A tracking photovoltaic slope roof system and control method

Abstract

The present invention discloses a tracking photovoltaic slope roof system and control method, including obtaining the incident angle of light at the current position and the current time; determining the optimal angle of the photovoltaic module according to the corresponding relationship between the incident angle of light and the irradiation intensity; obtaining the target driving angle of the driving device in combination with the slope of the slope roof; the driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle. Since the method can make the photovoltaic module at the optimal angle in real time, the photovoltaic module can be arranged on both the shady side and the sunny side of the slope roof, thereby improving the light energy utilization rate of the slope roof.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic building integration, and in particular to a tracking photovoltaic slope roof system and a control method. Background Art

[0002] With the increasing maturity of photovoltaic power generation technology and the gradual reduction of costs, photovoltaic power stations have gradually entered thousands of households. However, for sloping roofs facing east to west or west to east (typically represented by tile roofs as shown below) Figure 1 ), due to its large slope, one side is always in the shade and photovoltaic modules cannot be installed. Therefore, the usable area of ​​the roof is small and users are not very enthusiastic about installation.

[0003] The traditional construction method for sloping roofs is to plant reinforcement on the roof. This practice not only destroys the waterproofing of the roof but also cannot withstand extreme working conditions that occur once every many years (such as hurricanes). In recent years, there have been many incidents every year where strong winds have blown off photovoltaic panels, causing asset losses or personal injuries. Summary of the invention

[0004] The purpose of the present invention is to provide a tracking photovoltaic slope roof system and a control method to improve the light energy utilization rate of the slope roof.

[0005] To achieve the above objectives:

[0006] In a first aspect, the present application provides a tracking photovoltaic slope roof system control method, comprising the following steps:

[0007] Get the incident angle of the light at the current position and time;

[0008] The optimal angle of the photovoltaic module is determined by the corresponding relationship between the incident angle of light and the irradiation intensity; the target driving angle of the driving device is obtained in combination with the slope of the sloping roof;

[0009] The driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle.

[0010] In some embodiments of the present application, the following steps are also included:

[0011] Obtaining an actual driving angle of the driving device;

[0012] The actual driving angle is compared with the target driving angle. If the difference between the actual driving angle and the target driving angle is within the angle threshold, the driving device stops running; otherwise, the driving device continues to run.

[0013] In some embodiments of the present application, it also includes:

[0014] Obtain location information of photovoltaic modules;

[0015] If the position information reaches the first limit position, the driving device stops running; otherwise, the driving device continues to run.

[0016] In some embodiments of the present application, the following steps are also included:

[0017] Obtain motor parameters and meteorological information;

[0018] The working conditions are classified according to the motor parameters and meteorological information; when the motor parameters exceed the standard and the meteorological parameters exceed the standard, the emergency avoidance mode is executed; when the motor parameters are normal and the meteorological parameters are normal, the normal tracking mode is executed; when the motor parameters exceed the standard and the meteorological parameters are normal, the automatic avoidance mode is executed.

[0019] In some embodiments of the present application, it also includes:

[0020] Get motor parameters;

[0021] If the motor parameters are within the motor parameter threshold, the PV module is judged to be reset to zero; otherwise, the driving device drives the PV module to continue to return to its original position, and the driving angle is memorized and reset to zero.

[0022] In some embodiments of the present application, the following steps are also included:

[0023] Receiving operation instructions from terminal equipment;

[0024] Execute corresponding actions according to the operation instructions.

[0025] In some embodiments of the present application, the current time and the current position are obtained through networking or by an astronomical calendar algorithm.

[0026] In a second aspect, the present application discloses a tracking photovoltaic slope roof system, including: a photovoltaic module, a drive device, a support structure and a control system, wherein:

[0027] The photovoltaic module serves as all or part of the slope roof and is rotatably arranged on the gable through a supporting structure, and the driving device can drive the photovoltaic module to rotate;

[0028] The control system obtains the incident angle of light at the current position and the current time; determines the optimal angle of the photovoltaic module based on the corresponding relationship between the incident angle of light and the irradiation intensity; obtains the target driving angle of the driving device in combination with the slope of the sloping roof; and the driving device operates according to the target driving angle to place the photovoltaic module at the optimal angle.

[0029] In some embodiments of the present application, the supporting structure is fixed to the outside of the gable.

[0030] In some embodiments of the present application, a sealing device is further included. The sealing device is fixed between the photovoltaic module and the gable, roof and / or front and rear walls, and is used to isolate the indoor space from the outdoor space when the photovoltaic module is unfolded.

[0031] In some embodiments of the present application, the sealing device is detachably installed between the photovoltaic module and the gable, roof and / or front and rear walls via a zipper structure.

[0032] In some embodiments of the present application, the sealing device is one or at least two of a breathable membrane, a heat-resistant membrane, a sand filter net and a mosquito and fly-proof net.

[0033] In some embodiments of the present application, the driving device includes a driving motor and a transmission mechanism, the output shaft of the driving motor is drivingly connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is drivingly connected to the rotating shaft of the photovoltaic module;

[0034] The rotating shaft is located at one side of the photovoltaic component, and the photovoltaic component is rotatably arranged on the supporting structure through the rotating shaft.

[0035] In some embodiments of the present application, the drive motor has its own brake and angle detection sensor, wherein the brake is in a normally closed state. When the drive motor is running, the brake is opened, and after the drive motor stops running, the brake is closed. The angle detection sensor is used to detect and feedback the drive angle of the drive motor.

[0036] In some embodiments of the present application, the transmission mechanism is a gear transmission mechanism or a worm gear transmission mechanism.

[0037] In some embodiments of the present application, the driving device is arranged on one side or both sides of the photovoltaic component.

