A smart tracking bracket system and its adjustment method

Abstract

This invention relates to an intelligent tracking support system and its adjustment method. The system includes several supports and motors. Each support is equipped with a full-function controller (for individual use) or a sub-controller (for cluster use). Multiple sub-controllers are connected to a main controller via a bus. The main controller includes a main control microcontroller system, a GPS / BeiDou module, and a data transceiver module A. Each sub-controller includes a sub-control microcontroller system, a data transceiver module B, a motor drive signal output circuit, and a visible light precision pointing sensor. The main control microcontroller system obtains positioning information and calculates the current position through the GPS / BeiDou module, and receives pointing position information from each sub-controller via the bus. The main control microcontroller system calculates adjustment correction data and sends it to the corresponding sub-controllers. The corresponding sub-controllers control the motors to adjust the supports into position via the motor drive signal output circuit. The system of this invention is easy to manage, operates stably, and significantly reduces investment costs.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of solar power generation equipment, and more particularly to an intelligent tracking support system and a regulating method thereof. BACKGROUND

[0002] Solar energy has a very broad development prospect as a clean and pollution-free energy source, and solar power generation has become the fastest-growing technology in the world. However, the utilization of solar energy is greatly affected by natural conditions such as terrain, topography, location, clouds, and rain, and there are problems of intermittency and changes in light direction and intensity over time, which puts forward higher requirements for the collection and utilization of solar energy.

[0003] In early solar photovoltaic systems, the panel arrays are basically fixed, and solar energy resources are not fully utilized, resulting in low power generation efficiency. With the development of technology, the panel arrays of solar photovoltaic systems can now automatically track the sun. However, since the panel arrays need to change with the position of the sun, each panel array requires a corresponding controller and drive motor, which is costly. In order to overcome the influence of natural weather conditions such as clouds and rain and improve the regulation accuracy of the solar photovoltaic tracking system, higher-precision sensors, more powerful control chips, and higher-precision motors are required. All of the above measures make it difficult to balance the cost control and regulation accuracy of the existing solar photovoltaic system. SUMMARY

[0004] To solve the above technical problems, the first purpose of the present application is to provide an intelligent tracking support system for solar photovoltaic with low cost and good control accuracy, and the second purpose of the present application is to provide a regulating method for the system.

[0005] To achieve the first purpose of the application, the following technical solutions are adopted:

[0006] The application discloses an intelligent tracking support system, which comprises a plurality of supports capable of rotating in horizontal and vertical directions and motors for driving the supports, a plurality of sub-controllers are installed on each support, the plurality of sub-controllers are connected to a main controller through a bus, the bus provides a data exchange channel for the main controller and the plurality of sub-controllers, and the main controller supplies power to each sub-controller through the bus; the main controller comprises a main control single-chip system, a GPS / Beidou module and a data transceiver module A, the sub-controller comprises a sub-control single-chip system, a data transceiver module B and a motor driving signal output circuit; the main control single-chip system obtains positioning information through the GPS / Beidou module and calculates the current sun position, receives the position information of each sub-controller through the bus, calculates adjustment correction data and sends the adjustment correction data to the data transceiver module B of the corresponding sub-controller, and the corresponding sub-control single-chip system controls the motor to adjust the support to the corresponding position through the motor driving signal output circuit after receiving the adjustment data.

[0007] As a preferred solution: the sub-controller further comprises a three-axis sensor, the instantaneous position of the azimuth angle and the pitch angle of the support as a whole is obtained through the three-axis sensor, and the above information is sent to the main control single-chip system, and the main control single-chip system obtains adjustment correction data according to the above data, and the sub-controller further comprises a visible light accurate pointing sensor for correcting the error of the three-axis sensor.

[0008] As a preferred solution: the motor is a pulse width modulation motor, the motor driving signal output circuit provides a control signal for the motor, and the pulse width value of the control signal is adjusted in real time according to the data of the three-axis sensor and the visible light accurate pointing sensor.

[0009] As a preferred solution: when the support is used alone, the main controller and the sub-controller are integrated together, and all functions of the main controller and the sub-controller except the data transceiver module A and the data transceiver module B are included.

