Control method and device of tracking support, equipment and storage medium

Abstract

The application discloses a kind of control method, device and equipment of tracking support and computer readable storage medium, method includes: control tracking support rotates from current zero position, stop when rotating to first position, obtain the first actual rotation amount of tracking support;Control tracking support rotates from current zero position, stop when rotating to second position, obtain the second actual rotation amount of tracking support;If at least one difference between the difference between first actual rotation amount and first theoretical rotation amount and the difference between second actual rotation amount and second theoretical rotation amount is greater than preset value, or, if the difference between first actual rotation amount and second actual rotation amount is greater than preset value, then the detection result that current zero point and system zero point exist error is obtained.It is realized without replacing hardware module, can effectively judge the zero error generated by long time operation of system, to facilitate the correction of zero error, save cost, convenient operation.

Description

Technical Field

[0001] This invention relates to the field of photovoltaic technology, and in particular to a control method, apparatus, device, and computer-readable storage medium for a tracking bracket. Background Technology

[0002] The angle of the tracking bracket in a tracking system can be adjusted by a motor drive, allowing the photovoltaic panels mounted on the bracket to track the direction of sunlight and thus fully utilize solar energy for power generation. Currently, during the operation of the tracking bracket system, errors may occur due to motor wear, prolonged use of the tilt sensor, etc., leading to an error between the operating zero point and the system zero point. For example, after controlling the motor to rotate to the zero point position, it may not actually be at 0 degrees, but at 0.5 degrees. This indicates a 0.5-degree error between the zero point and the system zero point during operation, making it difficult for the bracket to reach the preset angle when rotating, resulting in reduced power generation. Accurately detecting and correcting this zero-point error is a problem that urgently needs to be solved. Summary of the Invention

[0003] The main objective of this invention is to provide a control method, device, equipment, and computer-readable storage medium for a tracking support, aiming to accurately detect whether a tracking support system has a zero-point error during operation, thereby facilitating the correction of the zero-point error and improving the accuracy of the rotation control of the tracking support system.

[0004] To achieve the above objectives, the present invention provides a control method for a tracking bracket, wherein a first detection device and a second detection device are provided on the fixed support of the tracking bracket, and the control method for the tracking bracket includes the following steps:

[0005] In response to the zero-point error detection command, the motor of the tracking bracket is controlled to drive the tracking bracket to rotate from the current zero-point position in the first direction. When the tracking bracket is detected to have rotated to the first position by the first detection device, the rotation stops and the first actual rotation amount of the tracking bracket is obtained.

[0006] The motor is controlled to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction. When the second detection device detects that the tracking bracket has rotated to the second position, the rotation stops and the second actual rotation amount of the tracking bracket is obtained.

[0007] If at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the difference between the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, then a detection result indicating that there is an error between the current zero point and the system zero point is obtained. Here, the first theoretical rotation amount is the rotation amount from the system zero point position to the first position, and the second theoretical rotation amount is the rotation amount from the system zero point position to the second position.

[0008] Alternatively, if the difference between the first theoretical rotation and the second theoretical rotation is greater than a second preset value when the first actual rotation is equal to the second actual rotation, then a detection result indicating an error between the current zero point and the system zero point is obtained.

[0009] Optionally, the first theoretical rotation amount is the rotation angle of the tracking bracket from the zero position of the system to the first position, and the second theoretical rotation amount is the rotation angle of the tracking bracket from the zero position of the system to the second position. The step of obtaining the first actual rotation amount of the tracking bracket includes:

[0010] The first actual rotation angle of the tracking bracket from the current zero position to the first position is detected by the angle sensor, and the first actual rotation angle is used as the first actual rotation amount.

[0011] The step of obtaining the second actual rotation amount of the tracking bracket includes:

[0012] The second actual rotation angle of the tracking bracket from the current zero position to the second position is detected by the angle sensor, and the second actual rotation angle is used as the second actual rotation amount.

[0013] Optionally, after the step of determining the detection result that there is an error between the current zero point and the system zero point when the first theoretical rotation amount is equal to the second theoretical rotation amount, the method further includes:

[0014] Calculate the difference between the first actual rotation amount and the second actual rotation amount, and calculate the zero-point error value between the current zero point and the system zero point based on the difference;

[0015] The current zero point is corrected based on the zero-point error value.

[0016] Optionally, when the rotation amount in the first direction is set as a positive rotation amount, the step of calculating the difference between the first actual rotation amount and the second actual rotation amount, and calculating the zero-point error value between the current zero point and the system zero point based on the difference, includes:

[0017] The difference is obtained by subtracting the second actual rotation from the first actual rotation, and the difference is divided by 2 to obtain the zero-point error value between the current zero point and the system zero point.

[0018] Optionally, the step of correcting the current zero point based on the zero-point error value includes:

[0019] When a rotation command is detected without zero-point calibration, the rotation amount corresponding to the rotation command is added to the zero-point error value to obtain the rotation amount after zero-point error calibration. The motor is then controlled to drive the tracking bracket to rotate based on the rotation amount after zero-point error calibration.

[0020] Optionally, after obtaining the detection result that there is an error between the current zero point and the system zero point, the method further includes:

[0021] The motor is controlled to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and the third actual rotation amount of the tracking bracket is obtained. The preset rotation amount is the theoretical rotation amount from the zero point of the system to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket.

[0022] If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, then the detection result of the tracking bracket system having a rotation error is obtained.

[0023] Optionally, after the step of determining the detection result that the tracking bracket system has a rotation error if the difference between the third actual rotation amount and the preset rotation amount is less than the third preset value, the method further includes:

[0024] Calculate the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point:

[0025] After receiving the rotation command to rotate to the target position point, the rotation error value corresponding to the target position point is obtained;

[0026] The rotation of the target position relative to the system zero point is corrected using the rotation error value corresponding to the target position. Based on the rotation amount after correcting the rotation error and the zero point error, the motor is controlled to drive the tracking bracket to rotate, so as to rotate the tracking bracket from the current zero point position to the position where the target position is located.

[0027] Optionally, after the step of calculating the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point, the method further includes:

[0028] After calculating the rotation error values ​​corresponding to at least three different measurement points, it is determined whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value.

[0029] If it is determined that there is a non-linear relationship between the rotation amount of the tracking bracket and the rotation error value, then each position point within the rotation range is used as a test point, the rotation error value corresponding to each test point is measured, and the step of obtaining the rotation error value corresponding to the target position point after receiving the rotation command to rotate to the target position point is executed.

[0030] Optionally, after the step of determining whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each of the rotation error values, the method further includes:

[0031] If it is determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, then the unit rotation error value is calculated based on each rotation error value and the preset rotation amount corresponding to each measurement point.

[0032] Upon receiving a rotation command, the rotation amount corresponding to the rotation command is multiplied by the unit rotation error value to obtain a linear error value. The rotation amount corresponding to the rotation command is then added to the linear error value to obtain the rotation amount after correcting the rotation error. Based on the rotation amount after correcting the rotation error and the zero-point error, the motor is controlled to drive the tracking bracket to rotate.

[0033] Optionally, before the step of controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position in the first direction in response to the zero-point error detection command, the method further includes:

[0034] Receive the zero-point error detection command sent by the monitoring backend; or,

[0035] The zero-point error detection command is triggered according to the preset trigger cycle.

[0036] Optionally, the first detection device is a first limit switch, and the step of controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero position to the first direction, and stopping when the first detection device detects that the tracking bracket has rotated to the first position, includes:

[0037] The motor controlling the tracking bracket drives the tracking bracket to rotate from the current zero position in the first direction. When the tracking bracket receives the arrival signal fed back by the first limit switch during the rotation, the motor is controlled to stop. The arrival signal of the first limit switch is triggered when the tracking bracket reaches the first position.