[0038] A driving gear and a driven gear, wherein the output shaft of the driving motor is fixed to the driving gear, the driving gear is meshed with the driven gear and drives the driven gear to rotate, and the driven gear is fixed on the rotating shaft of the photovoltaic module.

[0039] In some embodiments of the present application, the supporting structure includes a vertical main beam and a plywood, wherein the vertical main beam is located on the outside of the gable and the plywood is located on the inside of the gable, and the fasteners pass through the plywood, the gable and the vertical main beam in sequence to complete the fixing of the supporting structure on the gable.

[0040] In some embodiments of the present application, a photovoltaic assembly includes a photovoltaic bracket and a photovoltaic panel installed on the photovoltaic bracket.

[0041] In some embodiments of the present application, the control system includes: a meteorological monitoring unit for collecting meteorological information, the meteorological information including radiation intensity, wind volume, wind direction, rainfall and snowfall.

[0042] In some embodiments of the present application, the control system includes an interaction unit, through which information interaction with a terminal device or a server can be performed.

[0043] The control method of the tracking photovoltaic slope roof system of the present invention first obtains the current time and longitude and latitude of the current position to obtain the light incident angle at the current time; determines the optimal angle of the photovoltaic module based on the corresponding relationship between the light incident angle and the irradiation intensity; obtains the target driving angle of the driving device in combination with the slope of the slope roof; and the driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle. Since this method can make the photovoltaic module at the optimal angle in real time, photovoltaic modules can be arranged on both the shady side and the sunny side of the slope roof, thereby improving the light energy utilization rate of the slope roof. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0045] Figure 1 A front-view stereoscopic structural diagram of a tracking photovoltaic slope roof system provided by the prior art;

[0046] Figure 2 A schematic flow chart of a tracking photovoltaic slope roof system control method provided by an embodiment of the present invention;

[0047] Figure 3 A schematic flow chart of another tracking photovoltaic slope roof system control method provided by an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of a tracking photovoltaic slope roof system provided by an embodiment of the present invention;

[0049] Figure 5 A schematic flow chart of another tracking photovoltaic slope roof system control method provided by an embodiment of the present invention;

[0050] Figure 6 A schematic flow chart of another tracking photovoltaic slope roof system control method provided by an embodiment of the present invention;

[0051] Figure 7 A schematic flow chart of another tracking photovoltaic slope roof system control method provided by an embodiment of the present invention;

[0052] Figure 8 A schematic diagram of the front-view stereoscopic structure of a tracking photovoltaic slope roof system provided by an embodiment of the present invention;

[0053] Fig. 9A schematic diagram of the side structure of a tracking photovoltaic slope roof system provided by an embodiment of the present invention;

[0054] Fig.10 A schematic diagram of the partial structure of a tracking photovoltaic slope roof system provided in an embodiment of the present invention.

[0055] Among them: 100 is a photovoltaic component, 200 is a driving device, 300 is a supporting structure, 400 is a control system, 500 is a gable, and 600 is a sealing device; 101 is a rotating shaft, 102 is a photovoltaic bracket, 103 is a battery panel, 201 is a driving motor, 202 is a transmission mechanism, 2021 is a driving gear, 2022 is a driven gear, 301 is a vertical main beam, 302 is a splint, and 303 is a fastener. DETAILED DESCRIPTION

[0056] The core of the present invention is to provide a tracking photovoltaic slope roof system to improve the light energy utilization rate of the slope roof.

[0057] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation modes.

[0058] like Figure 2 As shown, the present application provides a tracking photovoltaic slope roof system control method, comprising the following steps:

[0059] S1. Obtain the incident angle of light at the current position and time. The current position and time can be obtained through the Internet, or can be obtained according to the astronomical calendar algorithm, or can be manually set when the tracking photovoltaic slope roof system is installed.

[0060] See also Figure 3 In some embodiments of the present application, the above steps may include the following steps:

[0061] S11, implanting an astronomical calendar, wherein the astronomical calendar is a conventional technology in this field.

[0062] S12, confirming the longitude and latitude. The longitude and latitude can be obtained online, or manually set when the tracking photovoltaic slope roof system is installed, specifically by measuring the longitude and latitude of the current location with a longitude and latitude measuring instrument and manually inputting them; or by setting a positioning instrument, which can obtain the longitude and latitude through satellite or online.

[0063] S13, obtaining the calculated light incident angle. After the current time and longitude and latitude are determined, the calculated light incident angle at the current position can be obtained by a conventional algorithm in the art.

[0064] S14, measuring the solar altitude angle and azimuth to obtain the incident angle of the measured light.

[0065] S15, comparing the difference between the calculated light incident angle and the measured light incident angle to see whether it is within the light incident angle threshold, if yes, executing step S16, otherwise, executing step S17.

[0066] S16, obtaining the incident angle of the light at the current position and the current time.

[0067] In some embodiments of the present application, the step further includes the following steps:

[0068] S17, obtaining the generated power. The generated power can be directly measured or calculated. The conventional method of obtaining the generated power by calculation is to obtain the voltage and current of the generated power to calculate the generated power. Of course, this method is only one method of obtaining the generated power. As long as the generated power can be calculated, it belongs to the protection scope of this application.

[0069] S18, determine whether the fluctuation of the generated power is normal, if it is normal, execute step S19; otherwise, the system self-locks.

[0070] S19: The sensor is blocked, and step S2 is executed.

[0071] S2. Determine the optimal angle of the photovoltaic module based on the corresponding relationship between the light incident angle and the irradiation intensity; and obtain the target driving angle of the driving device based on the slope of the sloping roof.

[0072] See also Figure 4 The slope of a pitched roof is the angle between the roof and the horizontal plane.

