An intelligent light-chasing system based on stepper motor pan-tilt

Abstract

The invention discloses an intelligent light-chasing system based on a stepper motor pan-tilt, comprising a bottom bracket, a horizontal stepper motor, a horizontal rotating bracket, a vertical stepper motor, a vertical rotating bracket, a light-chasing module and a control module; the light-chasing module comprises a light-chasing body and a light intensity sensor; the light-chasing body is fixed on the top of the vertical rotating bracket; a square blind hole is arranged on the top of the light-chasing body, and a group of light intensity sensors are arranged on the four inner walls of the square blind hole; the control module obtains the light intensity data of the four groups of light intensity sensors; when the light intensity data of the four groups of light intensity sensors differ by more than a preset start threshold, it is determined that the light is obliquely irradiated into the square blind hole of the light-chasing body at this time, and the horizontal stepper motor and / or the vertical stepper motor are controlled to rotate until the light intensity data of the four groups of light intensity sensors differ by no more than the preset start threshold. The invention can accurately make the light source irradiate the solar power generation panel vertically, and can greatly improve the utilization rate of solar energy.

Description

Technical Field

[0001] The present invention relates to the field of intelligent light-chasing systems, and in particular to an intelligent light-chasing system based on a stepping motor pan-tilt platform. Background Art

[0002] In the prior art, the actual application of the light-chasing system is to use only a photoresistor light-chasing module or only a sun-viewing tracking module. This light-chasing system is difficult to achieve accurate light-chasing; the other is to use a photoresistor light-chasing module in combination with a sun-viewing tracking module. Although this light-chasing system can achieve relatively accurate light-chasing, it is more troublesome and complicated to implement, inconvenient to install and disassemble, and very expensive. Therefore, it is imperative to develop a simple, convenient, accurate, and low-cost light-chasing system.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent light-chasing system based on a stepper motor pan-tilt to solve the above-mentioned technical problems existing in the prior art. The present invention can accurately adjust the position of the pan-tilt in real time so that the light source can vertically illuminate the solar panel, which can greatly improve the utilization rate of solar energy, and has a simple structure, low cost, easy installation and disassembly, fast response speed during operation, accurate positioning of the light source, and can achieve low power consumption.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] An intelligent light-chasing system based on a stepper motor pan-tilt includes a bottom bracket, a horizontal stepper motor, a horizontal rotation bracket, a vertical stepper motor, a vertical rotation bracket, a light-chasing module and a control module;

[0007] The horizontal stepper motor is installed on the bottom bracket, the rotating shaft of the horizontal stepper motor is connected to the bottom of the horizontal rotating bracket, the vertical stepper motor is installed on the side of the horizontal rotating bracket, and the rotating shaft of the vertical stepper motor is connected to the vertical rotating bracket; the control module includes a horizontal stepper motor driving module and a vertical stepper motor driving module, and the horizontal stepper motor is controlled to work by the horizontal stepper motor driving module, and the vertical stepper motor is controlled to work by the vertical stepper motor driving module;

[0008] The light-chasing module includes a light-chasing body and a light intensity sensor; the light-chasing body is fixed on the top of the vertically rotating bracket; a square blind hole is provided on the top of the light-chasing body, and a group of light intensity sensors are respectively provided on the four side walls of the square blind hole, and the four groups of light intensity sensors are all electrically connected to the control module;

[0009] The control module obtains light intensity data of the four groups of light intensity sensors; when the difference between the light intensity data of the four groups of light intensity sensors is less than or equal to a preset starting threshold, it is determined that the light is vertically irradiated into the square blind hole of the light chasing body, and the control module controls the horizontal stepper motor and the vertical stepper motor to stop rotating; when the difference between the light intensity data of the four groups of light intensity sensors is greater than the preset starting threshold, it is determined that the light is obliquely irradiated into the square blind hole of the light chasing body, and the control module controls the horizontal stepper motor and / or the vertical stepper motor to rotate, and adjusts the angle of the horizontal rotating bracket and / or the vertical rotating bracket until the difference between the light intensity data of the four groups of light intensity sensors is less than or equal to the preset starting threshold, and the control module controls the horizontal stepper motor and the vertical stepper motor to stop rotating.