[0038] To achieve the above objectives, the present invention also provides a control device for a tracking bracket, wherein a first detection device and a second detection device are disposed on the fixed support of the tracking bracket, and the control device for the tracking bracket includes:

[0039] The control module is used to respond to the zero-point error detection command, control the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position to the first direction, stop when the tracking bracket is detected to have rotated to the first position by the first detection device, and obtain the first actual rotation amount of the tracking bracket.

[0040] The control module is also used to control the motor to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction, and to stop when the tracking bracket is detected to have rotated to the second position by the second detection device, and to obtain the second actual rotation amount of the tracking bracket;

[0041] The detection module is configured to determine if at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, and thus determine that there is an error between the current zero point and the system zero point. The first theoretical rotation amount is the rotation amount from the system zero point position to the first position, and the second theoretical rotation amount is the rotation amount from the system zero point position to the second position.

[0042] Alternatively, if the difference between the first theoretical rotation and the second theoretical rotation is greater than a second preset value when the first actual rotation is equal to the second actual rotation, then a detection result indicating an error between the current zero point and the system zero point is obtained.

[0043] To achieve the above objectives, the present invention also provides a control device for a tracking bracket, the control device for the tracking bracket comprising: a memory, a processor, and a control program for the tracking bracket stored in the memory and executable on the processor, wherein the control program for the tracking bracket, when executed by the processor, implements the steps of the control method for the tracking bracket as described above.

[0044] Furthermore, to achieve the above objectives, the present invention also proposes a computer-readable storage medium storing a control program for a tracking bracket, wherein the control program for the tracking bracket, when executed by a processor, implements the steps of the tracking bracket control method described above.

[0045] In this embodiment of the invention, by setting a first detection device and a second detection device on the fixed bracket of the tracking bracket, and by responding to a zero-point error detection command, controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position in a first direction, stopping when the first detection device detects that the tracking bracket has rotated to the first position, and obtaining the first actual rotation amount of the tracking bracket, controlling the motor to drive the tracking bracket to rotate from the current zero-point position in a second direction opposite to the first direction, stopping when the second detection device detects that the tracking bracket has rotated to the second position, and obtaining the second actual rotation amount of the tracking bracket, if at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, or if the difference between the first actual rotation amount and the second actual rotation amount is greater than a second preset value, a detection result indicating that there is an error between the current zero point and the system zero point is obtained. This enables effective judgment of zero-point errors generated by long-term system operation without replacing hardware modules, thereby facilitating the correction of zero-point errors through automatic or manual correction methods, saving costs, and simplifying operation. Furthermore, since the first and second detection devices are mounted on a fixed support, the true zero point position will not change due to system errors. This ensures that after detecting a zero point error and correcting it automatically or manually, the corrected zero point will match the true zero point. Compared to correcting only the zero point error of the motor, the corrected zero point is more accurate, thus enabling more accurate rotation control of the tracking support system. Attached Figure Description

[0046] Figure 1 This is a schematic diagram of the hardware operating environment involved in the embodiments of the present invention;

[0047] Figure 2 This is a flowchart illustrating the first embodiment of the control method for the tracking bracket of the present invention;

[0048] Figure 3 This is a schematic flowchart illustrating the second embodiment of the control method for the tracking bracket of the present invention;

[0049] Figure 4 This is a schematic flowchart illustrating a third embodiment of the control method for the tracking bracket of the present invention.

[0050] Figure 5 This is a schematic diagram of another process involved in the third embodiment of the control method for the tracking bracket of the present invention;

[0051] Figure 6 This is a schematic diagram of the functional modules of a preferred embodiment of the control device for the tracking bracket of the present invention.

[0052] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0053] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0054] like Figure 1 As shown, Figure 1 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of the present invention.

[0055] It should be noted that the control device for the tracking bracket in this embodiment of the invention can be a smartphone, personal computer, server, or other device, and is not specifically limited thereto. A first detection device and a second detection device are provided on the fixed support column of the tracking bracket.

[0056] like Figure 1 As shown, the control device for the tracking bracket may include: a processor 1001, such as a CPU; a network interface 1004; a user interface 1003; a memory 1005; and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The device structure shown does not constitute a limitation on the control device for the tracking bracket, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0058] like Figure 1 As shown, the memory 1005, as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a control program for the tracking bracket. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the operation of the tracking bracket's control program and other software or programs. Figure 1In the device shown, the user interface 1003 is mainly used for data communication with the client; the network interface 1004 is mainly used for establishing a communication connection with the server; and the processor 1001 can be used to call the control program of the tracking bracket stored in the memory 1005 and perform the following operations:

[0059] In response to the zero-point error detection command, the motor of the tracking bracket is controlled to drive the tracking bracket to rotate from the current zero-point position in the first direction. When the tracking bracket is detected to have rotated to the first position by the first detection device, the rotation stops and the first actual rotation amount of the tracking bracket is obtained.

[0060] The motor is controlled to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction. When the second detection device detects that the tracking bracket has rotated to the second position, the rotation stops and the second actual rotation amount of the tracking bracket is obtained.

[0061] If at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the difference between the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, then a detection result indicating that there is an error between the current zero point and the system zero point is obtained. Here, the first theoretical rotation amount is the rotation amount from the system zero point position to the first position, and the second theoretical rotation amount is the rotation amount from the system zero point position to the second position.

[0062] Alternatively, if the difference between the first theoretical rotation and the second theoretical rotation is greater than a second preset value when the first actual rotation is equal to the second actual rotation, then a detection result indicating an error between the current zero point and the system zero point is obtained.

[0063] In one feasible implementation, the first theoretical rotation amount is the rotation angle of the tracking bracket from the system zero position to the first position, and the second theoretical rotation amount is the rotation angle of the tracking bracket from the system zero position to the second position. The operation of obtaining the first actual rotation amount of the tracking bracket includes:

[0064] The first actual rotation angle of the tracking bracket from the current zero position to the first position is detected by the angle sensor, and the first actual rotation angle is used as the first actual rotation amount.

[0065] The operation of obtaining the second actual rotation amount of the tracking bracket includes:

[0066] The second actual rotation angle of the tracking bracket from the current zero position to the second position is detected by the angle sensor, and the second actual rotation angle is used as the second actual rotation amount.

[0067] In one feasible implementation, after determining the detection result that there is an error between the current zero point and the system zero point when the first theoretical rotation amount is equal to the second theoretical rotation amount, the processor 1001 can also be used to call the control program of the tracking bracket stored in the memory 1005 to perform the following operations:

[0068] Calculate the difference between the first actual rotation amount and the second actual rotation amount, and calculate the zero-point error value between the current zero point and the system zero point based on the difference;

[0069] The current zero point is corrected based on the zero-point error value.

[0070] In one feasible implementation, when the amount of rotation in the first direction is set as a positive rotation amount, the operation of calculating the difference between the first actual rotation amount and the second actual rotation amount, and calculating the zero-point error value between the current zero point and the system zero point based on the difference, includes:

[0071] The difference is obtained by subtracting the second actual rotation from the first actual rotation, and the difference is divided by 2 to obtain the zero-point error value between the current zero point and the system zero point.

[0072] In one feasible implementation, the operation of correcting the current zero point based on the zero-point error value includes:

[0073] When a rotation command is detected without zero-point calibration, the rotation amount corresponding to the rotation command is added to the zero-point error value to obtain the rotation amount after zero-point error calibration. The motor is then controlled to drive the tracking bracket to rotate based on the rotation amount after zero-point error calibration.

[0074] In one feasible implementation, after determining the detection result that there is an error between the current zero point and the system zero point, the processor 1001 can also be used to call the control program of the tracking bracket stored in the memory 1005 to perform the following operations:

[0075] The motor is controlled to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and the third actual rotation amount of the tracking bracket is obtained. The preset rotation amount is the theoretical rotation amount from the zero point of the system to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket.

[0076] If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, then the detection result of the tracking bracket system having a rotation error is obtained.