[0073] For example, when the slope roof is on the sunny side, the slope is α, and the incident angle of light is β. In order to maximize the absorption of light radiation by the photovoltaic module, the solar panels of the photovoltaic module are perpendicular to the incident direction of the light. The optimal angle at which the photovoltaic module installed on the sunny slope roof should be rotated from the roof is:

[0074] γ1=90°-(90°-α)-(90°-β)=α+β-90°

[0075] When the sloped roof is the shaded side, the optimal angle at which the photovoltaic module should rotate from the roof is:

[0076] γ2=180°-(180°-2α+α+β-90°)=90° +α-β

[0077] And according to the final transmission coefficient and the arrangement angle, the target driving angle of the driving device is obtained. For example, when the transmission coefficient is 1, when the driving end of the driving device is arranged coaxially with the rotating shaft of the photovoltaic module, the target driving angle of the driving device is consistent with the optimal angle.

[0078] After the driving motors on the sunny slope and the shady slope adjust the photovoltaic brackets according to the above-mentioned angles, the photovoltaic modules on both sides will be at the optimal inclination angle.

[0079] There are many driving devices that can achieve the above-mentioned drive. For example, the driving device may include a driving motor, and the output shaft of the driving motor is directly connected to the rotating shaft of the photovoltaic component. The transmission connection can be through a threaded connection, a spline connection, or a flat key connection. As long as the structure can achieve the transmission of torque, it is within the protection scope of this application. Or the driving device may include a driving motor and a transmission mechanism, and the output shaft of the driving motor is connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is connected to the rotating shaft of the photovoltaic component. The above-mentioned transmission mechanism is a gear transmission mechanism or a worm gear transmission mechanism. As long as it can achieve the transmission of the torque output by the driving motor to the rotating shaft of the photovoltaic component, it is within the protection scope of this application.

[0080] Furthermore, the above-mentioned drive device has a built-in braking function, and the specific brake with a braking function is arranged on the drive motor or the transmission mechanism. When the required angle is reached, the brake is activated. The preferred drive motor of the present application has a built-in brake, wherein the brake is in a normally closed state, and when the drive motor is running, the brake is opened, and after the drive motor stops running, the brake is closed for braking.

[0081] In order to detect the driving angle of the driving device in real time, an angle sensor for detecting and feeding back the driving angle of the driving device may also be provided. The angle sensor may be used to detect the driving angle of the transmission mechanism and may also be used to detect the driving angle of the driving motor. Preferably, the driving angle of the driving motor detected by the angle sensor in the present application facilitates subsequent adjustment of the driving angle.

[0082] It should be noted that the photovoltaic assembly includes a photovoltaic bracket and a solar panel arranged on the photovoltaic bracket, and the rotation axis is arranged in the middle of the photovoltaic bracket or on one side of the photovoltaic bracket. When it is arranged in the middle of the photovoltaic bracket, the entire photovoltaic assembly rotates around the rotation axis located in the middle; when it is arranged on one side of the photovoltaic bracket, the entire photovoltaic assembly rotates around the rotation axis located on one side. Preferably, the rotation axis is arranged on one side of the photovoltaic bracket, and when a sloping roof is installed, the rotation axis is close to the top of the sloping roof, so that the sloping roof on the sunny side or the sloping roof on the shady side can adjust the optimal angle of the photovoltaic assembly as a whole, and there will be no situation where part of the photovoltaic assembly is at the optimal angle and the remaining part is not at the optimal angle, thereby further improving the utilization rate of the sloping roof.

[0083] S3. The driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle.

[0084] In this step, after the target driving angle is determined, the driving device can be operated according to the internally stored program. In order to improve the accuracy of the operation of the driving device, the present application may also include the following steps:

[0085] Obtaining an actual driving angle of the driving device; wherein the actual driving angle can be obtained based on an angle sensor, and can also be obtained based on the correspondence between the internally recorded running time and the driving angle. As long as the actual driving angle can be obtained, it is within the protection scope of the present application.

[0086] Compare the actual drive angle with the target drive angle. If the difference between the actual drive angle and the target drive angle is within the angle threshold, the drive device stops running; otherwise, the drive device continues to run. Since the angle sensor and the drive motor have a certain operating accuracy, if the difference between the actual drive angle and the target drive angle is within the angle threshold, it means that the photovoltaic module is at the optimal angle. The optimal angle of the photovoltaic module may have a certain deviation in different positions. As long as this deviation meets the general requirements, it can be understood that the optimal angle meets the requirements.

[0087] The control method of the tracking photovoltaic slope roof system of the present invention can make the photovoltaic components at the optimal angle in real time. Photovoltaic components can be arranged on both the shady side and the sunny side of the slope roof, thereby improving the light energy utilization rate of the slope roof.

[0088] In this application, one side of the photovoltaic module is rotatable. Therefore, the entire photovoltaic module needs to be set with a limit angle. When the limit angle is reached, it means that the photovoltaic module has rotated to the limit position. At this time, the photovoltaic module cannot continue to rotate. For safety and feasibility considerations, the control method also includes the following steps:

[0089] The position information of the photovoltaic module is obtained; the position information can be angle information or displacement information. The angle information can be obtained through an angle sensor or based on the corresponding relationship between the stored time and the driving angle; the displacement information can be obtained by setting a displacement measuring instrument or based on the corresponding relationship between the stored time and the displacement.

[0090] If the position information reaches the first limit position, the drive device stops running; otherwise, the drive device continues to run. The first limit position can be understood as the limit position when rotating in the first direction or the second direction. In the figure, when the photovoltaic component is on the sunny side, the first direction is counterclockwise, and when the photovoltaic component is on the shady side, the first direction is clockwise. Of course, the first direction and the second direction mentioned above can be interchangeable in different regions, which will not be repeated here.