[0010] Preferably, only the top opening of the square blind hole on the light-chasing body allows light to enter, and the rest of the parts do not allow light to enter.

[0011] Preferably, the control module also includes a data acquisition module and a data processing module; the data processing module obtains the light intensity data of the four groups of light intensity sensors through the data acquisition module, and processes the light intensity data of the four groups of light intensity sensors, and at the same time, the data processing module controls the operation of the horizontal stepper motor through the horizontal stepper motor drive module, and controls the operation of the vertical stepper motor through the vertical stepper motor drive module.

[0012] Preferably, the control module adopts FPGA.

[0013] Preferably, the light-chasing body is a semi-enclosed box with an open top.

[0014] Compared with the prior art, the present invention adopts a bottom bracket, a horizontal stepper motor, a horizontal rotation bracket, a vertical stepper motor, and a vertical rotation bracket to form the main structure of the stepper motor pan-tilt, and a light-chasing body with a square blind hole on the top is fixed on the top of the vertical rotation bracket, and each of the four side walls of the square blind hole is provided with a group of light intensity sensors. It is only necessary to judge whether the difference in light intensity data of the four groups of light intensity sensors is greater than a preset starting threshold value to determine whether the light is vertically incident into the square blind hole of the light-chasing body. When the light is not vertically incident into the square blind hole of the light-chasing body, the stepper motor pan-tilt can be controlled to quickly and accurately adjust the angle of the light incident into the square blind hole of the light-chasing body until the light is vertically incident into the square blind hole of the light-chasing body. In the square blind hole, when the intelligent light-chasing system based on the stepper motor pan-tilt provided by the present invention is actually applied, the solar panel only needs to be installed perpendicular to the side wall of the square blind hole. By judging whether the light is vertically incident into the square blind hole of the light-chasing body, it can be determined whether the light source vertically irradiates the solar panel, and the stepper motor pan-tilt can be quickly and accurately adjusted to make the light source vertically irradiate the solar panel for a long time. Therefore, the present invention can accurately adjust the position of the pan-tilt in real time so that the light source can vertically irradiate the solar panel, which can greatly improve the utilization rate of solar energy, and has a simple structure, low cost, easy installation and disassembly, fast response speed during operation, accurate positioning of the light source, and low power consumption operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0016] Figure 1 A schematic structural diagram of an intelligent light-chasing system based on a stepper motor pan-tilt provided in an embodiment of the present invention.

[0017] Figure 2 A schematic structural diagram of a stepper motor pan / tilt provided in an embodiment of the present invention.

[0018] Figure 3 A schematic diagram of the structure of a light-chasing module provided in an embodiment of the present invention.

[0019] Figure 4 A schematic diagram of the principle of applying light to a light-chasing module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, not all of the embodiments, which does not constitute a limitation of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] First, the terms that may be used in this article are explained as follows:

[0022] The term “and / or” means that either or both of them can be realized at the same time. For example, X and / or Y means both “X” or “Y” and “X and Y”.

[0023] The terms "include", "comprises", "contains", "has" or other descriptions with similar semantics should be interpreted as non-exclusive inclusion. For example, including certain technical feature elements (such as raw materials, components, ingredients, carriers, dosage forms, materials, dimensions, parts, components, mechanisms, devices, steps, procedures, methods, reaction conditions, processing conditions, parameters, algorithms, signals, data, products or products, etc.) should be interpreted as including not only certain technical feature elements explicitly listed, but also other technical feature elements known in the art that are not explicitly listed.

[0024] Unless otherwise specified or limited, the term "installation" should be understood in a broad sense, for example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this article can be understood according to specific circumstances.