[0077] In one feasible embodiment, after the operation of determining that the tracking bracket system has a rotation error if the difference between the third actual rotation amount and the preset rotation amount is less than the third preset value, the processor 1001 can also be used to call the tracking bracket control program stored in the memory 1005 to perform the following operations:

[0078] Calculate the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point:

[0079] After receiving the rotation command to rotate to the target position point, the rotation error value corresponding to the target position point is obtained;

[0080] The rotation of the target position relative to the system zero point is corrected using the rotation error value corresponding to the target position. Based on the rotation amount after correcting the rotation error and the zero point error, the motor is controlled to drive the tracking bracket to rotate, so as to rotate the tracking bracket from the current zero point position to the position where the target position is located.

[0081] In one feasible implementation, after calculating the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point, the processor 1001 can also be used to call the control program of the tracking bracket stored in the memory 1005 to perform the following operations:

[0082] After calculating the rotation error values ​​corresponding to at least three different measurement points, it is determined whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value.

[0083] If it is determined that there is a non-linear relationship between the rotation amount and the rotation error value of the tracking bracket, then each position point within the rotation range is used as a test point, the rotation error value corresponding to each test point is measured, and the operation of obtaining the rotation error value corresponding to the target position point after receiving the rotation command to rotate to the target position point is executed.

[0084] In one feasible embodiment, after determining whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each of the rotation error values, the processor 1001 can also be used to call the control program of the tracking bracket stored in the memory 1005 to perform the following operations:

[0085] If it is determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, then the unit rotation error value is calculated based on each rotation error value and the preset rotation amount corresponding to each measurement point.

[0086] Upon receiving a rotation command, the rotation amount corresponding to the rotation command is multiplied by the unit rotation error value to obtain a linear error value. The rotation amount corresponding to the rotation command is then added to the linear error value to obtain the rotation amount after correcting the rotation error. Based on the rotation amount after correcting the rotation error and the zero-point error, the motor is controlled to drive the tracking bracket to rotate.

[0087] In one feasible implementation, before the operation of controlling the motor of the tracking bracket to rotate the tracking bracket from the current zero-point position in the first direction in response to the zero-point error detection command, the processor 1001 can also be used to call the control program of the tracking bracket stored in the memory 1005 and perform the following operations:

[0088] Receive the zero-point error detection command sent by the monitoring backend; or,

[0089] The zero-point error detection command is triggered according to the preset trigger cycle.

[0090] In one feasible embodiment, the first detection device is a first limit switch, and the operation of stopping the tracking bracket when the motor controlling the tracking bracket drives the tracking bracket to rotate from the current zero position in a first direction includes:

[0091] The motor controlling the tracking bracket drives the tracking bracket to rotate from the current zero position in the first direction. When the tracking bracket receives the arrival signal fed back by the first limit switch during the rotation, the motor is controlled to stop. The arrival signal of the first limit switch is triggered when the tracking bracket reaches the first position.

[0092] Based on the above structure, various embodiments of the control method for the tracking bracket are proposed.

[0093] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the control method for the tracking bracket of the present invention.

[0094] This invention provides an embodiment of a control method for a tracking bracket. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order. In this embodiment, the executing entity of the tracking bracket control method can be a controller in the tracking bracket system, or it can be other devices. No limitation is made in this embodiment. For ease of description, the following description uses the controller as the executing entity for each embodiment. In this embodiment, the tracking bracket control method includes:

[0095] Step S10: In response to the zero-point error detection command, control the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position in the first direction, stop when the tracking bracket is detected by the first detection device to have rotated to the first position, and obtain the first actual rotation amount of the tracking bracket.

[0096] A first detection device and a second detection device are installed on the fixed support of the tracking bracket. The first detection device is used to detect whether the tracking bracket has rotated to a first position, and the second detection device is used to detect whether the tracking bracket has rotated to a second position. The first position and the second position are two position points selected in advance within the rotation range of the tracking bracket, distributed on both sides of the system zero point. The system zero point is a reference position point selected within the rotation range. After the system zero point is set in the controller, the rotation amount of other position points relative to the system zero point can be used to control the motor to drive the tracking bracket to rotate to other position points. In a specific embodiment, the rotation amount can refer to the rotation angle or rotation distance, etc. The rotation angle can refer to the angle of rotation of the tracking bracket around its axis, or it can be the rotation angle of the plane where the photovoltaic module driven by the tracking bracket is located. The rotation distance can refer to the distance rotated by a certain point on the tracking bracket around its axis, or it can be the distance rotated by a certain point on the photovoltaic module driven by the tracking bracket.

[0097] The rotation range of the tracking bracket is the range of rotation that can drive the tracking bracket to rotate. The system zero point can be selected from the midpoint of the rotation range, but is not limited to the midpoint. In this embodiment, the midpoint is used as an example. The size of the rotation range can be set as needed. For example, when the rotation is a rotation angle, the rotation range can be set to 90 degrees or 120 degrees. The following is an example of setting the rotation range to 90 degrees and setting the angle corresponding to the system zero point to 0 degrees. Then, the angle between each position point in the rotation range and the system zero point can be positive or negative. For example, the angle between the position point on the first position side and the system zero point is set to a positive angle, and the angle between the position point on the second position side and the system zero point is set to a negative angle. The rotation range can be represented as [-45°, 45°].

[0098] The amount of rotation of the tracking bracket from the system zero position to the first position is called the first theoretical rotation amount, and the amount of rotation of the tracking bracket from the system zero position to the second position is called the second theoretical rotation amount. After selecting the first and second positions in advance as needed, the first and second theoretical rotation amounts are known and can be pre-configured in the controller. In a specific embodiment, the first and second positions can be two selected positions symmetrical about the system zero point, or they can be two selected positions asymmetrical about the system zero point; that is, the first and second theoretical rotation amounts can be equal or unequal. In a specific embodiment, the first and second positions can be selected at the two endpoints of the rotation range, but are not limited to these two endpoints.

[0099] During the operation of the tracking support system, errors may occur due to motor wear, prolonged use of the tilt sensor, or other reasons, leading to a discrepancy between the zero point during operation and the system zero point. For example, after the controller moves the motor to the zero point position, it may not actually be at 0 degrees, but rather at 0.5 degrees. This indicates a 0.5-degree error between the zero point and the system zero point during the operation of the tracking support system. This embodiment proposes an implementation scheme for detecting the existence of zero-point error.

[0100] The zero-point error detection command is used to instruct the controller to detect whether a zero-point error exists. That is, during the normal operation of the controller, after triggering or receiving the zero-point error detection command, the controller will perform a detection operation to check whether a zero-point error exists in response to the command.

[0101] In one feasible implementation, the monitoring backend can send a zero-point error detection command to the controller, or the controller can trigger the zero-point error detection command according to a preset trigger cycle. The monitoring backend can be deployed on a server, personal computer, or mobile phone. The user can trigger the zero-point error detection command in the monitoring backend, which will then send it to the controller. The preset trigger cycle can be set as needed, for example, once a month, once every six months, or once a year, and is not limited thereto.

[0102] The direction in which the tracking bracket rotates from the system's zero position to the first position is called the first direction, and the direction in which it rotates to the second position is called the second direction.

[0103] During the process of detecting the presence of zero-point error, the controller can control the motor to first rotate to the zero-point position (hereinafter referred to as the current zero-point for distinction), and then control the motor to drive the tracking bracket to rotate from the current zero-point in the first direction. During the rotation, the first detection device detects whether the tracking bracket has rotated to the first position. If the first detection device detects that the tracking bracket has rotated to the first position, the controller can obtain the actual rotation amount of the tracking bracket from the current zero-point position to the first position (hereinafter referred to as the first actual rotation amount for distinction).

[0104] The first detection device can be implemented using limit switches, distance sensors, ultrasonic sensors, photoelectric sensors, etc., and no limitation is imposed in this embodiment.

[0105] The method for obtaining the first actual rotation amount is not limited in this embodiment. When the rotation amount is a rotation angle, for example, an angle sensor can be used to measure the first actual rotation angle and use the first actual rotation angle as the first actual rotation amount. When the rotation amount is a rotation distance, for example, a distance sensor can be used to measure the first actual rotation distance and use the first actual rotation distance as the first actual rotation amount.