[0091] Furthermore, if the position information reaches the second limit position, the drive device stops running; otherwise, the drive device continues to run. The second limit position can be understood as the limit position when rotating in the second direction or the first direction. In the figure, when the photovoltaic component is on the sunny side, the second direction is clockwise, and when the photovoltaic component is on the shady side, the first direction is counterclockwise. Of course, the first direction and the second direction mentioned above in different regions can be interchangeable, which will not be repeated here.

[0092] For safety reasons, the impact of meteorological information on the strength of photovoltaic modules will be fully considered at the beginning of the design of photovoltaic modules. Correspondingly, the drive device usually has a torque threshold. When the impact of meteorological information on the photovoltaic bracket reaches or exceeds the strength threshold of the photovoltaic module, the drive device will drive the photovoltaic module to reset to improve the photovoltaic module's ability to resist the strength generated by meteorological information.

[0093] Specifically, when the photovoltaic power generation is at the optimal angle, the control method further includes the following steps:

[0094] See also Figure 5 In order to optimize the above method, the method can also switch to different modes according to different working conditions. Specifically, the method can also include the following steps:

[0095] S41 obtains motor parameters and meteorological information; wherein, the meteorological information can be obtained through the Internet, or through terminal equipment, or by setting up a meteorological monitoring unit. The meteorological information can be radiation intensity, wind volume, wind direction, rainfall and snowfall. Correspondingly, different detection elements can be set for different meteorological information, such as an irradiation intensity sensor for detecting wind volume, an anemometer for detecting wind volume and wind direction, a rainfall sensor for detecting rainfall, and a snowfall sensor for detecting snowfall. The relevant equipment can directly adopt mature products, wherein the irradiation intensity sensor and rainfall / snowfall sensor are installed in the middle position of the top of the photovoltaic bracket, and the anemometer is installed in the main wind direction position on the top of the photovoltaic bracket.

[0096] Motor parameters may include parameters such as voltage, current, torque, etc., among which voltage, current and torque can be obtained by setting corresponding detection elements.

[0097] S42 classifies working conditions according to motor parameters and meteorological information; when motor parameters exceed the standard and meteorological parameters exceed the standard, the emergency avoidance mode is executed; when motor parameters are normal and meteorological parameters are normal, the normal tracking mode is executed; when motor parameters exceed the standard and meteorological parameters are normal, the automatic avoidance mode is executed.

[0098] When in emergency avoidance mode, it means that the PV module will be damaged if it continues to maintain the optimal angle. For safety reasons, the drive device stops tracking and drives the PV module to a safe state.

[0099] When in normal tracking mode, it means that the PV panels will not be damaged and the drive unit continues to track.

[0100] When in automatic risk avoidance mode, the system self-locks and generates electricity normally, and the drive device stops tracking.

[0101] See also Figure 6 When the system cannot generate electricity after sunset and the photovoltaic components need to be reset, the control method further includes the following steps:

[0102] S51 PV panels return to their original state;

[0103] S52 obtains motor parameters;

[0104] S53 drive angle returns to zero, the motor continues to be powered;

[0105] S54 determines whether the change of the motor parameter exceeds the motor parameter threshold; if so, the process ends; otherwise, the process proceeds to step S55;

[0106] The S55 photovoltaic module continues to return to its original position.

[0107] S56 drive angle is reset to zero.

[0108] The above is the method for zeroing the system. Of course, the system can also be reset manually or through a terminal device.

[0109] Further, in order to expand the control method of this control method, please refer to Figure 7 , the control method further comprises the following steps:

[0110] S61 receives an operation instruction of the terminal device; the above operation instruction may be an instruction to adjust the photovoltaic module to an optimal angle, or an instruction to adjust the photovoltaic module to a safe state, or an instruction to switch the photovoltaic module to a normal tracking mode, or an instruction to switch the photovoltaic module to an emergency avoidance mode, or an instruction to switch the photovoltaic module to an automatic avoidance mode, or an instruction to switch the photovoltaic module to zero, and the like.

[0111] S62 performs corresponding actions according to the operation instructions. Each actuator performs corresponding actions according to the above instructions. When the instruction is to adjust the photovoltaic assembly to the optimal angle, the control system performs the action of adjusting the optimal angle; when the instruction is to adjust the photovoltaic assembly to a safe state, the control system performs the action of adjusting to a safe state; when the instruction is to switch the photovoltaic assembly to a normal tracking mode, the control system performs the action of normal tracking; when the instruction is to switch the photovoltaic assembly to an emergency avoidance mode, the control system performs the action of the emergency avoidance mode; when the instruction is to switch the photovoltaic assembly to an automatic avoidance mode, the control system performs the action of the automatic avoidance mode; when the instruction is to switch the photovoltaic assembly to zero, the control system performs the action of zeroing.

[0112] The user can use the terminal device to interact with the server through the network to receive or send messages, etc. Various client applications can be installed on the terminal device.

[0113] The terminal device can be hardware or software. When the terminal device is hardware, it can be various electronic devices, including but not limited to smart phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, ultra-mobile personal computers (UMPC), netbooks, laptops, desktop computers and other electronic devices. When the terminal device is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules (for example, to provide distributed services), or it can be implemented as a single software or software module. The embodiments of the present application do not impose any restrictions on the specific type of electronic device.

[0114] The server may be a server that provides various services, such as a backend server that provides support for a terminal device. The backend server may respond to receiving an information acquisition request sent by a terminal device, analyze the request, etc., obtain a processing result (such as information to be pushed), and return the processing result.

[0115] It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0116] See also Figure 8 The present application discloses a tracking photovoltaic slope roof system, comprising: a photovoltaic module 100, a driving device 200, a supporting structure 300 and a control system 400, wherein:

[0117] The photovoltaic assembly 100 is used as all or part of the slope roof 700 and is rotatably arranged on the gable 500 through the support structure 300, and the driving device 200 can drive the photovoltaic assembly 100 to rotate;

[0118] The control system 400 obtains the incident angle of light at the current position and the current time; determines the optimal angle of the photovoltaic module 100 based on the correspondence between the incident angle of light and the irradiation intensity; obtains the target driving angle of the driving motor 201 in combination with the slope of the roof; and the driving device 200 operates according to the target driving angle to make the photovoltaic module 100 at the optimal angle.

