A light tracking system based on multi-sensor information

Abstract

The present invention discloses a light direction tracking system based on multi-sensor information and a driving control algorithm thereof, comprising a light sensor plate, a controller, a driving device, a deflection mechanism, a supporting mechanism and a shading member. In addition to four light sensors arranged around a central ring on the light sensor plate, a fifth light sensor is also arranged at a central position. The light direction tracking system based on multi-sensor information and a driving control algorithm thereof have outstanding beneficial effects: by using the outputs of the four light sensors arranged in a ring to compare each other in pairs to first perform rapid coarse adjustment, and then accurately fine-adjusting the self-output comparison of the fifth light sensor in the center at different times and positions, the inherent output errors between different sensors and the inherent reading errors between different input circuits can be completely eliminated, thereby achieving rapid and continuous accurate tracking in place. Compared with the existing four-quadrant photoelectric detection and tracking method, the structure is simpler, the cost is extremely low, the sensitivity is higher, and the accuracy is higher.

Description

Technical Field

[0001] The invention relates to the technical field of photovoltaic applications, and in particular to a light direction tracking system based on multi-sensor information. Background Art

[0002] In order for solar energy application devices (including but not limited to solar power generation devices, solar thermal collectors, etc., the same below) to receive the most light energy, it is necessary to implement light tracking and control on the solar energy application devices to ensure that the solar energy application devices can always face the actual direction of the sun's rays with the largest area.

[0003] The methods for implementing light tracking and control of solar energy application devices mainly include passive tracking of the incident angle of sunlight in real time and active tracking of the sun's position calculated based on astronomical knowledge. The former is not affected by calculation errors and changes in solar terms. As long as the detection accuracy of the light detection device is high enough, the light control of the solar energy application device can be satisfied. The latter requires complex mathematical calculations and the support of complicated astronomical knowledge. The control accuracy of the solar energy application device is subject to the accuracy of the calculation results and the elimination of the cumulative error of the drive control, and is greatly affected by the change of solar terms. Regardless of the weather, the solar energy application device will operate according to its own control trajectory, resulting in energy waste and unnecessary wear and tear of the equipment. If you want to make appropriate adjustments and controls, you need to use other detection and control methods.

[0004] The existing passive tracking technology requires various light-blocking devices, which increases the complexity of the structure; or uses complex distributed photoelectric devices, which is not accurate enough and increases the complexity of the detection circuit, thereby increasing the cost; or different photoelectric devices have inherent output change errors when illuminated at the same time, and cannot accurately distinguish slight changes in the direction of light. In addition, no matter how precisely the different detection circuits are adjusted and matched, there will be inherent errors in the detected values, and so on. If the existing passive tracking technology wants to solve these defects, it needs other complex auxiliary means, which greatly increases its cost and may not even be able to be completely solved fundamentally.

[0005] Existing technologies for passive tracking mostly use specially made four-quadrant photodetectors. It is difficult for four-quadrant photodetectors to overcome the inherent differences in output signals of different sensors when exposed to the same light and the inherent reading differences between different input circuits. When general sensors are used, the inherent differences between them are still quite large and cannot be accurately judged to achieve actual accurate tracking. It is necessary to improve the accuracy of the device itself to solve this problem. The dedicated four-quadrant photodetector is expensive. In view of this, in-depth research was conducted on the above-mentioned problems, which led to the present case. Summary of the invention

[0006] The purpose of the present invention is to solve the above problems, and a light tracking system based on multi-sensor information and a driving control algorithm thereof are designed to solve the existing background technology problems.

[0007] To achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a light direction tracking system based on multi-sensor information, comprising a light sensor plate, a controller, a driving device, a deflection mechanism, a supporting mechanism and a shading member, wherein in addition to four light sensors arranged around a central ring on the light sensor plate, a middle light sensor is also arranged at a central position, and the four light sensors arranged in a ring can be arranged as a high light sensor and a low light sensor parallel to the deflection direction, and an initial light sensor and a final light sensor perpendicular to the deflection direction, and the middle light sensor can be replaced by two or more parallel light sensors arranged outside the vertical center line of the light sensor plate, a shading member is arranged at the center of the light sensor plate, a controller is further arranged at the periphery of the light sensor plate, the light sensor plate is fixed to the side of the light collecting surface of the deflection mechanism facing the sun, a high limit position sensor, a low limit position sensor, an initial limit position sensor and a final limit position sensor are arranged at the altitude angle deflection limit position and the azimuth angle rotation limit position of the light sensor plate, respectively, and a deflection driving device and a rotation driving device are connected to the deflection mechanism.

[0008] The controller is connected to the high-position light sensor, low-position light sensor, initial-position light sensor, final-position light sensor and middle-position light sensor via analog-to-digital converter signals, the controller is connected to the deflection drive device and the rotation drive device via motor drive amplifier signals, and the controller is connected to the high-limit position sensor, low-limit position sensor, initial-limit position sensor and final-limit position sensor via I / O interface signals.

[0009] The light sensing panel is a solar cell panel, a photodiode panel, a phototransistor panel, a photoresistor panel or a silicon photocell panel, and the high-position light sensor, the low-position light sensor, the initial-position light sensor, the final-position light sensor and the middle-position light sensor are solar cells, photodiodes, phototransistors, photoresistors or silicon photocells.

[0010] The deflection drive device controls the altitude adjustment of the deflection mechanism, and the rotation drive device controls the azimuth adjustment of the deflection mechanism.

[0011] The deflection mechanism is installed on the supporting mechanism.

