulse signal works together with the first zero position switch 3 to control the first motor drive module 1 to rotate to the corresponding angle, and the second pulse signal works together with the second zero position switch 4 to control the second motor drive module 2 to rotate to the corresponding angle.

[0084] The angles correspond to the number of corresponding pulse signals, and there is a constant proportional coefficient between the two, which is related to the transmission ratio and the number of subdivisions of the motor driver. For example, assuming that the current altitude angle of the sun is calculated to be 36 degrees, the step angle of the first motor is 1.8 degrees, the number of subdivisions of the first motor driver is 100 (that is, the first motor driver sends 100 pulses, and the first motor rotates 1.8 degrees), and the reduction ratio of the reducer is 50:1, then the controller module only needs to send (36 / 1.8)*100*50=100000 pulse signals to make the first motor drive module 1 rotate 36 degrees. The corresponding relationship between the number of pulse signals sent by the controller module and the angle in the following embodiments is similarly understood, and the present invention will not be described one by one in the following steps.

[0085] Step 6: Under the action of the first motor drive module 1 and the second motor drive module 2, the sunlight working mirror 5 connected to the first motor drive module 1 reflects sunlight to approximately the geographic south, and at the same time, the sunlight spot reflected by the sunlight working mirror 5 is projected onto the reference object, such as Figure 5 shown.

[0086] Step 7, rotate the support module 8 to make the vertical center line of the sun spot reflected by the sunlight working mirror 5 coincide with the vertical light ray in the cross-shaped light ray emitted by the light source module 6 in step 1, such as Figure 6 shown.

[0087] Step 8, tighten the support module 8 to complete the reference positioning of the active solar tracking device, so that the coordinate system of the solar tracking device is calibrated to coincide with the horizontal coordinate system of the sun's position, so that the solar tracking device faces the geographic south direction.

[0088] After completing the reference positioning of the active solar tracking device by the above method, the present invention also discloses a control method of the active solar tracking device. The control method includes two types according to the needs of the application occasion, one is the heliotropic working mode, that is, under the control of the controller module, the sunlight working mirror of the solar tracking device changes with the change of the sun's position, so that the sunlight working mirror and the sunlight are always kept perpendicular. The other is the heliostatic working mode, that is, under the control of the controller module, the sunlight working mirror of the solar tracking device changes with the change of the sun's position, the sunlight working mirror reflects the sunlight to a target point, and makes the reflected sunlight spot always stay at this target point, and does not change with the change of the sun's position.

[0089] like Figure 7 As shown, the daily working mode specifically includes the following steps:

[0090] Step 1: Establish a horizontal coordinate system of the sun's position with the horizontal plane where the sun tracking device is located as the xy plane and the plumb line direction as the z direction. The geographic east-west direction and the geographic north-south direction are the x direction and the y direction of the xy plane respectively.

[0091] Step 2, shake the joystick handle module to move in the up and down directions and left and right directions. The controller module sends proportional pulse signals to the first motor drive module 1 and / or the second motor drive module 2 according to the operation of the joystick handle module, and works together with the first zero position switch 3 and the second zero position switch 4 to control the rotation of the first motor drive module and the second motor drive module respectively. The sunlight spot reflected by the sunlight working mirror 5 will move with the rotation of the first motor drive module and the second motor drive module.

[0092] Step 3, determine a target point, which is usually a point area with a certain size. Under the effect of step 2, when the sun spot reflected by the sunlight working mirror 5 reaches the target point, stop shaking the joystick handle module.

[0093] Step 4, record the number of pulse signals sent by the controller module to the first motor drive module 1 and the second motor drive module 2 respectively when the shaking of the joystick handle module is stopped in step 3. The number of pulse signals for shaking up and down and the number of pulse signals for shaking left and right can be converted into the rotation angle of the first motor drive module in the vertical direction and the rotation angle of the first motor drive module in the horizontal direction in proportion to the first zero position switch 3 and the second zero position switch 4. Specifically: the vertical direction angle component of the normal vector of the sunlight working mirror 5 is determined according to the first zero position switch and the number of pulse signals sent by the controller module to the first motor drive module, and the horizontal direction angle component of the normal vector of the sunlight working mirror 5 is determined according to the second zero position switch and the number of pulse signals sent by the controller module to the second motor drive module.

[0094] Step 5, synthesize the vertical angle component and the horizontal angle component of the normal vector of the sunlight working mirror 5 obtained in step 4 to obtain the normal vector of the sunlight working mirror 5. The controller module reads the current clock information and the local longitude, latitude and altitude information through the geographic information and clock module, calculates the sun position vector of the sun at this time according to the read information, and calculates the vector difference between the normal vector of the sunlight working mirror 5 obtained and the sun position vector at this time according to the parallelogram law, so as to obtain the target vector of the target point.