[0119] It should be noted that the control system 400 obtains the current position and the current time, which can be obtained through the Internet, or according to the astronomical calendar algorithm, or manually set when the tracking photovoltaic slope roof system is installed. Figure 3 In some embodiments of the present application, the control system 400 may obtain the incident angle of the light at the current position and the current time according to the following steps:

[0120] S11, implanting an astronomical calendar, wherein the astronomical calendar is a conventional technology in this field.

[0121] S12, confirming the longitude and latitude. The longitude and latitude can be obtained online, or manually set when the tracking photovoltaic slope roof system is installed, specifically by measuring the longitude and latitude of the current location with a longitude and latitude measuring instrument and manually inputting them; or by setting a positioning instrument, which can obtain the longitude and latitude through satellite or online.

[0122] S13, obtaining the calculated light incident angle. After the current time and longitude and latitude are determined, the calculated light incident angle at the current position can be obtained by a conventional algorithm in the art.

[0123] S14, measuring the solar altitude angle and azimuth to obtain the incident angle of the measured light.

[0124] S15, comparing the difference between the calculated light incident angle and the measured light incident angle to see whether it is within the light incident angle threshold, if yes, executing step S16, otherwise, executing step S17.

[0125] S16, obtaining the incident angle of the light at the current position and the current time.

[0126] In some embodiments of the present application, the step further includes the following steps:

[0127] S17, obtaining the generated power. The generated power can be directly measured or calculated. The conventional method of obtaining the generated power by calculation is to obtain the voltage and current of the generated power to calculate the generated power. Of course, this method is only one method of obtaining the generated power. As long as the generated power can be calculated, it belongs to the protection scope of this application.

[0128] S18, determine whether the fluctuation of the generated power is normal, if it is normal, execute step S19; otherwise, the system self-locks.

[0129] S19, the sensor is blocked.

[0130] See also Figure 4The slope of the pitched roof is the angle between the roof and the horizontal plane. For example, when the pitched roof is on the sunny side, the slope is α, and the incident angle of light is β. In order to maximize the absorption of light radiation by the photovoltaic module 100, the solar panels of the photovoltaic module 100 are perpendicular to the incident direction of light. The optimal angle at which the photovoltaic module 100 set on the sunny pitched roof should be rotated from the roof is:

[0131] γ1=90°-(90°-α)-(90°-β)=α+β-90°

[0132] When the sloped roof is the shaded side, the optimal angle at which the photovoltaic module 100 should rotate from the roof is:

[0133] γ2=180°-(180°-2α+α+β-90°)=90° +α-β

[0134] And according to the final transmission coefficient and the arrangement angle, the target driving angle of the driving device 200 is obtained. For example, when the transmission coefficient is 1, when the driving end of the driving device 200 is coaxially arranged with the rotating shaft 101 of the photovoltaic module 100, the target driving angle of the driving device 200 is consistent with the optimal angle.

[0135] After the driving motors 201 on the sunny slope and the shady slope respectively adjust the photovoltaic brackets 102 according to the above angles, the photovoltaic components 100 on both sides will be at the optimal inclination angle.

[0136] The driving device 200 is arranged on one side or both sides of the photovoltaic module 100. There are many driving devices 200 that can realize the above-mentioned driving. For example, the driving device 200 may include a driving motor 201, and the output shaft of the driving motor 201 is directly connected to the rotating shaft 101 of the photovoltaic module 100 by transmission. The transmission connection can be through a threaded connection, a spline connection, or a flat key connection. As long as the structure that can achieve the transmission of torque is within the protection scope of this application. Or the driving device 200 may include a driving motor 201 and a transmission mechanism 202, the output shaft of the driving motor 201 is connected to the input end of the transmission mechanism 202 by transmission, and the output end of the transmission mechanism 202 is connected to the rotating shaft 101 of the photovoltaic module 100 by transmission. The above-mentioned transmission mechanism 202 is a gear transmission mechanism 202 or a worm gear transmission mechanism 202. As long as the torque output by the driving motor 201 can be transmitted to the rotating shaft 101 of the photovoltaic module 100, it is within the protection scope of this application. For example, when it is a gear transmission mechanism 202, it includes a driving gear 2021 and a driven gear 2022, wherein the output shaft of the drive motor 201 is fixed to the driving gear 2021, the driving gear 2021 is meshed with the driven gear 2022, and drives the driven gear 2022 to rotate, and the driven gear 2022 is fixed on the rotating shaft 101 of the photovoltaic component 100.

[0137] Furthermore, the driving device 200 has a built-in braking function, and a specific brake with a braking function is arranged on the driving motor 201 or the transmission mechanism 202. When the desired angle is reached, the brake is activated. The preferred driving motor 201 of the present application has a built-in brake, wherein the brake is in a normally closed state, and when the driving motor 201 is running, the brake is opened, and after the driving motor 201 stops running, the brake is closed for braking.

[0138] In order to detect the driving angle of the driving device 200 in real time, an angle sensor for detecting and feeding back the driving angle of the driving device 200 may also be provided. The angle sensor may be used to detect the driving angle of the transmission mechanism 202, and may also be used to detect the driving angle of the driving motor 201. Preferably, the driving angle of the driving motor 201 detected by the angle sensor in the present application is convenient for subsequent adjustment of the driving angle.