[0025] The orientation or position relationship indicated by terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the drawings and are only for the convenience and simplification of description, and do not explicitly or implicitly indicate that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation of this document.

[0026] The following is a detailed description of the intelligent light-chasing system based on a stepper motor pan-tilt provided by the present invention. The contents not described in detail in the embodiments of the present invention belong to the prior art known to professional and technical personnel in the field. If no specific conditions are specified in the embodiments of the present invention, the conventional conditions in the field or the conditions recommended by the manufacturer are followed. The reagents or instruments used in the embodiments of the present invention, if the manufacturer is not specified, are all conventional products that can be purchased commercially.

[0027] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention provides an intelligent light chasing system based on a stepper motor pan-tilt, and its structure includes a bottom bracket 1, a horizontal stepper motor 2, a horizontal rotation bracket 3, a vertical stepper motor 4, a vertical rotation bracket 5, a light chasing module and a control module.

[0028] The horizontal stepper motor 2 is installed in the middle of the bottom bracket 1, and the rotating shaft of the horizontal stepper motor 2 is connected to the bottom of the horizontal rotating bracket 3. The vertical stepper motor 4 is installed on the side of the horizontal rotating bracket 3, and the rotating shaft of the vertical stepper motor 4 is connected to the vertical rotating bracket 5, thereby forming the following Figure 2 The stepper motor pan / tilt shown.

[0029] The light-chasing module includes a light-chasing body 6 and a light intensity sensor 7; the light-chasing body 6 is fixed to the top 51 of the vertical rotating bracket 5; a square blind hole 61 is provided on the top of the light-chasing body 6, and a group of light intensity sensors 7 are respectively provided on the four side walls of the square blind hole 61 (the four groups of light intensity sensors 7 are respectively the first group of light intensity sensors 7-1, the second group of light intensity sensors 7-2, the third group of light intensity sensors 7-3, and the fourth group of light intensity sensors 7-4), and the four groups of light intensity sensors 7 are electrically connected to the control module.

[0030] The control module includes a data acquisition module, a data processing module, a horizontal stepper motor drive module and a vertical stepper motor drive module. The data processing module obtains the light intensity data of the four groups of light intensity sensors 7 through the data acquisition module and processes the light intensity data of the four groups of light intensity sensors 7. At the same time, the data processing module controls the operation of the horizontal stepper motor 2 through the horizontal stepper motor drive module and controls the operation of the vertical stepper motor 4 through the vertical stepper motor drive module.

[0031] The control module obtains the light intensity data of the four groups of light intensity sensors 7; when the difference between the light intensity data of the four groups of light intensity sensors 7 is less than or equal to the preset starting threshold, it is determined that the light is vertically irradiated into the square blind hole 61 of the light chasing body 6, and the control module controls the horizontal stepper motor 2 and the vertical stepper motor 4 to stop rotating; when the difference between the light intensity data of the four groups of light intensity sensors 7 is greater than the preset starting threshold, it is determined that the light is obliquely irradiated into the square blind hole 61 of the light chasing body 6, and the control module controls the horizontal stepper motor 2 and / or the vertical stepper motor 4 to rotate, and adjusts the angle of the horizontal rotating bracket 3 and / or the vertical rotating bracket 5 until the difference between the light intensity data of the four groups of light intensity sensors 7 is less than or equal to the preset starting threshold, and the control module controls the horizontal stepper motor 2 and the vertical stepper motor 4 to stop rotating.