[0010] The support is used alone and is installed with a full-function controller, the plurality of sub-controllers are connected to the main controller through the bus in the cluster use, and each support is installed with a full-function controller in the cluster use; the main controller comprises a main control single-chip system, a GPS / Beidou module and a data transceiver module A, the sub-controller comprises a sub-control single-chip system, a data transceiver module B, a motor driving signal output circuit, a visible light accurate pointing sun angle sensor and a three-axis sensor; the full-function controller integrates all functions of the main controller and the sub-controller. Such a structure makes the control cost lower when the supports are used in the cluster, and ensures the accurate position adjustment ability of the support when the support is used alone.

[0011] As a preferred solution: the motor is multiple, respectively through the pitch angle motor control module and azimuth angle motor control module drive, and the control signal of pitch angle motor control module and azimuth angle motor control module drive is provided by motor drive signal output circuit.

[0012] As a preferred solution: the three-axis sensor includes one or more of accelerometer, gyroscope, magnetometer.

[0013] As a preferred solution: the main controller further includes a power module and a sub-controller power supply module for powering each sub-controller, and a lightning protection module is provided in the above two modules; the power module in the data transceiver module A, the data transceiver module B and the sub-controller also has a lightning protection module.

[0014] In order to achieve the above-mentioned second invention purpose, the application adopts the following technical solutions:

[0015] An adjusting method of the intelligent tracking support system as described above, comprising the following steps:

[0016] Step S1, start the device, and initialize the device after starting;

[0017] Step S2, the main controller obtains the latitude and longitude and time information through the GPS / Beidou module, and calculates the position information of the sun in real time;

[0018] Step S3, the main controller reads the three-axis sensor data in the sub-controller on each support in turn through the pre-set logic, obtains the position information of each support, then compares the position information of each support with the position information of the sun obtained in S2, calculates the adjustment correction data required by each support, and sends corresponding instructions to the sub-controller in turn according to the set logic;

[0019] Step S4, after receiving the instructions, the sub-controller controls the motor to adjust the support to the corresponding position through the motor drive signal output circuit.

[0020] Compared with the prior art, the application has the following advantages:

[0021] The system of the application sets a sub-controller on each support, adopts a structure of one main controller+multiple sub-controllers, the sub-controller is responsible for the position information collection of the support, the main controller is responsible for processing the collected information of the sub-controller, and calculates the corresponding adjustment correction data, and then sends the data to the corresponding sub-controller to adjust the position of the corresponding support. The above structure enables one main controller to complete the position adjustment of all supports, reduces the investment cost of the main controller, the sub-controller has a relatively simple structure, has a low processing capacity requirement, has a low cost, and more sub-controllers will not increase the cost, the overall structure of the system of the application is clear, management is convenient, operation is stable, and the investment cost is greatly reduced. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute a limitation thereof.

[0023] Figure 1 This is a schematic diagram of the system framework of the present invention;

[0024] Figure 2 This is a block diagram illustrating the structural principle of the main controller of the present invention;

[0025] Figure 3 This is a block diagram illustrating the structural principle of the controller of the present invention;

[0026] Figure 4 This is a flowchart illustrating the process of the sun-tracking system of the present invention.

[0027] Figure 5 This is a schematic diagram of the process of the motor controlled by the sub-controller of the present invention. Detailed Implementation

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Furthermore, in the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] In addition, the terms "first", "second", etc. are used only for descriptive purposes and should not be construed as indicating or implying relative importance or an indicated number of technical features. Therefore, the features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise stated, the meaning of "a plurality of" is two or more, unless otherwise explicitly limited.

[0032] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0033] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is higher in horizontal height than the second feature. The first feature "under", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is lower in horizontal height than the second feature.