[0106] In one feasible embodiment, the step S10, which involves controlling the motor of the tracking bracket to drive the tracking bracket to rotate from its current zero position in a first direction and stopping when the first detection device detects that the tracking bracket has rotated to the first position, includes:

[0107] Step S101: Control the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero position in the first direction. When the arrival signal fed back by the first limit switch is received during the rotation, control the motor to stop. The arrival signal of the first limit switch is triggered when the tracking bracket reaches the first position.

[0108] The first detection device can be implemented through a limit switch (hereinafter referred to as the first limit switch). The signal output port of the first limit switch can be connected to the signal input port of the controller. When the first limit switch detects an arrival signal indicating that the motor-driven tracking bracket has rotated to the first limit switch position, it can send an arrival signal to the controller. Upon receiving the arrival signal, the controller controls the motor to stop. It should be noted that the position of the first limit switch is set so that the arrival signal of the first limit switch can be triggered when the tracking bracket reaches the first position.

[0109] Step S20: Control the motor to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction. Stop when the tracking bracket is detected to have rotated to the second position by the second detection device, and obtain the second actual rotation amount of the tracking bracket.

[0110] During the process of detecting the presence of zero-point error, the controller can control the motor to drive the tracking bracket to rotate to the current zero-point position first, and then control the motor to drive the tracking bracket to rotate from the current zero point to the second direction. During the rotation, the second detection device detects whether the tracking bracket has rotated to the second position. If the second detection device detects that the tracking bracket has rotated to the second position, the controller can obtain the actual rotation amount of the tracking bracket from the current zero-point position to the second position (hereinafter referred to as the second actual rotation amount for distinction).

[0111] The second detection device can be implemented using limit switches, distance sensors, ultrasonic sensors, photoelectric sensors, etc., and no limitation is imposed in this embodiment.

[0112] The method for obtaining the second actual rotation amount is not limited in this embodiment. When the rotation amount is a rotation angle, for example, an angle sensor can be used to measure the second actual rotation angle and use the second actual rotation angle as the second actual rotation amount. When the rotation amount is a rotation distance, for example, a distance sensor can be used to measure the second actual rotation distance and use the second actual rotation distance as the second actual rotation amount.

[0113] In one feasible embodiment, the second detection device can be implemented using a limit switch (hereinafter referred to as the second limit switch). The signal output port of the second limit switch can be connected to the signal input port of the controller. The controller can control the motor to drive the tracking bracket to rotate to the second position. When the controller receives the arrival signal from the second limit switch during the rotation, it controls the motor to stop. The position of the second limit switch is set so that when the tracking bracket reaches the second position, the arrival signal of the second limit switch can be triggered.

[0114] It should be noted that in this embodiment, the order of measuring the first actual rotation amount and the second actual rotation amount is not limited. That is, the first actual rotation amount can be measured first and then the second actual rotation amount can be measured, or the second actual rotation amount can be measured first and then the first actual rotation amount can be measured.

[0115] Since the first and second detection devices are mounted on fixed supports and will not move with the rotation of the tracking bracket, the results detected by the first and second detection devices will not be affected by the systematic error of the tracking bracket system. That is, even if systematic error exists, the controller can still accurately drive the motor to rotate the tracking bracket to the first and second positions based on the detection results of the first and second detection devices.

[0116] Step S30: If at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, then a detection result indicating an error between the current zero point and the system zero point is obtained, wherein the first theoretical rotation amount is the rotation amount from the system zero point position to the first position, and the second theoretical rotation amount is the rotation amount from the system zero point position to the second position; or, if the first theoretical rotation amount and the second theoretical rotation amount are equal, and the difference between the first actual rotation amount and the second actual rotation amount is greater than a second preset value, then a detection result indicating an error between the current zero point and the system zero point is obtained.

[0117] In one feasible implementation, the presence of a zero-point error can be determined by comparing the actual rotation amount with the theoretical rotation amount. In the absence of a zero-point error, the first actual rotation amount and the first theoretical rotation amount should be equal, and the second actual rotation amount and the second theoretical rotation amount should be equal. A first preset value can be set in advance based on an allowable error range; that is, if the difference between the first actual rotation amount and the first theoretical rotation amount is less than or equal to the first preset value, they can be considered substantially equal. Similarly, if the difference between the second actual rotation amount and the second theoretical rotation amount is less than or equal to the first preset value, they can be considered substantially equal. If at least one of the differences between the first actual rotation amount and the first theoretical rotation amount, and the second actual rotation amount and the second theoretical rotation amount, is greater than the first preset value, the controller can determine that there is a detection result indicating an error between the current zero point and the system zero point.

[0118] In one feasible implementation, when the first theoretical rotation amount and the second theoretical rotation amount are equal, the presence of a zero-point error can be determined by comparing the first actual rotation amount and the second actual rotation amount. In the absence of a zero-point error, the first actual rotation amount and the second actual rotation amount should be equal. The second preset value can be set in advance based on an allowable error range; that is, if the difference between the first actual rotation amount and the second actual rotation amount is less than or equal to the second preset value, they can be considered substantially equal. If the difference between the first actual rotation amount and the second actual rotation amount is greater than the second preset value, the controller can determine that there is a detection result indicating an error between the current zero point and the system zero point.

[0119] In a specific implementation, after obtaining the detection result that there is a zero-point error, automatic correction can be performed, or manual correction can be performed. In this embodiment, the correction method is not limited.

[0120] In this embodiment, when both the difference between the first actual rotation amount and the first theoretical rotation amount, and the difference between the second actual rotation amount and the second theoretical rotation amount are less than or equal to the first preset value, it is not limited to determining whether the detection result is that there is no error between the current zero point and the system zero point. For example, in one feasible embodiment, when both the difference between the first actual rotation amount and the first theoretical rotation amount, and the difference between the second actual rotation amount and the second theoretical rotation amount, are less than or equal to the first preset value, a detection result indicating that there is no error between the current zero point and the system zero point can be obtained, thus eliminating the need for zero-point error correction. Furthermore, in another feasible embodiment, when both the difference between the first actual rotation amount and the first theoretical rotation amount, and the difference between the second actual rotation amount and the second theoretical rotation amount, are less than or equal to the first preset value, other feasible detection methods can be combined to further detect whether a zero-point error exists.

[0121] In this embodiment, when the difference between the first actual rotation amount and the second actual rotation amount is less than or equal to a second preset value, there is no limitation on whether to conclude that there is no error between the current zero point and the system zero point. For example, in one feasible implementation, when the difference between the first actual rotation amount and the second actual rotation amount is less than or equal to the second preset value, a detection result indicating that there is no error between the current zero point and the system zero point can be concluded, thus eliminating the need for zero-point error correction. Furthermore, in another feasible implementation, when the difference between the first actual rotation amount and the second actual rotation amount is less than or equal to the second preset value, other feasible detection methods can be combined to further detect whether a zero-point error exists.

[0122] In this embodiment, by setting a first detection device and a second detection device on the fixed bracket of the tracking bracket, and by responding to the zero-point error detection command, controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position in a first direction, stopping when the first detection device detects that the tracking bracket has rotated to the first position, and obtaining the first actual rotation amount of the tracking bracket, controlling the motor to drive the tracking bracket to rotate from the current zero-point position in a second direction opposite to the first direction, stopping when the second detection device detects that the tracking bracket has rotated to the second position, and obtaining the second actual rotation amount of the tracking bracket. If at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value, or if the difference between the first actual rotation amount and the second actual rotation amount is greater than a second preset value, a detection result indicating that there is an error between the current zero point and the system zero point is obtained. This allows for effective judgment of the zero-point error generated by long-term system operation without replacing the hardware module, thereby facilitating the correction of the zero-point error through automatic or manual correction methods, saving costs and simplifying operation. Furthermore, since the first and second detection devices are mounted on a fixed support, the true zero point position will not change due to system errors. This ensures that after detecting a zero point error and correcting it automatically or manually, the corrected zero point will match the true zero point. Compared to correcting only the zero point error of the motor, the corrected zero point is more accurate, thus enabling more accurate rotation control of the tracking support system.