[0012] A driving control algorithm for a light tracking system based on multi-sensor information, including the following algorithms: Algorithm 1, Algorithm 2, Algorithm 3, Algorithm 4 and Algorithm 5;

[0013] The algorithm 1, i.e., at night, the light direction tracking system is in a homing waiting state, comprises the following steps: the rotation drive device drives the deflection mechanism to be in a signal triggering position of the initial limit position sensor, and the deflection drive device drives the deflection mechanism to be in a signal triggering position of the low limit position sensor, the former being the initial limit position and the latter being the low limit position;

[0014] The algorithm 2, that is, before the first tracking is in place during the day, every once in a while, such as every hour, timely start fast coarse adjustment and then slow fine adjustment, includes the following steps: step 1, step 2, step 3, step 4, step 5, step 6, step 7, step 8, step 9 and step 10;

[0015] Step 1: the controller controls the deflection drive device to quickly deflect from the low limit position and rise to a certain degree, such as the actual solar altitude angle at the corresponding time point, and stores the deflection amount at this time; wherein the deflection amount is reset to zero at the low limit position, and when the controller issues a deflection drive instruction data to control the deflection drive device and make the deflection mechanism deflect from the low limit position to the high limit position, the specific amount is added to the deflection amount, and when the controller issues a deflection drive instruction data to control the deflection drive device and make the deflection mechanism deflect from the high limit position to the low limit position, the specific amount is subtracted from the deflection amount, and the change of the rotation amount is similar to this;

[0016] Step 2: The controller controls the rotation drive device to quickly rotate from the initial limit position to the ultimate limit position. During this period, the signal of the optical sensor is read once every time it rotates a certain angle. At the same time, the maximum value of this group of signals and the rotation amount at this time are temporarily stored and compared with the stored maximum value of the previous signal of the optical sensor. If it is greater, the maximum value of the previous signal is replaced by the maximum value of this group of signals and the rotation amount corresponding to the maximum value of the signal is updated. If it does not exceed, the maximum value of the previous signal and the corresponding rotation amount remain unchanged; once the ultimate limit position is reached, the controller controls the rotation drive device to quickly rotate in the opposite direction from the ultimate limit position. Return to the maximum value of the previous signal and read the signal of the light sensor again. If the maximum value of this group of signals is not less than the low threshold, continue to execute step 3 or step 4 of this algorithm 2. Conversely, if the maximum value of this group of signals is less than the low threshold, then turn to execute the algorithm 5 described later; wherein, the data of the low threshold is taken from the signal value of the median light sensor under a certain light intensity and aligned with the light sensor plate, and the certain light intensity refers to the solar energy that can be collected, converted and utilized by the solar energy application device during normal operation under this light intensity, which is not less than the overall loss or dissipation of the light tracking system and the solar energy application device during normal operation;

[0017] Step 3: If the signal value of the high-order light sensor minus the maximum deviation of the light sensor signal value is still greater than the signal value of the low-order light sensor (otherwise, jump to the next step), the controller controls the deflection drive device to make the deflection mechanism quickly deflect toward the direction of the high-order light sensor, and reads the signal values ​​of the middle-order light sensor, the high-order light sensor and the low-order light sensor at intervals during this period. At the same time, compare the signal values ​​of the high-order light sensor and the low-order light sensor, and compare and store the maximum signal value of the middle-order light sensor and its corresponding deflection amount until the high-order light sensor The signal value of the sensor is smaller than the signal value of the low-position light sensor after subtracting the maximum deviation of the light sensor signal value, and then the light sensor is quickly deflected in the reverse direction to return to the maximum value of the signal of the middle-position light sensor found in the rapid deflection process; vice versa (specifically: the signal value of the low-position light sensor is still greater than the signal value of the high-position light sensor after subtracting the maximum deviation of the light sensor signal value), thus completing the first rapid coarse adjustment in the altitude angle direction, and then proceeding to step 5 described later; wherein, the maximum deviation of the signal value of the light sensor refers to the maximum possible deviation value of the standard technology of the light sensor;

[0018] Step 4: If the signal value of the high-order light sensor is larger than the signal value of the low-order light sensor, but the signal value of the high-order light sensor is not larger than the signal value of the low-order light sensor after subtracting the maximum deviation of the light sensor signal value, the controller controls the deflection drive device to make the deflection mechanism deflect in the direction of the high-order light sensor at a medium speed, and reads the signal values ​​of the medium-order light sensor, the high-order light sensor and the low-order light sensor at intervals during the deflection. At the same time, the signal values ​​of the high-order light sensor and the low-order light sensor are compared and the maximum signal value of the medium-order light sensor and its corresponding deflection amount are compared and stored until the signal value of the high-order light sensor is smaller than the signal value of the low-order light sensor after subtracting the maximum deviation of the light sensor signal value, and then the deflection is quickly reversed to return to the maximum signal value of the medium-order light sensor found during the medium-speed deflection process; then the controller controls the deflection The driving device continues to deflect in the same direction at a medium speed along the direction of the maximum value returned, and reads the signal values ​​of the middle light sensor, the high light sensor and the low light sensor at intervals during the process. At the same time, the signal values ​​of the high light sensor and the low light sensor are compared and compared, and the maximum signal value of the middle light sensor and the corresponding deflection amount are stored until the signal value of the high light sensor is still greater than the signal value of the low light sensor after subtracting the maximum deviation of the light sensor signal value, and then quickly deflects in the opposite direction again and returns to the maximum signal value of the middle light sensor found during the medium-speed deflection in this direction, and vice versa (specifically: although the signal value of the low light sensor is greater than the signal value of the high light sensor, the signal value of the low light sensor is not greater than the signal value of the high light sensor after subtracting the maximum deviation of the light sensor signal value), completing the first rapid coarse adjustment in the altitude angle direction;

[0019] Step 5: the controller controls the deflection drive device to first pulsate deflect in one direction, wherein the pulsating deflection refers to a regular slow deflection mode with interval interruption after a short-term rapid deflection, and reads the signal value of the median light sensor during the driving gap; compares and stores the maximum value of the signal of the median light sensor and the corresponding deflection amount, until the signal value of the median light sensor has not been updated for several consecutive times, such as more than ten consecutive times, and then quickly returns to the maximum value of the signal of the median light sensor found during the pulsating deflection in this direction; then, the controller controls the deflection drive device to pulsate deflect in another direction, and also reads the signal value of the median light sensor during the driving gap, compares and stores the maximum value and the corresponding deflection amount, until the signal value of the median light sensor has not been updated for several consecutive times, such as more than ten consecutive times, and finally quickly returns to the maximum value of the signal of the median light sensor found during the pulsating deflection in this direction, completing the first slow fine adjustment in the altitude angle direction;

[0020] Step 6: If the final maximum value of the signal of the median light sensor is not less than the lower threshold, then continue to execute the next step in sequence, otherwise, execute the algorithm 5 described later;

[0021] Step 7: Complete the rapid coarse adjustment and slow fine adjustment of the azimuth direction by referring to Step 3 to Step 5 of this Algorithm 2. If the final maximum value of the signal of the median light sensor is not less than the low threshold, continue to execute the next step in sequence, otherwise, execute Algorithm 5 described later;

[0022] Step 8: Referring to Step 3 to Step 5 of Algorithm 2, complete the rapid coarse adjustment and slow fine adjustment in the altitude angle direction again;

[0023] Step 9: If the final maximum value of the signal of the middle light sensor is not less than the high threshold, then continue to execute the next step in sequence, otherwise execute the algorithm 5 described later; wherein, the data of the high threshold is taken from the signal value of the middle light sensor when there is sufficient light and it is aligned with the light sensor plate, and wherein, the sufficient light refers to the light intensity under which the solar energy application device can collect, transform and utilize solar energy in the normal operation process, which exceeds the appropriate range of the overall loss or dissipation of the light tracking system and the solar energy application device in the normal operation;

[0024] Step 10: Set the first tracking in place judgment bit to indicate that the first tracking has been in place.