[0032] Specifically, the intelligent light-chasing system based on the stepper motor pan-tilt may include the following implementation schemes:

[0033] (1) The light-chasing body 6 is designed according to the principle of light and shadow as follows Figure 3 Only the top opening of the square blind hole 61 on the light-chasing body 6 allows light to enter, and the rest of the parts do not allow light to enter. This ensures that light can only enter the square blind hole 61 through the top opening of the square blind hole 61, effectively preventing light from entering other parts from interfering with the light intensity sensor 7 and affecting the accuracy of judging the incident direction of light. In practical applications, the light-chasing body 6 can be made of an opaque material as a whole, or the outer surface of the light-chasing body 6 can be covered with an opaque material, or the four inner walls and the bottom of the square blind hole 61 of the light-chasing body 6 can be covered with an opaque material, so as to ensure that only the top opening of the square blind hole 61 on the light-chasing body 6 allows light to enter, and the rest of the light-chasing body 6 does not allow light to enter; in order to reduce the overall weight of the light-chasing module, the light-chasing body 6 is preferably made of a lightweight material to facilitate the carrying, installation and disassembly of the light-chasing module; in order to save the cost of the light-chasing module, the light-chasing body 6 is preferably made of opaque plastic; for example: the light-chasing body 6 can be a semi-enclosed box with an opening on the top made of opaque plastic, the top opening of the semi-enclosed box is the top opening of the square blind hole 61, and a group of light intensity sensors 7 are respectively provided on the four inner walls of the semi-enclosed box.

[0034] (2) The control module is made of FPGA in the prior art.

[0035] (3) When the light is incident obliquely into the square blind hole 61 of the light chasing body 6, the light intensity data of the light intensity sensors 7 disposed on the two opposite side walls of the square blind hole 61 differ more obviously. Therefore, among the four groups of light intensity sensors 7, the light intensity sensors 7 disposed on the two opposite side walls of the square blind hole 61 can be used as a comparison group. Then, the four groups of light intensity sensors 7 can be divided into two comparison groups. The control module can preferentially compare whether the light intensity data difference of the light intensity sensors 7 in one comparison group is greater than a preset start threshold value, so as to more quickly determine whether the light is incident vertically into the square blind hole 61 of the light chasing body 6, and further determine whether the motor needs to be adjusted.

[0036] (4) Each group of light intensity sensors 7 is installed at the same position on the four side walls of the square blind hole 61. Each group of light intensity sensors 7 can use one light intensity sensor 7 in the prior art, or can use two or more light intensity sensors 7 in the prior art. The number of light intensity sensors 7 in the four groups of light intensity sensors 7 is the same.

[0037] (5) In order to reduce the overall weight of the intelligent light-chasing system based on the stepper motor gimbal, the bottom bracket 1, the horizontal stepper motor 2, the horizontal rotation bracket 3, the vertical stepper motor 4, the vertical rotation bracket 5 and the light-chasing body 6 are preferably made of lightweight materials to facilitate the carrying, installation and disassembly of these components.