[0139] The control system 400 controls the driving device 200 to operate according to the target driving angle so that the photovoltaic module 100 is at the optimal angle. When the target driving angle is determined, the driving device 200 can operate according to the internally stored program. In order to improve the accuracy of the operation of the driving device 200, the control system 400 in the present application can also:

[0140] The actual driving angle of the driving device 200 is obtained; wherein, the actual driving angle can be obtained according to the angle sensor, and can also be obtained according to the correspondence between the internally recorded running time and the driving angle. As long as the actual driving angle can be obtained, it is within the protection scope of the present application.

[0141] Compare the actual drive angle with the target drive angle. If the difference between the actual drive angle and the target drive angle is within the angle threshold, the drive device 200 stops running; otherwise, the drive device 200 continues to run. Since the angle sensor and the drive motor 201 have a certain operating accuracy, if the difference between the actual drive angle and the target drive angle is within the angle threshold, it means that the photovoltaic module 100 is at the optimal angle. The optimal angle of the photovoltaic module 100 may have a certain deviation at different positions. As long as this deviation meets the general requirements, it can be understood that the optimal angle meets the requirements.

[0142] The tracking photovoltaic slope roof system of the present invention can make the photovoltaic components at the optimal angle in real time. The photovoltaic components 100 can be arranged on both the shady side and the sunny side of the slope roof, thereby improving the light energy utilization rate of the slope roof.

[0143] The photovoltaic assembly 100 includes a photovoltaic support 102 and a solar panel 103 arranged on the photovoltaic support 102, and the rotation axis 101 is arranged in the middle of the photovoltaic support 102 or on one side of the photovoltaic support 102. When it is arranged in the middle of the photovoltaic support 102, the entire photovoltaic assembly 100 rotates around the rotation axis 101 located in the middle; when it is arranged on one side of the photovoltaic support 102, the entire photovoltaic assembly 100 rotates around the rotation axis 101 located on one side. Preferably, the rotation axis 101 is arranged on one side of the photovoltaic support 102, and when the sloping roof is installed, the rotation axis 101 is close to the top of the sloping roof, so that the sloping roof on the sunny side or the sloping roof on the shady side can adjust the optimal angle of the photovoltaic assembly 100 as a whole, and there will be no situation where part of the photovoltaic assembly 100 is at the optimal angle and the remaining part is not at the optimal angle, thereby further improving the utilization rate of the sloping roof.

[0144] In the present application, one side of the photovoltaic assembly 100 is rotatable, so the entire photovoltaic assembly 100 needs to be set with a limit angle. When the limit angle is reached, it means that the photovoltaic assembly 100 has rotated to the limit position. At this time, the photovoltaic assembly 100 cannot continue to rotate. For safety and feasibility considerations, the control system 400 also includes a first position sensor, which obtains the position information of the photovoltaic assembly 100; the position information can be angle information or displacement information. The angle information can be obtained through an angle sensor, or based on the corresponding relationship between the stored time and the driving angle; the displacement information can be obtained by setting a displacement meter, or based on the corresponding relationship between the stored time and the displacement.

[0145] The control system 400 determines whether the position information has reached the first limit position. If the position information reaches the first limit position, the drive device 200 stops running; otherwise, the drive device 200 continues to run. The first limit position can be understood as the limit position when rotating in the first direction or the second direction. In the figure, when the photovoltaic component 100 is on the sunny side, the first direction is counterclockwise, and when the photovoltaic component 100 is on the shady side, the first direction is clockwise. Of course, the first direction and the second direction mentioned above in different regions can be interchangeable, which will not be repeated here.

[0146] The control system 400 also includes a second position sensor. If the position information reaches the second limit position, the drive device 200 stops running; otherwise, the drive device 200 continues to run. The second limit position can be understood as the limit position when rotating in the second direction or the first direction. In the figure, when the photovoltaic component 100 is on the sunny side, the second direction is clockwise, and when the photovoltaic component 100 is on the shady side, the first direction is counterclockwise. Of course, the first direction and the second direction mentioned above can be interchangeable in different regions, which will not be repeated here.

[0147] For safety reasons, the photovoltaic assembly 100 will fully consider the impact of meteorological information on the strength of the photovoltaic assembly 100 at the beginning of its design. Correspondingly, the driving device 200 usually has a torque threshold. When the impact of meteorological information on the photovoltaic bracket 102 reaches or exceeds the strength threshold of the photovoltaic assembly 100, the driving device 200 will drive the photovoltaic assembly 100 to reset, so as to improve the ability of the photovoltaic assembly 100 to resist the strength generated by the meteorological information.

[0148] Specifically, when the photovoltaic assembly 100 is at the optimal angle, the control system 400 also includes: a meteorological monitoring unit for collecting meteorological information. The meteorological information can be obtained through the Internet, or through a terminal device, or by setting a meteorological monitoring unit. The meteorological information can be radiation intensity, wind volume, wind direction, rainfall and snowfall. Different detection elements can be set for different meteorological information, such as an irradiation intensity sensor for detecting wind volume, an anemometer for detecting wind volume and wind direction, a rainfall sensor for detecting rainfall, and a snowfall sensor for detecting snowfall. The relevant equipment can directly adopt mature products, wherein the irradiation intensity sensor and the rainfall / snowfall sensor are installed in the middle position of the top of the photovoltaic bracket 102, and the anemometer is installed in the main wind direction position at the top of the photovoltaic bracket 102.

[0149] The control system 400 obtains motor parameters and meteorological information; wherein, the meteorological information can be obtained through the Internet, or through terminal equipment, or by setting a meteorological monitoring unit. The meteorological information can be radiation intensity, wind volume, wind direction, rainfall and snowfall. Correspondingly, different detection elements can be set for different meteorological information, such as an irradiation intensity sensor for detecting wind volume, an anemometer for detecting wind volume and wind direction, a rainfall sensor for detecting rainfall, and a snowfall sensor for detecting snowfall. The relevant equipment department can directly use mature products, wherein the irradiation intensity sensor and the rainfall / snowfall sensor are installed in the middle position of the top of the photovoltaic bracket 102, and the anemometer is installed in the main wind direction position at the top of the photovoltaic bracket 102. Motor parameters may include parameters such as voltage, current, torque, etc., wherein voltage, current and torque can be obtained by setting corresponding detection elements.