[0025] The algorithm 3 includes the following steps: step 1, step 2, step 3, step 4 and step 5;

[0026] Step 1: After the first tracking is in place during the day, and after a certain short period of time, such as five minutes, or a certain long period of time, such as fifteen minutes, after the last tracking, when there is light during the waiting process, start to execute the next step in sequence, otherwise continue the corresponding waiting that has started;

[0027] Step 2: Same as step 5 of the aforementioned algorithm 2, completing the first slow fine adjustment in the elevation angle direction;

[0028] Step 3: If the final maximum value of the signal of the median light sensor is not less than the lower threshold, then continue to execute the next step in sequence, otherwise, execute the algorithm 4 described later;

[0029] Step 4: Complete the slow fine adjustment of the azimuth direction with reference to step 2 of this algorithm 3; if the final maximum value of the signal of the median light sensor is not less than the low threshold, continue to execute the next step in sequence, otherwise, execute the algorithm 4 described later;

[0030] Step 5: Same as step 2 of this algorithm 3, complete the slow fine adjustment in the altitude angle direction again; if the final maximum signal value of the median light sensor is less than the lower threshold, execute the algorithm 4 described later, otherwise wait for a short interval of time, such as five minutes, and then execute step 1 of this algorithm 3.

[0031] The algorithm 4 comprises the following steps: step 1, step 2 and step 3;

[0032] Step 1: If the tracking is in place during the day but the final maximum value of the signal of the median light sensor is less than the lower threshold, then wait for a certain period of time, such as fifteen minutes. If a certain amount of light is found, that is, the maximum value of the light sensor signal group read during the interval is not less than the lower threshold, then return to execute the aforementioned algorithm 3;

[0033] On the contrary, if the illumination is always insufficient during the period, that is, the maximum value of the light sensor signal group read at intervals during the period is always less than the lower threshold, then the first tracking in place judgment bit is cleared to indicate that the first tracking in place has not occurred, and the following steps are continued;

[0034] Step 2: the controller controls the rotation drive device to return to the initial limit position, and then controls the deflection drive device to return to the lower limit position;

[0035] Step 3: If it is night, return to execute the aforementioned algorithm 1; if it is still daytime, return to execute the aforementioned algorithm 2.

[0036] The algorithm 5 comprises the following steps: step 1, step 2 and step 3;

[0037] Step 1: If there is no first tracking in place during the day, and after returning to the maximum signal, but the final maximum signal value of the middle light sensor is less than the lower threshold, then wait for a certain period of time, such as fifteen minutes. If a certain amount of light is found again, that is, the maximum value of the light sensor signal group read during the interval is not less than the lower threshold, then return to execute step 3 of the aforementioned algorithm 2 to start execution;

[0038] On the contrary, if the illumination during the period is always insufficient, that is, the maximum value of the light sensor signal group read at intervals during the period is always less than the lower threshold, then continue to perform the following steps;

[0039] Step 2: the controller controls the rotation drive device to return to the initial limit position, and then controls the deflection drive device to return to the lower limit position;

[0040] Step 3: If it is night, return to execute the aforementioned algorithm 1; if it is still daytime, return to execute the aforementioned algorithm 2.

[0041] The light tracking system based on multi-sensor information and its driving control algorithm manufactured by the technical solution of the present invention have outstanding beneficial effects: silicon photocells have good shielding effect, anti-interference, waterproof and weather resistance. Compared with the four-quadrant photodetector, a universal sensor is added. The self-output comparison of the fifth light sensor at different times and positions is accurately fine-tuned, which can completely eliminate the inherent output error between different sensors and the inherent reading error between different input circuits, thereby achieving fast and continuous accurate tracking. Compared with the existing four-quadrant photodetection and tracking method, it has a simpler structure, extremely low cost, higher sensitivity and higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Schematic diagram of the incident angle of sunlight.

[0043] Figure 2 The present invention provides a schematic diagram of the connection between the sensors and the driving device of a light direction tracking system based on multi-sensor information and a driving control algorithm thereof.

[0044] Figure 3 The figure is a side structural schematic diagram of a light direction tracking system based on multi-sensor information and a driving control algorithm thereof according to the present invention.

[0045] Figure 4 The schematic diagram of the top view of the structure of a light direction tracking system based on multi-sensor information and a driving control algorithm thereof according to the present invention.

[0046] Figure 5 For the present invention Figure 3 A schematic diagram of the partially enlarged structure of the light direction tracking system based on multi-sensor information and its driving control algorithm.

[0047] Figure 6 For the present invention Figure 4 A schematic diagram of the partially enlarged structure of the light direction tracking system based on multi-sensor information and its driving control algorithm.

[0048] In the figure: 1. light sensor plate; 10. middle light sensor; 11. high light sensor; 12. low light sensor; 13. initial light sensor; 14. final light sensor; 2. position sensor; 21. low limit position sensor; 22. high limit position sensor; 23. initial limit position sensor; 24. final limit position sensor; 3. driving device; 31. deflection driving device; 32. rotation driving device; 4. controller; 5. deflection mechanism; 6. supporting mechanism; 7. shading member. DETAILED DESCRIPTION

[0049] The present invention will be described in detail below in conjunction with the accompanying drawings. Figures 1 to 6shown.

[0050] The embodiment of the present invention provides a light tracking system based on multi-sensor information, which can be mainly used in various solar energy application devices. It should be understood that the solar energy application device may have a lighting surface for collecting sunlight. The lighting surface may refer to the working surface of a solar panel, a planar solar thermal collector, or a solar thermal collector of other shapes. It is equivalent to a plane for description here, but it is not limited to this. The solar energy application device mentioned here may have a sunlight tracking control device and a drive device of the prior art, as well as necessary auxiliary structures or conditions such as a matching bracket and a power supply; in the embodiment of the present invention, the drive device 3 may be selected as a structural form of various single-axis or dual-axis drive devices in the field of technology, and the controller 4 of the solar energy application device may be integrated and installed in the drive device 3.