[0123] Based on the first embodiment described above, a second embodiment of the control method for the tracking bracket of the present invention is proposed. In this embodiment, referring to... Figure 3 After step S30, the method further includes:

[0124] Step S40: Calculate the difference between the first actual rotation amount and the second actual rotation amount, and calculate the zero-point error value between the current zero point and the system zero point based on the difference.

[0125] In this embodiment, if an error is detected between the current zero point and the system zero point, the zero point error can be automatically corrected.

[0126] When the first theoretical rotation and the second theoretical rotation are equal, it can be understood that when the first actual rotation is greater than the second actual rotation, it means that the current zero point has deviated in the second direction, and conversely, when the second actual rotation is greater than the first actual rotation, it means that the current zero point has deviated in the first direction. Since the first position and the second position are fixed, the position of the system zero point is also fixed. Therefore, the zero point error value between the current zero point and the system zero point can be calculated based on the difference between the first actual rotation and the second actual rotation.

[0127] The zero-point error value can be signed, with the positive or negative sign indicating the direction of the zero-point deviation. Zero-point error correction can be performed by directly adding the zero-point error value to the rotation amount requiring correction. Alternatively, the zero-point error value can be unsigned. In this case, it can be corrected by adding or subtracting the zero-point error value from the rotation amount requiring correction based on the direction of the zero-point deviation. The specific calculation method for the zero-point error value based on the difference between the first and second actual rotation amounts will differ slightly in both cases. In this embodiment, the choice of calculation method is not limited.

[0128] For example, if the zero-point error value is unsigned, the absolute value of the difference between the first actual rotation and the second actual rotation can be taken, and then the absolute value of the difference can be divided by 2 to obtain the zero-point error value.

[0129] For example, if the zero-point error value is signed and the rotation amount in the second direction is set as a positive rotation amount, the difference can be obtained by subtracting the first actual rotation amount from the second actual rotation amount. This difference is signed. For instance, when the rotation amount is a rotation angle, assuming the first actual rotation amount is 44.5 degrees and the second actual rotation amount is 45.5 degrees, the calculated difference is 1 degree. Conversely, if the first actual rotation amount is 45.5 degrees and the second actual rotation amount is 44.5 degrees, the calculated difference is -1 degree. Dividing this difference by 2 yields the signed zero-point error value.

[0130] Step S50: Correct the current zero point based on the zero point error value.

[0131] There are many ways to correct the current zero point based on the zero-point error value, and this embodiment does not impose any limitations. In a specific implementation, the current zero point can be corrected at the current zero point position, or the zero-point error can be corrected during the rotation control process.

[0132] One method of zero-point correction is to have the controller move the motor to the current zero-point position, and then rotate it according to the zero-point error value to reach the system's zero-point position, thus achieving zero-point error correction. For example, if the controller moves the motor to the current zero-point position (which is actually -5 degrees, with a zero-point error of +5 degrees), then the controller can rotate 5 degrees in the positive direction from the current zero-point position to reach the system's zero-point position. Subsequent rotations will then use this current position as the zero-point position.

[0133] Zero-point error correction during rotation control can be performed as follows: When the zero-point error is not corrected, after receiving a rotation command, the controller determines the required rotation amount based on the command. A signed zero-point error value is added to this amount, or an unsigned zero-point error value is added or subtracted based on the direction of the zero-point deviation, resulting in a zero-point error-corrected rotation amount. This corrected rotation amount is then used to control the motor to drive the tracking bracket to rotate. For example, if the tracking bracket should currently be at -45 degrees, and the rotation command indicates a 30-degree rotation in the positive direction (i.e., to -15 degrees), but the zero point has deviated by 5 degrees in the positive direction, causing the tracking bracket to be currently at -40 degrees, a 30-degree rotation in the positive direction would reach -10 degrees. Therefore, the zero-point error value of 5 degrees is subtracted from 30 degrees to obtain a zero-point error-corrected rotation amount of 25 degrees. The motor is then used to drive the tracking bracket to rotate 25 degrees in the positive direction. It should be noted that, in the presence of rotational error, rotational error correction can be performed based on the rotational amount after zero-point error correction, and then the motor rotation can be controlled based on the rotational amount after correcting both the rotational error and the zero-point error.

[0134] In one feasible implementation, step S40 includes:

[0135] Step S401: Subtract the second actual rotation amount from the first actual rotation amount to obtain the difference, and divide the difference by 2 to obtain the zero-point error value between the current zero point and the system zero point.

[0136] When the rotation amount in the first direction is set as a positive rotation amount, the difference between the first actual rotation amount and the second actual rotation amount is obtained, and this difference is signed. For example, when the rotation amount is a rotation angle, assuming the first actual rotation amount is 44.5 degrees and the second actual rotation amount is 45.5 degrees, the calculated difference is -1 degree. Conversely, if the first actual rotation amount is 45.5 degrees and the second actual rotation amount is 44.5 degrees, the calculated difference is 1 degree. Dividing this difference by 2 yields the signed zero-point error value.

[0137] In one feasible implementation, step S50 includes:

[0138] Step S501: After detecting a rotation command when the zero point is not calibrated, the rotation amount corresponding to the rotation command is added to the zero point error value to obtain the rotation amount after zero point error correction, and the motor is controlled to drive the tracking bracket to rotate according to the rotation amount after zero point error correction.

[0139] The rotation amount corresponding to the rotation command refers to the amount of rotation required based on the rotation command.

[0140] After detecting a rotation command without zero-point calibration, the required rotation amount is determined based on the command. A signed zero-point error value is added to this rotation amount to obtain the zero-point error calibrated rotation amount. The motor is then controlled to drive the tracking bracket to rotate according to this calibrated rotation amount. For example, the tracking bracket should currently be at -45 degrees, and the rotation command indicates a +30-degree rotation (i.e., to -15 degrees). However, because the zero point has deviated 5 degrees in the positive direction, the tracking bracket is currently at -40 degrees. If it rotates +30 degrees, it will reach the -10-degree position. Therefore, +30 degrees is added to the zero-point error value of -5 degrees to obtain the zero-point error calibrated rotation amount of +25 degrees. The motor is then controlled to drive the tracking bracket to rotate +25 degrees. It should be noted that, in the presence of rotation error, rotation error correction can be performed on the rotation amount after zero-point error calibration, and then the motor rotation is controlled based on both the calibrated rotation error and the zero-point error calibrated rotation amount.

[0141] Based on the first and / or second embodiments described above, a third embodiment of the control method for the tracking bracket of the present invention is proposed. In this embodiment, reference is made to... Figure 4 After step S30, the method further includes:

[0142] Step A10: Control the motor to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and obtain the third actual rotation amount of the tracking bracket, wherein the preset rotation amount is the theoretical rotation amount from the system zero point to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket.

[0143] Considering that there may be rotation errors during the rotation of the tracking bracket, for example, the motor is controlled to rotate 10 degrees but only rotates 9 degrees in reality, this embodiment proposes a rotation error detection method to address this situation. After detecting the rotation error in the tracking bracket system, the rotation error can be corrected through automatic or manual correction, thereby further improving the accuracy of the tracking bracket rotation control.

[0144] In this embodiment, there is no limitation on the method of correcting the zero-point error. It can be corrected by the correction method proposed in the second embodiment above, or by other correction methods.

[0145] Multiple position points can be defined within the rotation range. For example, a position point can be set every degree, and one or more measurement points can be selected from each position point.

[0146] For a given measurement point, the theoretical amount of rotation required to move the tracking bracket from the system's zero position to that measurement point is called the preset rotation amount.