[0038] Furthermore, if Figure 1 and Figure 4As shown, the working principle of the intelligent light chasing system based on the stepper motor pan-tilt provided by the present invention is: when the light 8 is vertically incident into the square blind hole 61 through the top opening of the square blind hole 61 of the light chasing body 6, the illumination obtained by the four groups of light intensity sensors 7 arranged on the four side walls of the square blind hole 61 should be the same, and the light intensity data collected by the four groups of light intensity sensors 7 are the same or similar (not greater than the preset starting threshold value), and when the light 8 is obliquely incident into the square blind hole 61 through the top opening of the square blind hole 61 of the light chasing body 6 When the light 8 is incident into the square blind hole 61, the illumination obtained by the four groups of light intensity sensors 7 on the four side walls of the square blind hole 61 is different. The greater the inclination angle of the light 8 entering the square blind hole 61, the greater the difference in illumination obtained by the four groups of light intensity sensors 7, and the greater the difference in light intensity data collected by the four groups of light intensity sensors 7. Therefore, it is only necessary to determine whether the difference in light intensity data of the four groups of light intensity sensors 7 is greater than a preset start threshold to determine whether the light 8 is vertically incident into the square blind hole 61 of the light chasing body 6; when the light of the four groups of light intensity sensors 7 is greater than a preset start threshold, the light intensity of the four groups of light intensity sensors 7 is greater than a preset start threshold. When the difference in the intensity data is less than or equal to the preset start threshold, it is determined that the light 8 is vertically irradiated into the square blind hole 61 of the light chasing body 6 (that is, the top opening of the square blind hole 61 is facing the light source). At this time, there is no need to adjust the angle of the light chasing body 6, and the horizontal stepper motor 2 and the vertical stepper motor 4 stop rotating; when the difference in the light intensity data of the four groups of light intensity sensors 7 is greater than the preset start threshold, it is determined that the light 8 is obliquely irradiated into the square blind hole 61 of the light chasing body 6 (that is, the top opening of the square blind hole 61 is not facing the light source). When the angle of the light chasing body 6 needs to be adjusted, the horizontal stepper motor 2 and the vertical stepper motor 4 are controlled to drive the rotation of the horizontal rotating bracket 3 and the vertical rotating bracket 5, so that the angle of the light chasing body 6 can be adjusted until the difference in the light intensity data of the four groups of light intensity sensors 7 is less than or equal to the preset start threshold value, indicating that the light 8 is vertically irradiated into the square blind hole 61 of the light chasing body 6 (that is, the top opening of the square blind hole 61 is facing the light source), and there is no need to adjust the angle of the light chasing body 6, and the horizontal stepper motor 2 and the vertical stepper motor 4 stop rotating. When the intelligent light chasing system based on the stepper motor pan-tilt provided by the present invention is applied to solar street lights, the solar power generation panel needs to be installed perpendicular to the side wall of the square blind hole 61. As long as the top opening of the square blind hole 61 is facing the light source, the light source is vertically irradiated to the solar power generation panel, which can greatly improve the utilization rate of solar energy. For example, the solar power generation panel can be installed at the bottom of the square blind hole 61, can be installed around the light chasing body 6, can be installed on the top 51 of the vertical rotating bracket 5 and extend to the outside of the coverage area of ​​the light chasing body 6. In practical applications, the intelligent light-chasing system based on the stepper motor pan-tilt provided by the present invention can be used to conduct light incident angle detection experiments and solar energy utilization experiments at the construction site in advance. By adjusting the light-chasing frequency of the horizontal stepper motor 2 and the vertical stepper motor 4 and adjusting the preset starting threshold, the utilization rate of solar energy can be adjusted to achieve low power consumption operation.

[0039] Compared with the prior art, the intelligent light-chasing system based on the stepping motor pan-tilt of the present invention has at least the following advantages:

[0040] (1) In the present invention, it is only necessary to determine whether the difference in light intensity data of the four groups of light intensity sensors 7 arranged on the four side walls of the square blind hole 61 is greater than a preset start threshold value to determine whether the light 8 is vertically incident into the square blind hole 61 of the light chasing body 6 (i.e., whether the top opening of the square blind hole 61 is facing the light source). Therefore, when the intelligent light chasing system based on the stepper motor pan-tilt provided by the present invention is applied to a solar street light, the solar power generation panel only needs to be installed vertically to the side wall of the square blind hole 61. It is possible to determine whether the light source is vertically irradiating the solar power generation panel by determining whether the top opening of the square blind hole 61 is facing the light source. When the top opening of the square blind hole 61 is not facing the light source, the angle of the light chasing body 6 can be accurately adjusted by controlling the rotation of the horizontal stepper motor 2 and / or the vertical stepper motor 4 in the stepper motor pan-tilt so that the top opening of the square blind hole 61 is adjusted to face the light source. This can greatly improve the utilization rate of solar energy and make solar energy more fully utilized.