[0051] An embodiment of the present invention provides a light direction tracking system based on multi-sensor information, such as Figure 3 As shown, it may include a light sensor plate 1, a position sensor 2, a driving device 3, a controller 4, a deflection mechanism 5, a support mechanism 6, and a shading member 7. The controller 4 can control the driving device 3 to drive the lighting surface of the deflection mechanism 5 to perform light tracking movement. The driving device 3 can be selected as various mechanical driving structures of the existing tracking system, and the driving device 3 can be selected to perform single-axis tracking or dual-axis tracking. In addition, those skilled in the art should understand that the sunlight tracking system can also be equipped with a separate controller 4 for use in conjunction with the controller of the original tracking system.

[0052] The optical sensor board 1 of the optical tracking system provided by the embodiment of the present invention is fixed with various optical sensors, such as Figure 2 , Figure 3 and Figure 4 As shown, a high-position light sensor 11 and a low-position light sensor 12 parallel to the deflection direction and an initial-position light sensor 13 and a final-position light sensor 14 perpendicular to the deflection direction are symmetrically distributed around the vertical center line thereof, and a middle-position light sensor 10 is also centered, or two or more parallel light sensors symmetrically arranged outside the vertical center line thereof are used to replace the aforementioned middle-position light sensor 10, collectively referred to as the middle-position light sensor 10; the light sensor plate 1 has the light shielding member 7 in the middle, the light sensor plate 1 is fixed to the side of the light-collecting surface of the deflection mechanism 5 facing the sun, the light sensor plate 1 is parallel to the light-collecting surface, or the vertical center line of the light sensor plate 1 coincides with the vertical center line of the light-collecting surface; the above two descriptions mainly involve the difference between planar light-collecting surfaces or other non-planar light-collecting surfaces such as spherical surfaces, and therefore the main alignment reference can be considered to depend on the principal optical axis of the light-collecting surface (or the vertical center line of the light-collecting surface).

[0053] In the embodiment of the present invention, Figure 3 and Figure 4As shown, the light sensor plate 1 is fixedly installed on the top of the fixed platform of the deflection mechanism 5, and the vertical central axis of the light sensor plate 1 can coincide with the main optical axis of the lighting surface of the solar energy application device, so as to accurately measure the deflection angle information of the lighting surface. In addition, the light sensor plate 1 is actually separated from the lighting surface by a certain distance, mainly to avoid affecting the light receiving of the lighting surface and the light receiving of the heat collecting device in the middle of the solar energy application device. On the other hand, the light sensor plate 1 is far away from the rotation axis of the deflection mechanism 5, and there is a significant position movement while the angle is deflected, which can avoid the sluggishness that may exist in a single movement, and its perception of the deflection angle is more accurate and sensitive.

[0054] In the embodiment of the present invention, Figure 3 and Figure 4 As shown, a high limit position sensor 21, a low limit position sensor 22, an initial limit position sensor 23, and an ultimate limit position sensor 24 are respectively arranged at the elevation angle deflection limit position and the azimuth angle rotation limit position. During dual-axis tracking, there is a set of driving devices 3 in the deflection direction and the rotation direction, which are a deflection driving device 31 and a rotation driving device 32 respectively. Alternatively, there is only one set of driving devices 3 during single-axis tracking.

[0055] In the embodiment of the present invention, the light sensor can sense that the light intensity gradually decreases with the increase of the incident angle, and vice versa. The controller 4 controls the rotation of the driving device 3 according to the signal of the light sensor and the position sensor 2 according to the driving control algorithm, first quickly adjusts the coarse adjustment, and then slowly adjusts the fine adjustment. The actual light direction and the light direction tracking system are automatically judged quickly and accurately through the light intensity change trend measured by the light sensor board 1. The incident angle of sunlight here is, for example, Figure 1 As shown, when the sunlight A is incident on the light-receiving surface O, the incident angle is the angle 2 between the sunlight A and the normal line N of the light-receiving surface O.

[0056] The driving control algorithms described in the embodiments of the present invention correspond to different driving control algorithms based on multi-sensor information of the controller 4 in different time periods and conditions, including Algorithm 1, Algorithm 2, Algorithm 3, Algorithm 4 and Algorithm 5.

[0057] The algorithm 1, that is, at night, the light tracking system and the solar energy application device are both in a homing waiting state, such as Figure 3 As shown, during this period, the light tracking system and the solar device are both in a "sleeping" state. The specific steps are as follows: the rotation drive device 32 drives the deflection mechanism 5 to be in the signal triggering position of the initial limit position sensor 23, and the deflection drive device 31 drives the deflection mechanism 5 to be in the signal triggering position of the low limit position sensor 21. The former is the initial limit position, and the latter is the low limit position. The definitions of other limit positions are similar to this;

[0058] The algorithm 2, that is, before the first tracking is in place during the day, every once in a while, such as every hour, the controller 4 starts the fast coarse adjustment and then the slow fine adjustment. The specific steps of controlling the driving device 3 by the controller 4 are as follows, including step 1, step 2, step 3, step 4, step 5, step 6, step 7, step 8, step 9 and step 10:

[0059] Step 1: the controller 4 controls the deflection drive device 31 to deflect quickly from the lower limit position and rise to a certain degree, such as the actual solar altitude angle at the corresponding time point, and stores the deflection amount at this time; wherein the deflection amount is reset to zero at the lower limit position, and when the controller 4 issues a deflection drive instruction data to control the deflection drive device 31 and make the deflection mechanism 5 deflect from the lower limit position to the higher limit position, the specific amount is added to the deflection amount, and when the controller 4 issues a deflection drive instruction data to control the deflection drive device 31 and make the deflection mechanism 5 deflect from the higher limit position to the lower limit position, the specific amount is subtracted from the deflection amount, and the change of the rotation amount is similar to this;