[0095] Step 6: Save the target vector recorded in step 5.

[0096] After obtaining and saving the target vector, the saved target vector can be used to make the reflected sun spot always stay at this target point, as follows:

[0097] Step 7, the controller module reads the current clock information and the local longitude, latitude and altitude information through the geographic information and clock module, and calculates the sun position vector of the sun in the horizontal coordinate system of the sun position in step 1 at this time based on the read information.

[0098] Step 8, calculate the vector sum of the target vector saved in step 6 and the current sun position vector in step 7 according to the parallelogram law, and use this vector sum as the normal vector of the sunlight working mirror 5.

[0099] Step 9: Decompose the normal vector obtained in step 8 into the altitude angle and azimuth angle of the sunlight working mirror 5 in the horizontal coordinate system of the sun's position.

[0100] Step 10, the controller module sends a first pulse signal proportional to the altitude angle determined in step 9, and sends a second pulse signal proportional to the azimuth angle. The first pulse signal works together with the first zero position switch 3 to control the first motor drive module 1 to rotate to a corresponding angle, and the second pulse signal works together with the second zero position switch 4 to control the second motor drive module 2 to rotate to a corresponding angle.

[0101] Step 11: Under the action of the first motor driving module 1 and the second motor driving module 2, the sunlight working mirror 5 connected to the first motor driving module 1 reflects sunlight to the target point.

[0102] Step 12: Repeat steps 7 to 11 at set intervals to ensure that the sunlight spot reflected by the sunlight working mirror always stays at the target point.

[0103] The time interval is generally 1 second to 30 minutes, typically 1 minute.

[0104] Step 13: When a predetermined time point is reached, the sun tracking device is stopped or started under the control of the controller module.

[0105] like Figure 8 As shown, the sun-facing working mode specifically includes the following steps:

[0106] Step 1: Establish a horizontal coordinate system of the sun's position with the horizontal plane where the sun tracking device is located as the xy plane and the plumb line direction as the z direction. The geographic east-west direction and the geographic north-south direction are the x direction and the y direction of the xy plane respectively.

[0107] Step 2, the controller module reads the current clock information and the local longitude, latitude and altitude information through the geographic information and clock module, and calculates the sun position vector in the horizontal coordinate system of the sun position in step 1 at this time according to the read information. In the sun-facing working mode, this sun position vector is the normal vector of the mirror sunlight working mirror 5.

[0108] Step 3, decomposing the sun position vector in step 2 into the altitude angle and azimuth angle of the sunlight working mirror 5 in the sun position horizontal coordinate system.

[0109] In step 4, the controller module sends a first pulse signal proportional to the altitude angle determined in step 9 and sends a second pulse signal proportional to the azimuth angle. The first pulse signal works together with the first zero position switch 3 to control the first motor drive module 1 to rotate to a corresponding angle. The second pulse signal works together with the second zero position switch 4 to control the second motor drive module 2 to rotate to a corresponding angle.

[0110] Step 5: Under the action of the first motor driving module 1 and the second motor driving module 2, the sunlight working mirror 5 connected to the first motor driving module 1 is perpendicular to the sunlight.

[0111] Step 6, repeat steps 2 to 5 at set intervals to ensure that the sunlight working mirror 5 is always perpendicular to the sunlight.

[0112] The time interval is generally 1 second to 30 minutes, typically 1 minute.

[0113] Step 7: When a predetermined time point is reached, the sun tracking device is stopped or started under the control of the controller module.

[0114] The working principle of the present invention is that the position of the sun in the sky can be determined by the geographical location and time of the observation point on the earth. Given the longitude, latitude, altitude and current standard time of the observation point, the position of the sun in the sky can be calculated by astronomical mathematical formulas. The position of the sun in the sky is specifically expressed as the altitude angle of the sun relative to the horizontal plane of the observation point and the azimuth relative to the due north and south direction of the observation point, with the horizontal coordinate system of the observation point as a reference: when the sun tracking device works in the northern hemisphere, it is the azimuth relative to the due south direction of the observation point; when the sun tracking device works in the southern hemisphere, it is the azimuth relative to the due north direction of the observation point.

[0115] In the solar tracking device, one motor drive module is connected to the output shaft of another motor drive module. The output shafts of the two motor drive modules are perpendicular to each other, forming a pan-tilt with two degrees of freedom controlled by two motors. The sunlight working mirror is fixed on this pan-tilt to form a solar tracking device. The altitude angle and azimuth angle of the sun are mapped to the rotation angles of the two motors according to the set rules, so that the sunlight working mirror of the solar tracking device can be controlled to operate according to the set rules.