[0041] (2) The present invention adopts a bottom bracket 1, a horizontal stepping motor 2, a horizontal rotating bracket 3, a vertical stepping motor 4, and a vertical rotating bracket 5 to form a Figure 2 The stepper motor pan-tilt shown in the figure has a high rotation accuracy and excellent start-stop and reversal response. Its rotation speed is adjustable and has high torque at low speed, which can load heavier solar panels or other equipment. At the same time, the light chasing system is generally exposed to the sun and has a very high operating temperature, while the stepper motor is not affected by the temperature and can work normally at 80-90°C. Therefore, the intelligent light chasing system based on the stepper motor pan-tilt provided by the present invention can work normally at 80-90°C outdoors. In addition, the stepper motor pan-tilt can work in a scene where the light source is tracked in real time, so that the intelligent light chasing system based on the stepper motor pan-tilt provided by the present invention can track the light source very accurately. When the solar panel is extended and installed on the top 51 of the vertical rotating bracket 5, the solar panel only needs to be perpendicular to the side wall of the square blind hole 61, and the solar panel can be perpendicular to the sunlight in real time, so that the solar energy can be fully utilized.

[0042] (3) The intelligent light-chasing system based on the stepper motor pan-tilt provided by the present invention operates at low voltage and low power consumption, has a fast response speed, and accurately positions the light source. It will not have inaccurate positioning, frequent jitter, and the like, and can find the direction with the highest illumination even in the shadows.

[0043] (4) The intelligent light chasing system based on the stepper motor gimbal provided by the present invention can adopt a real-time light chasing mode, or a light chasing mode at regular intervals (for example, light chasing every few minutes). If it is set to chase the light every few minutes, the power consumption can be reduced. The present invention can be applied to many scenarios with different requirements such as low power consumption.

[0044] (5) The light-chasing module of the present invention is designed to be easily disassembled. When the intelligent light-chasing system is not in use, the light-chasing module can be removed to avoid unnecessary loss. When it needs to be installed on other equipment, it can be installed quickly and conveniently.

[0045] In summary, it can be seen that the embodiment of the present invention can accurately adjust the position of the pan-tilt head in real time so that the light source can vertically illuminate the solar panel, which can greatly improve the utilization rate of solar energy. It also has a simple structure, low cost, easy installation and disassembly, fast response speed during operation, accurate light source positioning, and can achieve low power consumption operation.

[0046] In order to more clearly demonstrate the technical solution and technical effects provided by the present invention, the intelligent light chasing system based on the stepping motor pan-tilt provided by the embodiment of the present invention is described in detail with reference to a specific embodiment below.

[0047] Example 1

[0048] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an intelligent light-chasing system based on a stepper motor pan-tilt head includes a bottom bracket 1, a horizontal stepper motor 2, a horizontal rotation bracket 3, a vertical stepper motor 4, a vertical rotation bracket 5, a light-chasing module and a control module.

[0049] The horizontal stepper motor 2 is installed in the middle of the bottom bracket 1, and the rotating shaft of the horizontal stepper motor 2 is connected to the bottom of the horizontal rotating bracket 3. The vertical stepper motor 4 is installed on the side of the horizontal rotating bracket 3, and the rotating shaft of the vertical stepper motor 4 is connected to the vertical rotating bracket 5, thereby forming the following Figure 2 The stepper motor pan / tilt shown.

[0050] The light-chasing module includes a light-chasing body 6 and a light intensity sensor 7; the light-chasing body 6 is fixed to the top 51 of the vertical rotating bracket 5; a square blind hole 61 is provided on the top of the light-chasing body 6, and a light intensity sensor 7 is provided in the middle part of each of the four side walls of the square blind hole 61 (the four light intensity sensors 7 are respectively the first light intensity sensor 7-1, the second light intensity sensor 7-2, the third light intensity sensor 7-3, and the fourth light intensity sensor 7-4), and the four light intensity sensors 7 are electrically connected to the control module through wires.

[0051] The control module includes a data acquisition module, a data processing module, a horizontal stepper motor drive module and a vertical stepper motor drive module. The data processing module obtains the light intensity data of the four light intensity sensors 7 through the data acquisition module and processes the light intensity data of the four light intensity sensors 7. At the same time, the data processing module controls the operation of the horizontal stepper motor 2 through the horizontal stepper motor drive module and controls the operation of the vertical stepper motor 4 through the vertical stepper motor drive module.