[0060] Step 2: The controller 4 controls the rotation drive device 32 to rotate rapidly from the initial limit position to the ultimate limit position. During this period, the signal of the middle light sensor 10 is read once every rotation of a certain angle. At the same time, the maximum value of this group of signals and the rotation amount at this time are temporarily stored and compared with the stored maximum value of the previous signal of the middle light sensor 10. If it is greater, the maximum value of the previous signal is replaced by the maximum value of this group of signals and the rotation amount corresponding to the maximum value of the signal is updated. If it does not exceed, the maximum value of the previous signal and the corresponding rotation amount remain unchanged. Once the ultimate limit position is reached, the controller 4 controls the rotation drive device 32 to quickly rotate in the opposite direction from the ultimate limit position and return to the maximum value of the previous signal to read the signal of the middle light sensor 10 again. If the maximum value of this group of signals is not less than the low threshold, then continue to execute step 3 or step 4 of this algorithm 2. On the contrary, if the maximum value of this group of signals is less than the low threshold, then turn to execute the algorithm 5 described later. The data of the low threshold is taken from the signal value of the median light sensor 10 when there is a certain amount of light and the light sensor plate 1 is aligned therewith, and the certain amount of light refers to the light intensity under which the solar energy application device can collect, transform and utilize solar energy during normal operation, which is not less than the overall loss or dissipation of the light tracking system and the solar energy application device during normal operation;

[0061] Step 3: If the signal value of the high-position light sensor 11 minus the maximum deviation of the light sensor signal value is still greater than the signal value of the low-position light sensor 12 (otherwise, jump to the next step), the controller 4 controls the deflection drive device 31 to make the deflection mechanism 5 quickly deflect toward the direction of the high-position light sensor 11, such as Figure 3 As shown, the signal values ​​of the middle light sensor 10, the high light sensor 11 and the low light sensor 12 are read at intervals during the period, and at the same time, the signal values ​​of the high light sensor 11 and the low light sensor 12 are compared and the maximum signal value of the middle light sensor 10 and its corresponding deflection amount are compared and stored until the signal value of the high light sensor 11 is smaller than the signal value of the low light sensor 12 after the maximum deviation of the light sensor signal value is subtracted, and then the signal is quickly reversed and returned to the maximum signal value of the middle light sensor 10 found in the rapid deflection process; conversely (specifically: the signal value of the low light sensor 12 is still greater than the signal value of the high light sensor 11 after the maximum deviation of the light sensor signal value is subtracted), and the same is true, that is, the first rapid coarse adjustment of the altitude angle direction is completed, and then all go to step 5 described later. Among them, the maximum deviation of the signal value of the light sensor refers to the maximum possible deviation value of the standard technology of the light sensor, and it is introduced for comparison and judgment later to appropriately avoid the negative impact of the inherent output signal difference of different light sensors under the same light on the accurate light direction judgment;

[0062] Step 4: If the signal value of the high-position light sensor 11 is greater than the signal value of the low-position light sensor 12, but the signal value of the high-position light sensor 11 is not greater than the signal value of the low-position light sensor 12 after subtracting the maximum deviation of the light sensor signal value, the controller 4 controls the deflection drive device 31 to make the deflection mechanism 5 deflect at a medium speed toward the direction of the high-position light sensor 11, such as Figure 3As shown, the signal values ​​of the middle light sensor 10, the high light sensor 11 and the low light sensor 12 are read at intervals during the period, and at the same time, the signal values ​​of the high light sensor 11 and the low light sensor 12 are compared and the maximum signal value of the middle light sensor 10 and its corresponding deflection amount are compared and stored until the signal value of the high light sensor 11 is smaller than the signal value of the low light sensor 12 after subtracting the maximum deviation of the light sensor signal value, and then the signal is quickly reversed and returned to the maximum signal value of the middle light sensor 10 found in the medium-speed deflection process; then the controller 4 controls the deflection drive device 31 to move along the Continue to deflect in the same direction at medium speed in the direction of returning to the maximum value, and read the signal values ​​of the middle light sensor 10, the high light sensor 11 and the low light sensor 12 at intervals during this period. At the same time, compare the signal values ​​of the high light sensor 11 and the low light sensor 12, and store the maximum signal value of the middle light sensor 10 and its corresponding deflection amount until the signal value of the high light sensor 11 is still greater than the signal value of the low light sensor 12 after subtracting the maximum deviation of the light sensor signal value, and then quickly deflect in the opposite direction again and return to the maximum signal value of the middle light sensor 10 found during the medium-speed deflection in this direction. Conversely (specifically: although the signal value of the low light sensor 12 is greater than the signal value of the high light sensor 11, the signal value of the low light sensor 12 is not greater than the signal value of the high light sensor 11 after subtracting the maximum deviation of the light sensor signal value), and the first rapid coarse adjustment in the altitude angle direction is completed;

[0063] Step 5: The controller 4 controls the deflection drive device 31 to first pulsate deflect in one direction, wherein the pulsating deflection refers to a regular slow deflection mode followed by a short-term rapid deflection and an interval interruption, and the signal value of the median light sensor 10 is read during the driving gap; wherein the signal value of the median light sensor 10 is read during the driving gap to reduce the noise interference of the hardware circuit of the controller 4, especially the inherent interference to the signal input circuit of the light sensor when issuing a driving control instruction, so as to further ensure the accuracy and stability of the read signal value of the median light sensor 10. At the same time, the maximum value of the signal of the median light sensor 10 and the corresponding deflection amount are compared and stored until the signal value of the median light sensor 10 has not been updated for several consecutive times, such as more than ten consecutive times, and then quickly returns to the maximum value of the signal of the median light sensor 10 found in the pulsating deflection process in this direction; then, the controller 4 controls the deflection drive device 31 to pulsate and deflect in another direction, and also reads the signal value of the median light sensor 10 in the driving gap, compares and stores its maximum value and the corresponding deflection amount, until the signal value of the median light sensor 10 has not been updated for several consecutive times, such as more than ten consecutive times, and finally quickly returns to the maximum value of the signal of the median light sensor 10 found in the pulsating deflection process in this direction, thereby completing the first slow fine adjustment in the altitude angle direction;

[0064] Step 6: If the final maximum value of the signal of the median light sensor 10 is not less than the lower threshold, then continue to execute the next step in sequence, otherwise, execute the algorithm 5 described later;

[0065] Step 7: Similar to steps 3 to 5 of Algorithm 2, Figure 4 As shown, the fast coarse adjustment and the slow fine adjustment in the azimuth direction are completed. If the final maximum value of the signal of the median light sensor 10 is not less than the low threshold, the next step is executed sequentially, otherwise the algorithm 5 described later is executed;

[0066] Step 8: Similar to steps 3 to 5 of Algorithm 2, Figure 3 As shown, the fast coarse adjustment and the slow fine adjustment in the altitude angle direction are completed again;

[0067] Step 9: If the final maximum value of the signal of the median light sensor 10 is not less than the high threshold, then continue to execute the next step in sequence, otherwise, execute the algorithm 5 described later. The high threshold is obtained from the signal value of the median light sensor 10 when there is sufficient light and it is aligned with the light sensor board 1, and the sufficient light refers to the light intensity under which the solar energy application device can collect, transform and utilize solar energy in the normal operation process, which exceeds the appropriate range of the overall loss or dissipation of the light tracking system and the solar energy application device in the normal operation;

[0068] Step 10: Set the first tracking in place judgment bit to indicate that the first tracking has been in place.