[0116] The level bubble is installed on the support module of the solar tracking device, which can indicate whether the plane on which the support module of the solar tracking device is installed is parallel to the horizontal plane. A motor drive module is fixed on the support module so that the axis of the output shaft of the motor drive module is perpendicular to the plane where the support module is located. A light source module capable of projecting a striking cross-shaped light ray is fixed on the support module so that the projection direction of the cross-shaped light ray is parallel to the bottom plane of the support module, and at the same time, one of the striking cross-shaped light rays is parallel to the bottom plane. The plane determined by the above-mentioned support module, the direction determined by the axis of the output shaft of the motor drive module and the projection direction of the cross-shaped light source are set as the coordinate system reference of the solar tracking device. The coordinate system reference is set as the zero position reference of the rotation angle of the two motor drive modules through the joint action of two zero position switches. The projection direction of the cross-shaped light source is set to the due south of the solar tracking device itself, and the function of the striking cross-shaped light is to visualize the due south of the solar tracking device itself, that is, to visualize the reference coordinate system of the movement of the solar tracking device itself.

[0117] The support module of the solar tracking device is adjusted so that the bubble in the level bubble installed on the support module of the solar tracking device is centered, and the program in the controller module is set to control the solar tracking device to reflect the sunlight at a certain moment to the due south direction of the horizontal coordinate system. At the same time, the light source module emits a striking cross-shaped light to indicate the due south direction of the solar tracking device itself. The support module is rotated so that the vertical line in the cross-shaped light coincides with the center of the reflected solar light spot. At this time, the direction indicated by the cross-shaped light is the geographical due north-south direction, that is, the horizontal coordinate system for observing the sun's position coincides with the reference coordinate system for the movement of the solar tracking device. The solar tracking device can be set up and operated according to the local law of the sun's movement to meet the needs of solar energy utilization.

[0118] The above is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiments. It is understood that other improvements and changes directly derived or associated by those skilled in the art without departing from the spirit and concept of the present invention should be considered to be included in the protection scope of the present invention.

Claims

1. A control method for an active solar tracking device, characterized in that: The active solar tracking device comprises: a controller module, a first motor drive module, a second motor drive module, a first zero position switch, a second zero position switch, a sunlight working mirror, a light source module, a level bubble, a geographic information and clock module and a support module; the second motor drive module is fixed on the support module, the first motor drive module is fixed on the output shaft of the second motor drive module, and the first motor drive module rotates relative to the second motor drive module under the drive of the second motor drive module; the axis of the output shaft of the first motor drive module is perpendicular to the axis of the output shaft of the second motor drive module, and the sunlight working mirror is fixed on On the output shaft of the first motor drive module, the sunlight working mirror rotates relative to the first motor drive module under the drive of the first motor drive module; the first zero position switch is fixed on the first motor drive module, the second zero position switch is fixed on the second motor drive module, and the light source module and the level bubble are respectively fixed on the support module; the first motor drive module, the second motor drive module, the first zero position switch, the second zero position switch, the light source module and the geographic information and clock module are respectively electrically connected to the controller module and controlled by the controller module; the active solar tracking device is benchmarked and positioned by the following method: According to the bubble position of the level bubble, the base plane of the support module is adjusted to be parallel to the horizontal plane, the cross-shaped light rays emitted by the light source module on the support module are directed toward the geographic south, and the cross-shaped light rays are projected onto a reference object spaced a predetermined distance from the active sun tracking device; The controller module uses the geographic information and the clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system according to the read information, wherein the sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction, and the geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively; The normal vector of the sunlight working mirror surface is obtained by calculating the vector sum of the geographic south vector and the sun position vector according to the parallelogram law; Decomposing the normal vector of the sunlight working mirror surface, obtaining the altitude angle and azimuth angle of the sunlight working mirror surface in the horizontal coordinate system of the sun position; The controller module sends a first pulse signal according to the altitude angle and sends a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the first motor drive module to rotate. The second pulse signal and the second zero position switch work together to control the second motor drive module to rotate. The sunlight working mirror reflects sunlight to the geographic south under the drive of the first motor drive module and the second motor drive module, and the sunlight spot reflected by the sunlight working mirror is projected onto the reference object. Rotate the support module until the vertical center line of the sun spot reflected by the sunlight working mirror coincides with the vertical light ray of the cross-shaped light ray, and then tighten the support module to complete the reference positioning of the active solar tracking device; The reference positioning of the active solar tracking device is completed so that the coordinate system of the solar tracking device coincides with the horizontal coordinate system of the sun position and is calibrated so that the solar tracking device faces the geographic south direction; after the reference positioning of the active solar tracking device is completed, the solar tracking device operates in a heliotropic working mode or a heliostatic working mode under the control of a controller module; in the heliotropic working mode, the sunlight working mirror of the solar tracking device changes with the change of the sun's position, so that the sunlight working mirror and the sunlight always remain perpendicular to work; in the heliostatic working mode, the sunlight working mirror of the solar tracking device changes with the change of the sun's position, and the sunlight working mirror reflects the sunlight to a target point, and the reflected sunlight spot always stays at this target point and does not change with the change of the sun's position.