[0052] The control module obtains the light intensity data of the four light intensity sensors 7; when the light intensity data of the four light intensity sensors 7 differ by less than or equal to a preset start threshold, it is determined that the light is vertically irradiated into the square blind hole 61 of the light chasing body 6, and the control module controls the horizontal stepper motor 2 and the vertical stepper motor 4 to stop rotating; when the light intensity data of the four light intensity sensors 7 differ by more than the preset start threshold, it is determined that the light is obliquely irradiated into the square blind hole 61 of the light chasing body 6, and the control module controls the horizontal stepper motor 2 and / or the vertical stepper motor 4 to rotate, and adjusts the angle of the horizontal rotating bracket 3 and / or the vertical rotating bracket 5, until the light intensity data of the four light intensity sensors 7 differ by less than or equal to the preset start threshold, and the control module controls the horizontal stepper motor 2 and the vertical stepper motor 4 to stop rotating.

[0053] Specifically, the intelligent light-chasing system based on the stepper motor pan-tilt includes the following implementation schemes:

[0054] (1) The light-chasing body 6 is designed according to the principle of light and shadow as follows Figure 3 The shape is shown and is made of opaque lightweight plastic; the bottom of the square blind hole 61 of the light-chasing body 6 is the bottom plate of the light-chasing body 6; the entire light-chasing module has the advantages of easy installation and detachability, can work in complex outdoor environments, and can also be replaced for use with other equipment.

[0055] (2) The control module is made of FPGA in the prior art. The four light intensity sensors 7 of the light chasing module can lead out the pins vcc, gnd, add1, scl1, sda1, add2, scl2, sda2, add3, scl3, sda3, add4, scl4, and sda4 at the bottom of the light chasing body 6. These pins are connected to the corresponding pins of the FPGA as the control module through wires. The light intensity data collected by the four light intensity sensors 7 of the light chasing module will be transmitted to the FPGA using the 2C communication protocol. The data processing module of the FPGA processes the light intensity data of the four light intensity sensors 7. After the processing, it will output a motor control signal to the horizontal stepper motor driving module and / or the vertical stepper motor driving module. After receiving the motor control signal, the horizontal stepper motor driving module will output a corresponding pulse signal to control the horizontal stepper motor 2 to rotate or stop rotating. After receiving the motor control signal, the vertical stepper motor driving module will output a corresponding pulse signal to control the vertical stepper motor 4 to rotate or stop rotating.

[0056] Furthermore, the intelligent light-chasing system based on the stepper motor pan-tilt provided in Example 1 of the present invention is applied to a solar street light, and the solar panel is installed on the top 51 of the vertical rotating bracket 5 perpendicular to the side wall of the square blind hole 61. It can be determined whether the light source is vertically irradiating the solar panel by judging whether the top opening of the square blind hole 61 is facing the light source; when the light 8 is Figure 4 As shown, when the light 8 is incident obliquely into the square blind hole 61 of the light chasing body 6, affected by the position of the light intensity sensor 7, the light intensity data of the first light intensity sensor 7-1 will be much higher than the light intensity data of the second light intensity sensor 7-2. At this time, the control module collects the light intensity data of the first light intensity sensor 7-1 and the second light intensity sensor 7-2, and the data processing module in the control module calculates that the absolute value of the difference between the two data is greater than the preset starting threshold, and outputs a motor control signal to the horizontal stepper motor driving module and / or the vertical stepper motor driving module to control the horizontal stepper motor 2 and / or the vertical stepper motor 4 to adjust until the difference between the light intensity data of the four light intensity sensors 7 is no greater than the preset starting threshold, indicating that the light 8 has been vertically incident into the square blind hole 61 of the light chasing body 6, that is, the light source vertically illuminates the solar power generation panel, and the horizontal stepper motor 2 and the vertical stepper motor 4 are controlled to stop rotating, which can greatly improve the utilization rate of solar energy and make solar energy more fully utilized.