[0069] The specific steps of Algorithm 3 are as follows, including step 1, step 2, step 3, step 4 and step 5:

[0070] Step 1: After the first tracking is in place during the day, and after a certain short period of time, such as five minutes, or a certain long period of time, such as fifteen minutes, after the last tracking, when there is light during the waiting process without light, start to execute the next step in sequence, otherwise continue the corresponding waiting that has started;

[0071] Step 2: Same as step 5 of the aforementioned algorithm 2, completing the first slow fine adjustment in the elevation angle direction;

[0072] Step 3: If the final maximum value of the signal of the median light sensor 10 is not less than the lower threshold, then continue to execute the next step in sequence, otherwise, execute the algorithm 4 described later;

[0073] Step 4: Similar to step 2 of this algorithm 3, the slow fine adjustment of the azimuth direction is completed. If the final maximum value of the signal of the median light sensor 10 is not less than the low threshold, the next step is executed sequentially, otherwise the algorithm 4 described below is executed;

[0074] Step 5: Same as step 2 of this algorithm 3, complete the slow fine adjustment in the altitude direction again. If the final maximum value of the signal of the median light sensor 10 is less than the lower threshold, execute the algorithm 4 described below, otherwise wait for a certain short time, such as five minutes, and then execute step 1 of this algorithm 3.

[0075] The specific steps of Algorithm 4 are as follows, including step 1, step 2 and step 3:

[0076] Step 1: If the tracking is in place during the day but the final maximum value of the signal of the median light sensor 10 is less than the lower threshold, then wait for a certain period of time, such as fifteen minutes. If a certain amount of light is found, that is, the maximum value of the light sensor signal group read during the interval is not less than the lower threshold, then return to execute the aforementioned algorithm 3;

[0077] On the contrary, if the illumination is always insufficient during the period, that is, the maximum value of the light sensor signal group read at intervals during the period is always less than the lower threshold, then the first tracking in place judgment bit is cleared to indicate that the first tracking in place has not occurred, and the following steps are continued;

[0078] Step 2: The controller 4 controls the rotation drive device 32 to return to the initial limit position, and then controls the deflection drive device 31 to return to the lower limit position, such as Figure 3 and Figure 4 As shown;

[0079] Step 3: If it is night, return to execute the aforementioned algorithm 1; if it is still daytime, return to execute the aforementioned algorithm 2.

[0080] The specific steps of Algorithm 5 are as follows, including step 1, step 2 and step 3:

[0081] Step 1: If there is no first tracking in place during the day, and after returning to the maximum signal, but the final maximum signal value of the middle light sensor 10 is less than the lower threshold, then wait for a certain period of time, such as fifteen minutes. If a certain amount of light is found again, that is, the maximum value of the light sensor signal group read during the interval is not less than the lower threshold, then return to execute step 3 of the aforementioned algorithm 2 to start execution;

[0082] On the contrary, if the illumination during the period is always insufficient, that is, the maximum value of the light sensor signal group read at intervals during the period is always less than the lower threshold, then continue to perform the following steps;

[0083] Step 2: The controller 4 controls the rotation drive device 32 to return to the initial limit position, and then controls the deflection drive device 31 to return to the lower limit position, such as Figure 3 and Figure 4 As shown;

[0084] Step 3: If it is night, return to execute the aforementioned algorithm 1; if it is still daytime, return to execute the aforementioned algorithm 2.

[0085] In traditional tracking control, devices under active tracking strategies cannot flexibly adapt to actual conditions, and their timing drive mechanism also determines that there are angle deviations and especially cumulative errors most of the time. Devices under traditional passive tracking strategies, similar to control-release strategies that are based on quantitative changes, can only achieve intermittent tracking at unit time intervals. Moreover, the node where the quantitative change to the qualitative change caused by illumination is difficult to track accurately due to the large number of factors that affect it. Devices similar to photoelectric solar tracking strategies require multiple devices to participate in the detection circuit. Even if the error of each device is controlled within 1%, there will still be an error rate of 5% or more after superposition.

[0086] In the slow fine adjustment of the final stage given by the embodiment of the present invention, since only the data of the median light sensor 10 and its detection signal at different times and positions are compared, the error conditions of the single detection circuit before and after the time are basically the same, so the comparison result will not be affected by the inherent errors of the relevant components and their reading circuits, and the influence caused by various inherent errors can be completely eliminated. Its detection accuracy basically depends on the accuracy of the digital-to-analog converter that reads the input signal. Generally, the 8-bit digital-to-analog converter that comes with the single-chip microcomputer can control the reading error within 1% or higher, that is, the detection and tracking control accuracy of the present invention can be greatly improved to more than 99% during slow fine adjustment, so that the real-time and accurate detection of the direction of sunlight and its precise tracking control can be more accurately achieved at a low cost.

[0087] It should be understood that the light direction tracking system based on multi-sensor information and its driving control algorithm provided in the embodiments of the present invention can not only be used in conjunction with existing passive or active solar tracking systems to achieve precise tracking control, but also can be considered to achieve fast and precise tracking control by combining the light direction tracking system based on multi-sensor information and its driving control algorithm provided in the embodiments of the present invention with the basic timing tracking operation rules of the lighting surface built into the existing controller.

[0088] It is understandable that the controller of the traditional basic tracking system can be based on a passive or active solar tracking strategy to perform basic tracking direction and tracking amount control. Active tracking strategies are, for example, clock-based and program-controlled; passive solar tracking strategies are, for example, pressure difference-based, controlled-release solar tracking strategies or photoelectric solar tracking strategies.