[0034] The present application will be further described below in conjunction with the drawings and embodiments:

[0035] As shown in the drawings, Figures 1 to 3 A solar photovoltaic intelligent tracking system includes a plurality of supports capable of rotating in the horizontal direction and the vertical direction and a motor driving the support, a plurality of solar photovoltaic light receivers are fixed on each support, the light receiver can be a polycrystalline silicon or a polycrystalline silicon photovoltaic assembly, or a light concentrator of a light concentrator photovoltaic, and the upper part of each light concentrator of the light concentrator photovoltaic is further provided with a solar photovoltaic cell and a radiator,

[0036] A sub-controller is further installed on each support, and the plurality of sub-controllers are connected to the main controller through a bus, the bus provides a data exchange channel for the main controller and the plurality of sub-controllers, and the main controller supplies power to each sub-controller through the bus.

[0037] The main controller comprises a main control single-chip microcomputer system, a GPS / Beidou module, a data transceiver module A, a 4G / 5G wireless data transceiver module, a data / program memory, a backup battery, a power module, and a sub-controller power module for supplying power to each sub-controller, the GPS / Beidou module provides positioning information for the main control single-chip microcomputer system, the data transceiver module A is used to complete data communication between the main control single-chip microcomputer system and the bus, the 4G / 5G wireless data transceiver module can make the system have remote control function and remote alarm function, and the data / program memory is used to store the running program and the preset data of the whole system.

[0038] The sub-controller comprises a sub-control single-chip microcomputer system, a three-axis sensor, a visible light accurate sun angle sensor, a data transceiver module B and a sun angle sensing module; the three-axis sensor is used to provide the instantaneous position of the azimuth angle and the pitch angle of the support body and other information for the sub-control single-chip microcomputer system, and the three-axis sensor comprises one or more of an accelerometer, a gyroscope and a magnetometer; the data transceiver module B is used to complete data communication between the sub-control single-chip microcomputer system and the bus; and the visible light accurate sun angle sensor and the three-axis sensor jointly provide position information for the sub-control single-chip microcomputer system. The sub-controller further comprises a visible light accurate sun angle sensor to correct possible errors of the three-axis sensor. The motor is a pulse width modulation motor, and the motor drive signal output circuit provides control signals for the motor. When the sun tracking system is used alone, the main controller and the sub-controller can be integrated together, and all functions of the main controller and the sub-controller except the data transceiver module A and the data transceiver module B are included.

[0039] Since the system of the application adopts the three-axis sensor, more accurate position information can be provided instantaneously at low cost, and the position information provided by the visible light accurate sun angle sensor only plays a supplementary role, so a sun angle sensor with low cost can be selected to further reduce the cost of the whole system while ensuring the adjustment accuracy.

[0040] The motor drive signal output circuit is further arranged in the sub-control single-chip microcomputer system, which provides control signals for the motors driving the movement of the support. Generally, the motors include a pitch angle motor controlling the vertical movement of the support and an azimuth angle motor controlling the horizontal movement of the support, both of which are pulse width modulation motors and are integrated with control modules, i.e., a pitch angle motor control module and an azimuth angle motor control module, and the control signals of the pitch angle motor control module and the azimuth angle motor control module are provided by the motor drive signal output circuit, so that the angular velocity of the tracking support system is consistent with the angular velocity of the sun and is always maintained.

[0041] The main control single-chip system obtains the positioning information through the GPS / Beidou module and calculates the current sun position, then receives the position information of each sub-controller through the bus, and the main control single-chip system calculates the adjustment correction data by comparing the position information of the sub-controller with the current sun position information and sends the adjustment correction data to the corresponding sub-controller, and the corresponding sub-control single-chip system controls the motor to adjust the support to the corresponding position through the motor drive signal output circuit after receiving the adjustment data.

[0042] In order to better receive sunlight, the solar photovoltaic power generation system is generally erected in an open high place, and is more susceptible to the influence of lightning, rain and snow and other bad weather. In order to ensure the stable operation of the equipment, the power module of the main controller, the data transceiver module A and the power supply module of the sub-controller are all provided with lightning protection modules; the data transceiver module B and the power module in the sub-controller are also provided with lightning protection modules.