[0057] In summary, it can be seen that the embodiment of the present invention can accurately adjust the position of the pan-tilt head in real time so that the light source can vertically illuminate the solar panel, which can greatly improve the utilization rate of solar energy. It also has a simple structure, low cost, easy installation and disassembly, fast response speed during operation, accurate light source positioning, and can achieve low power consumption operation.

[0058] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims. The information disclosed in the background technology section of this article is only intended to deepen the understanding of the overall background technology of the present invention, and should not be regarded as an admission or in any form that the information constitutes prior art known to those skilled in the art.

Claims

1. An intelligent light-chasing system based on a stepper motor pan-tilt head, characterized in that: It includes a bottom bracket, a horizontal stepping motor, a horizontal rotating bracket, a vertical stepping motor, a vertical rotating bracket, a light chasing module and a control module; The horizontal stepper motor is installed on the bottom bracket, the rotating shaft of the horizontal stepper motor is connected to the bottom of the horizontal rotating bracket, the vertical stepper motor is installed on the side of the horizontal rotating bracket, and the rotating shaft of the vertical stepper motor is connected to the vertical rotating bracket; the control module includes a horizontal stepper motor driving module and a vertical stepper motor driving module, and the horizontal stepper motor is controlled to work by the horizontal stepper motor driving module, and the vertical stepper motor is controlled to work by the vertical stepper motor driving module; The light-chasing module includes a light-chasing body and a light intensity sensor; the light-chasing body is fixed on the top of the vertically rotating bracket; a square blind hole is provided on the top of the light-chasing body, and a group of light intensity sensors are provided on each of the four side walls of the square blind hole, and the four groups of light intensity sensors are electrically connected to the control module; only the top opening of the square blind hole on the light-chasing body allows light to enter, and the rest of the parts do not allow light to enter; The control module acquires the light intensity data of the four groups of light intensity sensors; when the difference between the light intensity data of the four groups of light intensity sensors is less than or equal to a preset start threshold, it is determined that the light is vertically irradiated into the square blind hole of the light chasing body at this time, and the control module controls the horizontal stepper motor and the vertical stepper motor to stop rotating; when the difference between the light intensity data of the four groups of light intensity sensors is greater than the preset start threshold, it is determined that the light is obliquely irradiated into the square blind hole of the light chasing body at this time, and the control module controls the horizontal stepper motor and / or the vertical stepper motor to rotate, and adjusts the angle of the horizontal rotating bracket and / or the vertical rotating bracket until the difference between the light intensity data of the four groups of light intensity sensors is less than or equal to the preset start threshold, and the control module controls the horizontal stepper motor and the vertical stepper motor to stop rotating; The light intensity sensors arranged on the two opposite side walls of the square blind hole are taken as a comparison group, and the four groups of light intensity sensors are divided into two comparison groups. The control module preferentially compares whether the difference in light intensity data of the light intensity sensors in one comparison group is greater than a preset starting threshold value, so as to determine whether the light is vertically incident into the square blind hole of the light chasing body, and then determine whether the motor needs to be adjusted.

2. The intelligent light-chasing system based on a stepper motor pan-tilt head according to claim 1, characterized in that: The control module also includes a data acquisition module and a data processing module; the data processing module obtains the light intensity data of the four groups of light intensity sensors through the data acquisition module, and processes the light intensity data of the four groups of light intensity sensors. At the same time, the data processing module controls the operation of the horizontal stepper motor through the horizontal stepper motor drive module, and controls the operation of the vertical stepper motor through the vertical stepper motor drive module.

3. The intelligent light-chasing system based on a stepper motor pan-tilt head according to claim 1 or 2, characterized in that: The control module adopts FPGA.

4. The intelligent light-chasing system based on a stepper motor pan-tilt head according to claim 1 or 2, characterized in that: The light-chasing body is a semi-enclosed box with an opening at the top.

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