[0147] The controller can control the motor-driven tracking bracket to rotate a preset amount from the calibrated zero position, with the aim of controlling the rotation to the measurement point corresponding to that preset amount of rotation. However, in the presence of rotational errors, it may not actually rotate to the measurement point, because the motor-driven tracking bracket may not have actually rotated the preset amount of rotation. Therefore, in this embodiment, after the controller controls the motor-driven tracking bracket to rotate the preset amount of rotation from the calibrated zero position, the actual rotation amount of the tracking bracket can be obtained (hereinafter referred to as the third actual rotation amount for distinction).

[0148] The method for obtaining the third actual rotation amount is not limited in this embodiment. When the rotation amount is a rotation angle, for example, an angle sensor can be used to measure the third actual rotation angle and use the third actual rotation angle as the third actual rotation amount. When the rotation amount is a rotation distance, for example, a distance sensor can be used to measure the third actual rotation distance and use the third actual rotation distance as the third actual rotation amount.

[0149] Step A20: If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, then the detection result of the tracking bracket system having a rotation error is obtained.

[0150] In the absence of rotational error, the third actual rotation amount and the preset rotation amount should be equal, for example, both being 10 degrees. The third preset value can be set in advance based on an allowable error range; that is, if the difference between the third actual rotation amount and the preset rotation amount is less than or equal to the third preset value, they can be considered essentially equal. If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, the controller can determine that the tracking support system has a rotational error. In a specific implementation, after determining that the tracking support system has a rotational error, automatic correction or manual correction can be performed; in this embodiment, the correction method is not limited.

[0151] In this embodiment, there is no limitation on whether the detection result indicating that the tracking support system has no rotational error is obtained when the third actual rotation amount is equal to the preset rotation amount. For example, in one feasible implementation, when the third actual rotation amount is equal to the preset rotation amount, the detection result indicating that the current tracking support system has no rotational error can be obtained, thus eliminating the need for rotational error correction. Furthermore, in another feasible implementation, when the third actual rotation amount is equal to the preset rotation amount, other feasible detection methods can be combined to further detect whether rotational error exists.

[0152] In one feasible implementation, refer to Figure 5 After step A20, the method further includes:

[0153] Step A30: Calculate the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point.

[0154] In this embodiment, if a rotational error is detected in the tracking support system, the rotational error can be automatically corrected.

[0155] For a given measurement point, the controller can calculate the difference between the third actual rotation amount and the preset rotation amount corresponding to that measurement point to obtain the rotation error value for that measurement point. It should be noted that, similar to the zero-point error value, the rotation error value can be signed or unsigned. For example, when the rotation error value is signed, and the rotation amount in the first direction is set as a positive rotation amount, the third actual rotation amount can be subtracted from the preset rotation amount to obtain the difference. This difference is signed and used as the rotation error value corresponding to that measurement point.

[0156] Step A40: After receiving the rotation command to rotate to the target position point, obtain the rotation error value corresponding to the target position point.

[0157] The rotation error value can be obtained by pre-measuring multiple measurement points, which means obtaining the rotation error value corresponding to each position point in the rotation range. After receiving the rotation command to rotate to the target position point in the rotation range, the pre-measured rotation error value of the target position point can be obtained.

[0158] Step A50: The rotation amount of the target position point relative to the system zero point is corrected using the rotation error value corresponding to the target position point. Based on the rotation amount after correcting the rotation error and the zero point error, the motor is controlled to drive the tracking bracket to rotate, so as to rotate the tracking bracket from the current zero point position to the position where the target position point is located.

[0159] In response to the rotation command, the controller can correct the rotation of the target position point relative to the system zero point using the rotation error value corresponding to the target position point. For example, if the rotation error value is +5 degrees and the rotation of the target position point relative to the system zero point is +10 degrees, then the calculated rotation after correcting the rotation error is +15 degrees. The controller can control the motor-driven tracking bracket to rotate to the current zero-point position. If a zero-point error exists, the controller can first perform zero-point error correction to reach the corrected zero-point position. Then, the rotation amount after correcting the rotation error is considered to be the same as the rotation amount after correcting the rotation error and the zero-point error. That is, the controller directly controls the motor-driven tracking bracket to rotate +15 degrees from the corrected zero-point position to reach the target position. Alternatively, the controller can use the zero-point error value to correct the zero-point error, obtaining the corrected rotation error and the rotation amount after correcting the zero-point error. Then, the controller controls the motor-driven tracking bracket to directly rotate this rotation amount from the current zero-point position to reach the target position. For example, assuming the zero-point error value is +0.5 degrees, the corrected rotation error and the rotation amount after correcting the zero-point error can be calculated as +15.5 degrees. Then, the controller controls the motor-driven tracking bracket to directly rotate +15.5 degrees from the current zero-point position to reach the target position.

[0160] In one feasible implementation, after step A30, the method further includes:

[0161] Step A60: After calculating the rotation error values ​​corresponding to at least three different measurement points, determine whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value.

[0162] In this embodiment, the rotation error values ​​corresponding to at least three different measurement points can be calculated first. Then, based on these three rotation error values, it can be determined whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value. For example, taking three measurement points as an example, the three measurement points are the +10 degree position, -15 degree position, and +30 degree position in the rotation range, respectively. The corresponding three rotation error values ​​are 1 degree, 1.5 degrees, and 3 degrees, respectively. Then, it can be determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value. That is, there is a calculable linear proportionality coefficient between the rotation amount and the rotation error value. For example, in the above example, the linear proportionality coefficient is 10.

[0163] Step A70: If it is determined that there is a non-linear relationship between the rotation amount of the tracking bracket and the rotation error value, then each position point within the rotation range is taken as a test point, the rotation error value corresponding to each test point is measured, and step A40 is executed.

[0164] When it is determined that there is a non-linear relationship between the rotation amount and the rotation error value of the tracking bracket, the controller can use each position point in the rotation range as a measurement point. The position points in the rotation range are the various positions that the tracking bracket may rotate to during the operation of the tracking bracket system. These positions can be set as needed, for example, one position point can be set every degree. After measuring all position points to obtain the rotation error value, the corresponding rotation error value of any target position point can be obtained in the subsequent control process. Then, when it is necessary to rotate to the target position point, the rotation error can be corrected based on the rotation error value corresponding to the target position point, thereby accurately rotating to the target position point.

[0165] It should be noted that in this embodiment, nonlinear rotation errors can also be accurately corrected, thereby improving the accuracy of the tracking bracket angle adjustment even in the presence of nonlinear rotation errors.

[0166] In one feasible implementation, after step A60, the method further includes:

[0167] Step A80: If it is determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, then calculate the unit rotation error value based on each rotation error value and the preset rotation amount corresponding to each measurement point.

[0168] If it is determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, then the unit rotation error value is calculated. This unit rotation error value represents the rotation error value generated for each unit rotation. For example, when the rotation amount is a rotation angle, the unit rotation error value represents the rotation error value generated for each unit rotation angle.

[0169] The controller can calculate the unit rotation error value based on the rotation error value corresponding to each measurement point and the preset rotation amount corresponding to each measurement point. In a specific implementation, the rotation error value corresponding to the measurement point can be divided by the preset rotation amount corresponding to that measurement point to obtain a ratio. One ratio corresponding to each measurement point can be selected as the unit rotation error value, or the ratios corresponding to each measurement point can be averaged to obtain the unit rotation error value.

[0170] Step A90: After receiving the rotation command, multiply the rotation amount corresponding to the rotation command by the unit rotation error value to obtain the linear error value, add the linear error value to the rotation amount corresponding to the rotation command to obtain the rotation amount after correcting the rotation error, and control the motor to drive the tracking bracket to rotate according to the rotation amount after correcting the rotation error and the zero-point error.

[0171] The rotation amount corresponding to a rotation command refers to the amount of rotation required from the current position. This rotation amount can be carried in the rotation command itself, or it can be calculated based on the target position indicated in the rotation command and the current position.