[0150] The control system 400 classifies working conditions according to motor parameters and meteorological information; when motor parameters exceed the standard and meteorological parameters exceed the standard, the emergency avoidance mode is executed; when motor parameters are normal and meteorological parameters are normal, the normal tracking mode is executed; when motor parameters exceed the standard and meteorological parameters are normal, the automatic avoidance mode is executed.

[0151] When the system cannot generate electricity after sunset and the photovoltaic assembly 100 needs to be reset, the control system 400 also includes: obtaining motor parameters; if the motor parameters are within the motor parameter threshold, then determining that the photovoltaic assembly 100 is reset to zero; otherwise, the driving device 200 drives the photovoltaic assembly 100 to continue to return to its original position, and the driving angle is memorized and reset to zero.

[0152] Further, in order to expand the control method of the system, the control system 400 also includes: an interaction unit for receiving an operation instruction of a terminal device; obtaining a target drive angle according to the operation instruction. Among them, a user can use a terminal device to interact with a server through a network to receive or send messages, etc. Various client applications can be installed on the terminal device. Receive an operation instruction of the terminal device; the above-mentioned operation instruction may be an instruction to adjust the photovoltaic component 100 to an optimal angle, or an instruction to adjust the photovoltaic component 100 to a safe state, or an instruction to switch the photovoltaic component 100 to a normal tracking mode, or an instruction to switch the photovoltaic component 100 to an emergency avoidance mode, or an instruction to switch the photovoltaic component 100 to an automatic avoidance mode, or an instruction to switch the photovoltaic component 100 to zero, and so on. The corresponding actions are specifically executed as follows: when the instruction is to adjust the photovoltaic component 100 to the optimal angle, the control system 400 executes the action of adjusting the optimal angle; when the instruction is to adjust the photovoltaic component 100 to a safe state, the control system 400 executes the action of adjusting to the safe state; when the instruction is to switch the photovoltaic component 100 to a normal tracking mode, the control system 400 executes the action of normal tracking; when the instruction is to switch the photovoltaic component 100 to an emergency avoidance mode, the control system 400 executes the action of the emergency avoidance mode; when the instruction is to switch the photovoltaic component 100 to an automatic avoidance mode, the control system 400 executes the action of the automatic avoidance mode; when the instruction is to switch the photovoltaic component 100 to zeroing, the control system 400 executes the action of zeroing.

[0153] The terminal device can be hardware or software. When the terminal device is hardware, it can be various electronic devices, including but not limited to smart phones, tablet computers, wearable devices, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, ultra-mobile personal computers (UMPC), netbooks, laptops, desktop computers and other electronic devices. When the terminal device is software, it can be installed in the electronic devices listed above. It can be implemented as multiple software or software modules (for example, to provide distributed services), or it can be implemented as a single software or software module. The embodiments of the present application do not impose any restrictions on the specific type of electronic device.

[0154] The server may be a server that provides various services, such as a backend server that provides support for a terminal device. The backend server may respond to receiving an information acquisition request sent by a terminal device, analyze the request, etc., obtain a processing result (such as information to be pushed), and return the processing result.

[0155] It should be noted that the server can be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster consisting of multiple servers, or it can be implemented as a single server. When the server is software, it can be implemented as multiple software or software modules (for example, used to provide distributed services), or it can be implemented as a single software or software module. No specific limitation is made here.

[0156] The function of the above-mentioned support structure 300 is to support the photovoltaic assembly 100 so as to realize the rotation of the photovoltaic assembly 100 relative to the sloping roof. As long as the structure can realize the support of the photovoltaic assembly 100, it is within the protection scope of this application. In this application, it is preferred to fix the support structure 300 on the outside of the gable 500 for easy installation. At the same time, since the gable 500 is the main load-bearing wall of the sloping roof, therefore, setting it on the outside of the gable 500 can improve the load-bearing strength of the support structure 300.

[0157] In order to improve the sealing performance of the system, some embodiments of the present application do not affect the sealing performance of the system under the premise of providing a better angle, and also include a sealing device 600, which is fixed between the photovoltaic module 100 and the gable 500, the roof and / or the front and rear walls, and isolates the indoor space from the outdoor space when the photovoltaic module is deployed. When the photovoltaic module 100 is the entire sloping roof 700, the sealing device 600 is arranged between the photovoltaic module 100 and the front and rear walls, and between the photovoltaic module and the gable 500. When the photovoltaic module 100 is part of the sloping roof 700, the sealing device can be arranged between the sealing device 600 and the gable 500, or between the sealing device 600 and the front and rear walls.

[0158] The sealing device 600 is detachably installed between the photovoltaic module and the gable 500, the roof and / or the front and rear walls through a zipper structure. The detachable connection through the zipper structure can ensure the sealing of the roof during the lifting stage of the photovoltaic module 100, and the model can be changed according to the season to ensure sealing and warmth in winter and ventilation and cooling in summer.

[0159] For example, the sealing device 600 is one or at least two of the breathable film, the heat-resistance film, the sand filter net and the mosquito-proof fly net, and has the functions of breathability / heat blocking, sand and dust filtering, mosquito-proof fly, etc., and has multiple models to adapt to temperature changes in different seasons, and its materials can be mature products on the market.