[0089] The clock-type solar tracking strategy is an active tracking strategy with two forms: single-axis and dual-axis. Its control method is the timing method. According to the movement angle of the sun in the sky per unit time, the angle that the receiving surface should rotate per unit time is calculated, thereby determining the driving operation amplitude of the driving device per unit time, so that the solar application device changes accordingly according to the position of the sun.

[0090] The program-controlled sun tracking strategy is combined with a computer. First, a set of formulas is used to calculate the relative angle position of the sun in a unit of time through the computer, and then the required position of the sun tracking device is calculated. Finally, the driving transmission device is driven to reach the required position to achieve tracking of the sun's altitude angle and azimuth angle.

[0091] The controlled solar tracking strategy, the controlled solar tracking device can choose to track the solar azimuth in one direction. During operation, for example, a counterweight is placed on the west side of the solar application device's lighting surface as the power for the solar receiving panel to rotate westward, and the controlled automatic following device is used to control the release of this power, so that the lighting surface rotates as the sun deviates westward. This method of separating the original power from the control component can simplify the structure of the control device, reduce energy consumption (the panel's rotational kinetic energy comes from the potential energy of the counterweight), and create conditions for not using an external power supply. The power of the electromagnet of the release mechanism can be supplied by the solar panel. The solar panel is installed above the lighting surface, and a sunshade is provided in front. When the lighting surface is facing the sun, it just blocks the sunlight and puts the solar cell in the shadow area. Once the sun moves westward, the shadow of the sunshade moves with it, and the solar cell is exposed to the sunlight, outputting a certain value of current, thereby sending an offset signal. The signal is amplified, causing the high-sensitivity relay to operate, and the electromagnet is controlled to attract through the execution relay, so that the brake device is released and the heat collecting device rotates westward until it is facing the sun.

[0092] Photoelectric solar tracking strategy. Photoelectric solar tracking devices use photosensitive sensors to measure the deviation between the incident sunlight and the main optical axis of the tracking device. When the deviation exceeds a threshold, the actuator adjusts the position of the collector until the sunlight is parallel to the optical axis of the collector again, thus tracking the solar altitude and azimuth. Compared with the previous tracking devices, the photoelectric tracker can eliminate errors through feedback, has more precise control, and is easier to implement in circuits.

[0093] In the embodiment of the present invention, Figure 2 As shown, the controller 4 can be selected as a single-chip integrated circuit control board. The single-chip microcomputer can be integrated with an analog-to-digital converter or an external analog-to-digital converter, and the electrical signals generated by each light sensor on the light sensor board 1 after being illuminated are received through the analog-to-digital converter; the single-chip microcomputer can also be integrated with a motor drive amplifier interface or an external motor driver, and the control signal required by the drive device 3 is output through the motor drive amplifier interface; the single-chip microcomputer can also be integrated with an I / O interface or an external I / O interface, and the signal changes generated by the position sensor 2 are received through the I / O interface.

[0094] In one embodiment, a sampling circuit can also be used to detect changes in electrical signals (voltage, current and / or power) of each optical sensor. The sampling circuit can adopt a commonly used solution in this field, and can also have a filter organizer and a signal isolator to process the signal before it is sent to the controller; it should be understood that the organizer and signal isolator can also be integrated into the intelligent controller (single-chip microcomputer).

[0095] In the embodiment of the present invention, the light sensing board 1 can be selected as a monocrystalline silicon or polycrystalline silicon solar cell panel, a photodiode board, a phototransistor board, a photoresistor board or a silicon photocell board, and the light sensor can be selected as a solar cell, a photodiode, a phototransistor, a photoresistor or a silicon photocell, and can also be a photosensitive diode, a photosensitive transistor, a photoresistor, a CCD image sensor, a CMOS image sensor and other commonly used photosensitive electronic components in the field, or a combination of the above various electronic components or evenly installed on the substrate.

[0096] In an embodiment of the present invention, the controller 4 controls the operation of the deflection drive device 31 and / or the rotation drive device 32 respectively, and the deflection drive device 31 and / or the rotation drive device 32 drive a fixed platform on the deflection mechanism 5 to rotate accordingly, thereby driving the lighting surface and the fixed platform to track and align the actual light direction of the sunlight in real time.

[0097] The light direction tracking system based on multi-sensor information and its driving control algorithm in the above specific embodiment can be referred to in Figure 3 and Figure 4 The high-position light sensor 11 and the low-position light sensor 12 parallel to the deflection direction are symmetrically arranged around the vertical center line of the light sensor plate 1. When the direction of the sunlight is not perpendicular to the plane of the light sensor plate 1 (its vertical center axis does not coincide with the direction of the light), or when the direction of the light changes slightly, the sunlight energy received by the high-position light sensor 11 and the low-position light sensor 12 will be different. Figure 5 As shown, the solar energy sensed by the high-position light sensor 11 is much greater than that of the low-position light sensor 12; the detection circuit corresponding to the high-position light sensor 11 and the low-position light sensor 12 in the controller 4, the output signal of the high-position light sensor 11 obtained will be obviously stronger than that of the low-position light sensor 12 (the value after the analog-to-digital conversion of the single-chip microcomputer is larger). Therefore, the controller 4 can obtain the instruction to deflect in the direction of the high-position light sensor 11 based on this signal difference. Among them, one control strategy embodiment is that when it is detected that the output signals of the two corresponding light sensors parallel to or perpendicular to the deflection direction are different, the output signal is rotated in the direction where the output signal is larger; and when the deviation between the two signals is large, a faster rotation speed can be selected, so as to achieve rapid "tracking in place" through rapid coarse adjustment.

[0098] like Figure 3 As shown, the controller 4 controls the deflection drive device 31 to deflect toward the west side where the high-position light sensor 11 is located. When the direction of the sunlight is judged to be "vertical" to the plane of the light sensor plate 1 (its vertical center axis "coincides" with the direction of the light) based on the signal detection of the high-position light sensor 11 and the low-position light sensor 12, due to the output characteristics between the high-position light sensor 11 and the low-position light sensor 12 and their detection circuits themselves, there will inevitably be certain inherent errors. In fact, it is very likely that they are not completely tracked, and further fine-tuning and confirmation are required.