[0172] Upon receiving a rotation command, the corresponding rotation amount is multiplied by the unit rotation error value. The result, called the linear error value, is used for differentiation. The controller adds this linear error value to the rotation amount corresponding to the rotation command to obtain the rotation amount after correcting the rotation error. It should be noted that if the zero-point error has already been corrected when the rotation command is received, then the calculated rotation amount after correcting the rotation error is the same as the rotation amount after correcting both the rotation error and the zero-point error. If the zero-point error has not been corrected when the rotation command is received, then the calculated rotation amount after correcting the rotation error can be further corrected based on the zero-point error value to obtain the rotation amount after correcting both the rotation error and the zero-point error. The motor drives the tracking bracket to rotate based on the rotation angle after correcting the rotation error and the zero-point error; that is, the motor drives the tracking bracket to rotate from its current position by the amount of rotation after correcting both the rotation error and the zero-point error.

[0173] It should be noted that when determining that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, it is not necessary to measure the rotation error value at each position point. It is only necessary to calculate the unit rotation error value to correct the rotation error when rotating to the target position point. Furthermore, it is not necessary to return to the zero position each time before rotating to the target position point. Instead, it is possible to directly rotate from the current position to the target position point.

[0174] Furthermore, this embodiment of the invention also proposes a control device for a tracking bracket, wherein a first detection device and a second detection device are provided on the fixed support of the tracking bracket, as shown in the figure. Figure 6 The control device for the tracking bracket includes:

[0175] Control module 10 is used to respond to a zero-point error detection command, control the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position to a first direction, stop when the tracking bracket is detected to have rotated to the first position by the first detection device, and obtain the first actual rotation amount of the tracking bracket.

[0176] The control module 10 is also used to control the motor to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction, and to stop when the tracking bracket is detected to have rotated to the second position by the second detection device, and to obtain the second actual rotation amount of the tracking bracket;

[0177] The detection module 20 is configured to determine a detection result indicating an error between the current zero point and the system zero point if at least one of the differences between the first actual rotation amount and the first theoretical rotation amount and the second actual rotation amount and the second theoretical rotation amount is greater than a first preset value. The first theoretical rotation amount is the rotation amount from the system zero point position to the first position, and the second theoretical rotation amount is the rotation amount from the system zero point position to the second position.

[0178] Alternatively, if the difference between the first theoretical rotation and the second theoretical rotation is greater than a second preset value when the first actual rotation is equal to the second actual rotation, then a detection result indicating an error between the current zero point and the system zero point is obtained.

[0179] In one feasible embodiment, the first theoretical rotation amount is the rotation angle of the tracking bracket from the system zero position to the first position, and the second theoretical rotation amount is the rotation angle of the tracking bracket from the system zero position to the second position. The control module 10 is further configured to:

[0180] The first actual rotation angle of the tracking bracket from the current zero position to the first position is detected by the angle sensor, and the first actual rotation angle is used as the first actual rotation amount.

[0181] The second actual rotation angle of the tracking bracket from the current zero position to the second position is detected by the angle sensor, and the second actual rotation angle is used as the second actual rotation amount.

[0182] In one feasible embodiment, when the first theoretical rotation amount is equal to the second theoretical rotation amount, the control device of the tracking bracket further includes:

[0183] The first calculation module is used to calculate the difference between the first actual rotation amount and the second actual rotation amount, and to calculate the zero-point error value between the current zero point and the system zero point based on the difference.

[0184] The first calibration module is used to calibrate the current zero point based on the zero point error value.

[0185] In one feasible embodiment, when the amount of rotation in the first direction is set as a positive rotation amount, the first calculation module is further configured to:

[0186] The difference is obtained by subtracting the second actual rotation from the first actual rotation, and the difference is divided by 2 to obtain the zero-point error value between the current zero point and the system zero point.

[0187] In one feasible implementation, the first correction module is further configured to:

[0188] When a rotation command is detected without zero-point calibration, the rotation amount corresponding to the rotation command is added to the zero-point error value to obtain the rotation amount after zero-point error calibration. The motor is then controlled to drive the tracking bracket to rotate based on the rotation amount after zero-point error calibration.

[0189] In one feasible embodiment, the control module 10 is further configured to:

[0190] The motor is controlled to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and the third actual rotation amount of the tracking bracket is obtained. The preset rotation amount is the theoretical rotation amount from the zero point of the system to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket.

[0191] The detection module 20 is also used for:

[0192] If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, then the detection result of the tracking bracket system having a rotation error is obtained.

[0193] In one feasible embodiment, the control device for the tracking bracket further includes:

[0194] The second calculation module is used to calculate the difference between the third actual rotation amount and the preset rotation amount, and obtain the rotation error value corresponding to the measurement point:

[0195] The acquisition module is used to acquire the rotation error value corresponding to the target position point after receiving a rotation command to rotate to the target position point;

[0196] The second correction module is used to correct the rotation of the target position point relative to the system zero point using the rotation error value corresponding to the target position point, and to control the motor to drive the tracking bracket to rotate based on the rotation amount after correcting the rotation error and the zero point error, so as to rotate the tracking bracket from the current zero point position to the position where the target position point is located.

[0197] In one feasible embodiment, the detection module 20 is further configured to:

[0198] After calculating the rotation error values ​​corresponding to at least three different measurement points, it is determined whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value.

[0199] If it is determined that there is a non-linear relationship between the rotation amount and the rotation error value of the tracking bracket, then each position point within the rotation range is used as a test point, the rotation error value corresponding to each test point is measured, and the operation of obtaining the rotation error value corresponding to the target position point after receiving the rotation command to rotate to the target position point is executed.

[0200] In one feasible embodiment, the control device for the tracking bracket further includes:

[0201] The third calculation module is used to calculate the unit rotation error value based on each rotation error value and the preset rotation value corresponding to each measurement point if it is determined that there is a linear relationship between the rotation amount and the rotation error value of the tracking bracket.

[0202] The third correction module is used to, upon receiving a rotation command, multiply the rotation amount corresponding to the rotation command by the unit rotation error value to obtain a linear error value, add the linear error value to the rotation amount corresponding to the rotation command to obtain a rotation amount after correcting the rotation error, and control the motor to drive the tracking bracket to rotate based on the rotation amount after correcting the rotation error and the zero-point error.

[0203] In one feasible embodiment, the control device for the tracking bracket further includes:

[0204] The receiving module is used to receive the zero-point error detection command sent by the monitoring backend; or,

[0205] The triggering module is used to trigger the zero-point error detection command according to a preset triggering cycle.

[0206] In one feasible embodiment, the first detection device is a first limit switch, and the control module 10 is further configured to:

[0207] The motor controlling the tracking bracket drives the tracking bracket to rotate from the current zero position in the first direction. When the tracking bracket receives the arrival signal fed back by the first limit switch during the rotation, the motor is controlled to stop. The arrival signal of the first limit switch is triggered when the tracking bracket reaches the first position.

[0208] The extended content of the specific implementation of the control device for the tracking bracket of the present invention is basically the same as the various embodiments of the control method for the tracking bracket described above, and will not be repeated here.

[0209] Furthermore, embodiments of the present invention also propose a computer-readable storage medium storing a control program for a tracking bracket, wherein the control program for the tracking bracket, when executed by a processor, implements the steps of the tracking bracket control method described below.

[0210] The various embodiments of the control device and computer-readable storage medium for the tracking bracket of the present invention can be referred to the various embodiments of the control method for the tracking bracket of the present invention, and will not be repeated here.