[0043] As shown in Figure 4 and Figure 5 , an adjustment method of the intelligent tracking support system as described above, comprising the following steps:

[0044] Step S1, starting the equipment, initializing the equipment after starting;

[0045] Step S2, the main controller obtains the latitude and longitude and time information through the GPS / Beidou module, and calculates the sun position information in real time;

[0046] Step S3, the main controller reads the three-axis sensor data in the sub-controller on each support in turn through the pre-set logic, obtains the position information of each support, then compares the position information of each support with the sun position information obtained in S2, calculates the adjustment correction data required by each support, and sends the corresponding instructions to the sub-controller in turn according to the set logic;

[0047] Step S4, the sub-controller adjusts the support to the corresponding position through the motor drive signal output circuit after receiving the instructions; and the signal sent by the motor drive signal output circuit to the motor controller changes with the change of the support position, so that the angular velocity of the tracking support system is consistent with the angular velocity of the sun rotation and is always kept.

[0048] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0049] Although the embodiments of the present application have been shown and described above, it should be understood by those ordinary skilled in the art that the above embodiments are exemplary and cannot be understood as limiting the present application, and those ordinary skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application without departing from the principles and purposes of the present application. Any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still belongs to the scope of the technical solutions of the present application.

Claims

1. A method for adjusting an intelligent tracking support system, the system comprising a plurality of supports used in clusters, which can be rotated in the horizontal direction and in the vertical direction, and motors driving the supports, characterized in that: Each support is provided with a sub-controller, and the sub-controllers are connected to a main controller through a bus, which provides a data exchange channel for the main controller and the sub-controllers, and the main controller supplies power to each sub-controller through the bus; the main controller comprises a main control single-chip system, a GPS / Beidou module and a data transceiver module A, and the sub-controller comprises a sub-control single-chip system, a data transceiver module B and a motor drive signal output circuit; the main control single-chip system obtains positioning information through the GPS / Beidou module and calculates the current position of the sun, and receives the position information of each sub-controller through the bus, and the main control single-chip system calculates adjustment correction data and sends the data to the data transceiver module B of the corresponding sub-controller, and the corresponding sub-control single-chip system controls the motor to adjust the support to the corresponding position through the motor drive signal output circuit after receiving the adjustment data; The sub-controller further comprises a three-axis sensor, which obtains the instantaneous position of the azimuth angle and the pitch angle of the support as a whole, and sends the above information to the main control single-chip system, and the main control single-chip system obtains adjustment correction data according to the above data, and the sub-controller further comprises a visible light accurate pointing sun angle sensor for correcting the error of the three-axis sensor; The motor is a pulse width modulation motor, and the motor drive signal output circuit provides a control signal for the motor, and the pulse width value of the control signal is adjusted in real time according to the data of the three-axis sensor and the visible light accurate pointing sensor; The motor is a plurality of motors, which are driven by a pitch angle motor control module and an azimuth angle motor control module, and the control signals of the pitch angle motor control module and the azimuth angle motor control module are provided by the motor drive signal output circuit; The method comprises the following steps: Step S1, starting the device, initializing the device after starting; Step S2, the main controller obtains the latitude and longitude and time information through the GPS / Beidou module, and calculates the position information of the sun in real time; Step S3, the main controller reads the three-axis sensor data in the sub-controller on each support in turn according to a pre-set logic, and obtains the position information of each support; then, the position information of each support is compared with the position information of the sun obtained in S2, adjustment correction data required by each support is calculated, and corresponding instructions are sent to the sub-controllers in turn according to the set logic; Step S4, after receiving the instructions, the sub-controllers control the motor to adjust the support to the corresponding position through the motor drive signal output circuit.

2. The adjustment method of an intelligent tracking support system according to claim 1, characterized in that: When the support is used alone, the main controller and the sub-controller are integrated together, and all functions of the main controller and the sub-controller except the data transceiver module A and the data transceiver module B are included.

3. The adjustment method of an intelligent tracking support system according to claim 1, characterized in that: The three-axis sensor comprises one or more of an accelerometer, a gyroscope and a magnetometer.

4. The adjustment method of an intelligent tracking support system according to claim 1, characterized in that: The main controller further comprises a power module and a sub-controller power supply module for supplying power to each sub-controller, and a lightning protection module is arranged in each of the two modules; the data transceiver module A, the data transceiver module B and the power module in the sub-controller are also provided with lightning protection modules.

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