2. The control method of the active sun tracking device according to claim 1, characterized in that: The base plane of the support module is parallel to the horizontal plane when the bubble position of the level bubble is centered, is perpendicular to the axis of the output shaft of the second motor drive module, and is parallel to the axis of the output shaft of the first motor drive module.

3. The control method of the active sun tracking device according to claim 1, characterized in that: The light source module emits a cross-shaped light ray under the control of the controller module. The cross-shaped light ray includes two mutually perpendicular light rays, namely a horizontal light ray and a vertical light ray. The horizontal light ray is parallel to the base plane of the support module, and the vertical light ray is perpendicular to the base plane of the support module.

4. The control method of the active sun tracking device according to any one of claims 1 to 3, characterized in that: The active solar tracking device also includes a joystick handle module, which is electrically connected to the controller module and controlled by the controller module. The controller module is used to control the rotation of the first motor drive module and / or the second motor drive module according to the operation of the joystick handle module.

5. The control method of the active sun tracking device according to claim 4, characterized in that: The joystick handle module is implemented by using a physical joystick handle or a virtual joystick handle.

6. The control method of the active sun tracking device according to claim 1, characterized in that: When the active sun tracking device operates in a heliostat mode, the control method includes: The controller module uses the geographic information and the clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system according to the read information, wherein the sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction, and the geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively; The normal vector of the sunlight working mirror surface is obtained by calculating the vector sum of the target vector and the sun position vector according to the parallelogram law, wherein the target vector is the vector of the target point in the sun position horizontal coordinate system; Decomposing the normal vector of the sunlight working mirror surface, obtaining the altitude angle and azimuth angle of the sunlight working mirror surface in the horizontal coordinate system of the sun position; The controller module sends a first pulse signal according to the altitude angle and a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the rotation of the first motor drive module. The second pulse signal and the second zero position switch work together to control the rotation of the second motor drive module. Driven by the first motor drive module and the second motor drive module, the sunlight working mirror reflects sunlight to the target point.

7. The control method of the active sun tracking device according to claim 6, characterized in that: The control method further comprises: Determine the target point; The controller module sends pulse signals to the first motor drive module and / or the second motor drive module respectively according to the operation of the rocker handle module, until the sunlight working mirror reflects sunlight to move the sunlight spot to the target point under the drive of the first motor drive module and / or the second motor drive module; Determine the vertical direction angle component of the normal vector of the sunlight working mirror according to the first zero position switch and the number of pulse signals sent by the controller module to the first motor driving module; Determine the horizontal direction angle component of the normal vector of the sunlight working mirror according to the second zero position switch and the number of pulse signals sent by the controller module to the second motor driving module; The vertical angle component and the horizontal angle component of the normal vector of the sunlight working mirror are combined into the normal vector of the sunlight working mirror; The sun position vector of the sun in the sun position horizontal coordinate system at this time is determined, and the target vector is obtained by calculating the vector difference between the normal vector of the sunlight working mirror and the sun position vector at this time according to the parallelogram law.

8. The control method of the active sun tracking device according to claim 1, characterized in that: When the active sun tracking device operates in a sun-facing working mode, the control method includes: The controller module uses the geographic information and the clock module to read the current clock information and the local longitude, latitude and altitude information, and calculates the sun position vector of the sun in the sun position horizontal coordinate system according to the read information, wherein the sun position horizontal coordinate system is a coordinate system established with the horizontal plane as the xy plane and the plumb line direction as the z direction, and the geographic east-west direction and the geographic north-south direction are two directions of the xy plane respectively; Decomposing the sun position vector to obtain the altitude angle and azimuth angle of the sunlight working mirror in the sun position horizontal coordinate system; The controller module sends a first pulse signal according to the altitude angle and a second pulse signal according to the azimuth angle. The first pulse signal and the first zero position switch work together to control the rotation of the first motor drive module. The second pulse signal and the second zero position switch work together to control the rotation of the second motor drive module. Driven by the first motor drive module and the second motor drive module, the sunlight working mirror is perpendicular to the sunlight.

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