[0160] In some embodiments of the present application, the driving device 200 includes a driving motor 201 and a transmission mechanism 202, the output shaft of the driving motor 201 is transmission-connected to the input end of the transmission mechanism 202, and the output end of the transmission mechanism 202 is transmission-connected to the rotating shaft 101 of the photovoltaic module 100;

[0161] The rotation axis 101 is located at one side of the photovoltaic assembly 100 , and the photovoltaic assembly 100 is rotatably disposed on the support structure 300 via the rotation axis 101 .

[0162] In some embodiments of the present application, the drive motor 201 is equipped with a brake and an angle detection sensor, wherein the brake is in a normally closed state. When the drive motor 201 is running, the brake is opened, and after the drive motor 201 stops running, the brake is closed. The angle detection sensor is used to detect and feedback the driving angle of the drive motor 201.

[0163] In some embodiments of the present application, the driving device 200 is arranged on one side or both sides of the photovoltaic component 100 .

[0164] A driving gear 2021 and a driven gear 2022 , wherein the output shaft of the driving motor 201 is fixed to the driving gear 2021 , the driving gear 2021 is meshed with the driven gear 2022 , and drives the driven gear 2022 to rotate, and the driven gear 2022 is fixed on the rotating shaft 101 of the photovoltaic module 100 .

[0165] In some embodiments of the present application, the support structure 300 includes a vertical main beam 301 and a clamp plate 302 , and the fastener 303 passes through the clamp plate 302 , the gable 500 and the vertical main beam 301 in sequence to complete the fixing of the support structure 300 on the gable 500 .

[0166] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0167] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0168] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0169] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0170] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0171] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0172] Computer readable media include permanent and non-permanent, removable and non-removable media, and can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0173] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0174] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tracking photovoltaic slope roof system, characterized in that: include: Photovoltaic modules, drive units, support structures and control systems, including: The photovoltaic assembly serves as all or part of the sloped roof and is rotatably arranged on the gable through the support structure, and the driving device can drive the photovoltaic assembly to rotate; The control system obtains the incident angle of light at the current position and the current time; determines the optimal angle of the photovoltaic module based on the corresponding relationship between the incident angle of light and the irradiation intensity; obtains the target driving angle of the driving device in combination with the slope of the sloping roof; the driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle; the supporting structure is fixed on the outside of the gable; and also includes a sealing device, which is fixed between the photovoltaic module and the gable, the roof and / or the front and rear walls, and isolates the indoor space from the outdoor space when the photovoltaic module is unfolded; The driving device comprises a driving motor and a transmission mechanism, wherein the output shaft of the driving motor is drivingly connected to the input end of the transmission mechanism, and the output end of the transmission mechanism is drivingly connected to the rotating shaft of the photovoltaic module; The rotating shaft is located at one side of the photovoltaic assembly, and the photovoltaic assembly is rotatably arranged on the supporting structure through the rotating shaft; The drive motor is equipped with a brake and an angle detection sensor, wherein the brake is in a normally closed state. When the drive motor is running, the brake is opened, and after the drive motor stops running, the brake is closed. The angle detection sensor is used to detect and feedback the drive angle of the drive motor. The supporting structure includes a vertical main beam and a clamping plate, wherein the vertical main beam is located on the outside of the gable, and the clamping plate is located on the inside of the gable, and fasteners pass through the clamping plate, the gable and the vertical main beam in sequence to complete the fixing of the supporting structure on the gable.

2. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The sealing device is detachably installed between the photovoltaic assembly and the gable, the roof and / or the front and rear walls through a zipper structure.

3. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The sealing device is one or at least two of a breathable film, a heat-resistance film, a sand filter net and a mosquito and fly prevention net.

4. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The transmission mechanism is a gear transmission mechanism or a worm gear transmission mechanism.

5. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The driving device is arranged on one side or both sides of the photovoltaic component.

6. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The photovoltaic assembly comprises a photovoltaic support and a photovoltaic battery panel installed on the photovoltaic support.

7. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The control system comprises: a meteorological monitoring unit for collecting meteorological information, wherein the meteorological information comprises radiation intensity, wind volume, wind direction, rainfall and snowfall.

8. The tracking photovoltaic slope roof system according to claim 1, characterized in that: The control system includes an interaction unit, through which information interaction with a terminal device or a server can be performed.

9. A tracking photovoltaic slope roof system control method, characterized in that: Used to control the tracking photovoltaic slope roof system according to any one of claims 1 to 8, the control method comprises the following steps: Get the incident angle of the light at the current position and time; The optimal angle of the photovoltaic module is determined by the corresponding relationship between the incident angle of light and the irradiation intensity; the target driving angle of the driving device is obtained in combination with the slope of the sloping roof; The driving device operates according to the target driving angle to make the photovoltaic module at the optimal angle; Obtaining an actual driving angle of the driving device; Comparing the actual driving angle with the target driving angle, if the difference between the actual driving angle and the target driving angle is within the angle threshold, the driving device stops running; otherwise, the driving device continues running; Obtain location information of photovoltaic modules; If the position information reaches the first limit position, the driving device stops running; otherwise, the driving device continues to run; Obtain motor parameters and meteorological information; Classify the working conditions according to motor parameters and meteorological information; when the motor parameters exceed the standard and the meteorological parameters exceed the standard, execute the emergency avoidance mode; when the motor parameters are normal and the meteorological parameters are normal, execute the normal tracking mode; when the motor parameters exceed the standard and the meteorological parameters are normal, execute the automatic avoidance mode; Get motor parameters; If the motor parameters are within the motor parameter threshold, the PV module is judged to be reset to zero; otherwise, the driving device drives the PV module to continue to return to its original position, and the driving angle is memorized and reset to zero.

10. The control method according to claim 9, characterized in that: The following steps are also included: Receiving operation instructions from terminal equipment; Execute corresponding actions according to the operation instructions.

11. The control method according to claim 10, characterized in that: The current time and current position are obtained through networking or by an astronomical calendar algorithm.

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