[0099] After the above-mentioned rapid coarse adjustment is in place, or when the above-mentioned detection judgment is close to "tracking in place", the present invention analyzes the change trend of the output signal of the median light sensor 10 in the tracking process in one direction. If the signal continues to become stronger, the controller 4 controls the driving device 3 to continue the pulsating deflection in the same direction until the output signal of the median light sensor 10 begins to weaken continuously before it is determined that the tracking is truly in place; thereafter, the controller 4 instructs the driving device 3 to turn to the opposite direction and quickly deflect to the corresponding position of the maximum value of the signal of the median light sensor 10 before it is determined that the tracking is truly in place.

[0100] On the contrary, if the signal has been continuously weakening in this direction, the controller 4 controls the driving device 3 to pulsate and deflect in another direction until the output signal of the mid-position light sensor 10 starts to continuously become stronger and then continuously weakens before it is determined that the real tracking is in place; thereafter, the controller 4 instructs the driving device 3 to quickly deflect in the opposite direction to the corresponding position at the maximum value of the signal of the mid-position light sensor 10 before it is determined that the real tracking is in place.

[0101] In addition, in an embodiment of the present invention, each tracking may include three stages: first tracking in the altitude angle direction, then tracking in the azimuth angle direction, and finally tracking in the altitude angle direction, which can more fully ensure the accuracy of real-time detection of sunlight direction and its tracking control.

[0102] Moreover, in the slow fine adjustment of the embodiment of the present invention, since only the historical data of the detection results of the median light sensor 10 itself are used for comparison, the influence caused by various inherent errors can be completely eliminated, thereby more accurately realizing the real-time and accurate detection of the sunlight direction and its tracking control.

[0103] The above-mentioned light tracking system based on multi-sensor information and its driving control algorithm, wherein the light sensor is preferably a silicon photocell combination, has outstanding beneficial effects compared with the prior art, and the specific analysis is as follows:

[0104] In the prior art of passive tracking, most of them used photoresistors or photosensitive semiconductor tubes (photodiodes or phototransistors, the same below) as basic detection devices. Since photoresistors and photosensitive semiconductor tubes sense light intensity, their output has a certain corresponding relationship with light intensity but no corresponding relationship with the incident angle of light, they generally need to use shielding structures to assist in detecting the direction of light, which increases the complexity and cost of the structure. Photoresistors and photosensitive semiconductor tubes have certain sizes, and even if they are densely distributed, they cannot continuously and uninterruptedly detect the change curve of the amount of light received. The present invention preferably uses silicon photocells as detection devices, and its output signal is in a continuous curve change relationship with the amount of light received (total amount of light) at the same point. Compared with the method of using photosensitive sensors (whose price is as high as tens of RMB when they have a certain accuracy) to achieve this function, the cost of the present invention is only RMB 4 or 5, which is extremely low.

[0105] At the same time, in the case of further fine-tuning the detection and analysis mentioned above, the present invention can completely eliminate the influence caused by various inherent errors because it only compares the historical data of the median light sensor 10 and its detection results. Its detection accuracy basically depends on the accuracy of the analog-to-digital converter that reads the output signal of the light sensor. For example, the 8-bit analog-to-digital converter that comes with a general single-chip microcomputer can control the reading error within 1%; that is, the detection and tracking control accuracy of the present invention can be greatly improved to 99% during fine-tuning, so that the real-time and accurate detection of the direction of sunlight and its tracking control can be achieved more accurately and quickly at a low cost (including the cost of the silicon photocell as a detection device and the single-chip microcomputer for input and control).

[0106] To sum up, it can be seen that the light tracking system based on multi-sensor information and its driving control algorithm have outstanding beneficial effects: silicon photocells have good shielding effect, anti-interference, waterproof and weather resistance. The outputs of the four circular light sensors are compared with each other to perform quick coarse adjustment first, and then the self-output comparison of the fifth light sensor in the center at different times and positions is accurately adjusted. The inherent output errors between different sensors and the inherent reading errors between different input circuits can be completely eliminated, thereby achieving fast and continuous accurate tracking. Compared with the existing four-quadrant photoelectric detection and tracking method, it has a simpler structure, extremely low cost, higher sensitivity and higher accuracy.

[0107] The above technical solutions only reflect the preferred technical solutions of the technical solutions of the present invention. Some changes that may be made to certain parts thereof by technicians in this technical field all reflect the principles of the present invention and fall within the protection scope of the present invention.

Claims

1. A light direction tracking system based on multi-sensor information, comprising a light sensor plate, a controller, a driving device, a deflection mechanism, a supporting mechanism and a light shielding member, characterized in that: In addition to the four light sensors arranged around the center ring on the light sensor board, a middle light sensor is also arranged at the center position. The four light sensors arranged in the ring are arranged as a high light sensor and a low light sensor parallel to the deflection direction, and an initial light sensor and a final light sensor perpendicular to the deflection direction. The middle light sensor is replaced by two or more parallel light sensors arranged outside the vertical center line of the light sensor board. A light shielding member is arranged at the center of the light sensor board, and a controller is further arranged at the periphery of the light sensor board. The light sensor board is fixed to the side of the lighting surface of the deflection mechanism facing the sun. The light sensor board is respectively arranged with a high limit position sensor, a low limit position sensor, an initial limit position sensor and a final limit position sensor at the altitude angle deflection limit position and the azimuth angle rotation limit position. A driving device is connected to the deflection mechanism, and the driving device is divided into a deflection driving device and a rotation driving device; The controller is connected to the high position light sensor, the low position light sensor, the initial position light sensor, the final position light sensor and the middle position light sensor via analog-to-digital converter signals, the controller is connected to the deflection drive device and the rotation drive device via motor drive amplifier signals, and the controller is connected to the high limit position sensor, the low limit position sensor, the initial limit position sensor and the final limit position sensor via I / O interface signals; The light sensing panel is a solar cell panel, a photodiode panel, a phototransistor panel, a photoresistor panel or a silicon photocell panel, and the high-position light sensor, the low-position light sensor, the initial-position light sensor, the final-position light sensor and the middle-position light sensor are solar cells, photodiodes, phototransistors, photoresistors or silicon photocells.

2. The light direction tracking system based on multi-sensor information according to claim 1, characterized in that: The deflection drive device controls the altitude adjustment of the deflection mechanism, and the rotation drive device controls the azimuth adjustment of the deflection mechanism.

3. The light direction tracking system based on multi-sensor information according to claim 1, characterized in that: The deflection mechanism is installed on the supporting mechanism.

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