[0211] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0212] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0213] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0214] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A control method for a tracking bracket, characterized in that, A first detection device and a second detection device are installed on the fixed support of the tracking bracket. The control method of the tracking bracket includes the following steps: In response to the zero-point error detection command, the motor of the tracking bracket is controlled to drive the tracking bracket to rotate from the current zero-point position in the first direction. When the tracking bracket is detected to have rotated to the first position by the first detection device, the rotation stops and the first actual rotation amount of the tracking bracket is obtained. The motor is controlled to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction. When the second detection device detects that the tracking bracket has rotated to the second position, the rotation stops and the second actual rotation amount of the tracking bracket is obtained. If the first theoretical rotation amount and the second theoretical rotation amount of the tracking bracket are equal, and the difference between the first actual rotation amount and the second actual rotation amount is greater than the second preset value, then the detection result is that there is an error between the current zero point and the system zero point. Calculate the difference between the first actual rotation amount and the second actual rotation amount, and calculate the zero-point error value between the current zero point and the system zero point based on the difference; The current zero point is corrected based on the zero point error value; The step of obtaining the detection result that there is an error between the current zero point and the system zero point also includes: The motor is controlled to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and the third actual rotation amount of the tracking bracket is obtained. The preset rotation amount is the theoretical rotation amount from the zero point of the system to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket. If the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, then the detection result of the tracking bracket system having a rotation error is obtained; Calculate the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point: After receiving the rotation command to rotate to the target position point, the rotation error value corresponding to the target position point is obtained; The rotation of the target position relative to the system zero point is corrected using the rotation error value corresponding to the target position. The motor is then controlled to drive the tracking bracket to rotate based on the rotation amount after correcting the rotation error and the zero point error, so as to rotate the tracking bracket from the current zero point position to the position where the target position is located. After the step of calculating the difference between the third actual rotation amount and the preset rotation amount to obtain the rotation error value corresponding to the measurement point, the method further includes: After calculating the rotation error values ​​corresponding to at least three different measurement points, it is determined whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value. If it is determined that there is a non-linear relationship between the rotation amount of the tracking bracket and the rotation error value, then each position point within the rotation range is used as a test point, the rotation error value corresponding to each test point is measured, and the step of obtaining the rotation error value corresponding to the target position point after receiving the rotation command to rotate to the target position point is executed.

2. The control method for the tracking bracket as described in claim 1, characterized in that, The first theoretical rotation amount is the rotation angle of the tracking bracket from the zero position of the system to the first position, and the second theoretical rotation amount is the rotation angle of the tracking bracket from the zero position of the system to the second position. The step of obtaining the first actual rotation amount of the tracking bracket includes: The first actual rotation angle of the tracking bracket from the current zero position to the first position is detected by the angle sensor, and the first actual rotation angle is used as the first actual rotation amount. The step of obtaining the second actual rotation amount of the tracking bracket includes: The second actual rotation angle of the tracking bracket from the current zero position to the second position is detected by the angle sensor, and the second actual rotation angle is used as the second actual rotation amount.

3. The control method for the tracking bracket as described in claim 1, characterized in that, When the rotation amount in the first direction is set as the positive rotation amount, the step of calculating the difference between the first actual rotation amount and the second actual rotation amount, and calculating the zero-point error value between the current zero point and the system zero point based on the difference, includes: The difference is obtained by subtracting the second actual rotation from the first actual rotation, and the difference is divided by 2 to obtain the zero-point error value between the current zero point and the system zero point.

4. The control method for the tracking bracket as described in claim 3, characterized in that, The step of correcting the current zero point based on the zero-point error value includes: When a rotation command is detected without zero-point calibration, the rotation amount corresponding to the rotation command is added to the zero-point error value to obtain the rotation amount after zero-point error calibration. The motor is then controlled to drive the tracking bracket to rotate based on the rotation amount after zero-point error calibration.

5. The control method for the tracking bracket as described in claim 1, characterized in that, After the step of determining whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each of the rotation error values, the method further includes: If it is determined that there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value, then the unit rotation error value is calculated based on each rotation error value and the preset rotation amount corresponding to each measurement point. Upon receiving a rotation command, the rotation amount corresponding to the rotation command is multiplied by the unit rotation error value to obtain a linear error value. The rotation amount corresponding to the rotation command is then added to the linear error value to obtain the rotation amount after correcting the rotation error. Based on the rotation amount after correcting the rotation error and the zero-point error, the motor is controlled to drive the tracking bracket to rotate.

6. The control method for the tracking bracket as described in claim 1, characterized in that, Before the step of controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position in the first direction in response to the zero-point error detection command, the method further includes: Receive the zero-point error detection command sent by the monitoring backend; or, The zero-point error detection command is triggered according to the preset trigger cycle.

7. The control method for the tracking bracket as described in any one of claims 1 to 6, characterized in that, The first detection device is a first limit switch. The step of controlling the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero position in the first direction and stopping when the first detection device detects that the tracking bracket has rotated to the first position includes: The motor controlling the tracking bracket drives the tracking bracket to rotate from the current zero position in the first direction. When the tracking bracket receives the arrival signal fed back by the first limit switch during the rotation, the motor is controlled to stop. The arrival signal of the first limit switch is triggered when the tracking bracket reaches the first position.

8. A control device for a tracking bracket, characterized in that, A first detection device and a second detection device are installed on the fixed support of the tracking bracket, and the control device of the tracking bracket includes: The control module is used to respond to the zero-point error detection command, control the motor of the tracking bracket to drive the tracking bracket to rotate from the current zero-point position to the first direction, stop when the tracking bracket is detected to have rotated to the first position by the first detection device, and obtain the first actual rotation amount of the tracking bracket. The control module is also used to control the motor to drive the tracking bracket to rotate from the current zero position to a second direction opposite to the first direction, and to stop when the tracking bracket is detected to have rotated to the second position by the second detection device, and to obtain the second actual rotation amount of the tracking bracket; The detection module is used to determine the detection result that there is an error between the current zero point and the system zero point when the first theoretical rotation amount and the second theoretical rotation amount of the tracking bracket are equal, and the difference between the first actual rotation amount and the second actual rotation amount is greater than a second preset value. The first calculation module is used to calculate the difference between the first actual rotation amount and the second actual rotation amount, and to calculate the zero-point error value between the current zero point and the system zero point based on the difference. The first calibration module is used to calibrate the current zero point based on the zero point error value; The control module is also used to control the motor to drive the tracking bracket to rotate a preset amount of rotation from the calibrated zero position, and to obtain the third actual rotation amount of the tracking bracket, wherein the preset rotation amount is the theoretical rotation amount from the zero point of the system to the measurement point, and the measurement point is a position point selected from the rotation range of the tracking bracket. The detection module is also used to determine if the difference between the third actual rotation amount and the preset rotation amount is greater than the third preset value, and to obtain a detection result that there is a rotation error in the tracking bracket system. The second calculation module is used to calculate the difference between the third actual rotation amount and the preset rotation amount, and obtain the rotation error value corresponding to the measurement point: The acquisition module is used to acquire the rotation error value corresponding to the target position point after receiving a rotation command to rotate to the target position point; The second correction module is used to correct the rotation of the target position point relative to the system zero point using the rotation error value corresponding to the target position point, and to control the motor to drive the tracking bracket to rotate based on the rotation amount after correcting the rotation error and the zero point error, so as to rotate the tracking bracket from the current zero point position to the position where the target position point is located. The detection module is further configured to: after calculating the rotation error values ​​corresponding to at least three different measurement points, determine whether there is a linear relationship between the rotation amount of the tracking bracket and the rotation error value based on each rotation error value; If it is determined that there is a non-linear relationship between the rotation amount of the tracking bracket and the rotation error value, then each position point within the rotation range is used as a test point, the rotation error value corresponding to each test point is measured, and the step of obtaining the rotation error value corresponding to the target position point after receiving the rotation command to rotate to the target position point is executed.

9. A control device for a tracking bracket, characterized in that, The control device for the tracking bracket includes: a memory, a processor, and a control program for the tracking bracket stored in the memory and executable on the processor. When the control program for the tracking bracket is executed by the processor, it implements the steps of the control method for the tracking bracket as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a control program for the tracking bracket, which, when executed by a processor, implements the steps of the tracking bracket control method as described in any one of claims 1 to 7.

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