Agricultural photovoltaic power generation device control system and method based on sun tracking adjustment

Abstract

The invention belongs to the field of photovoltaic power generation control, and provides an agricultural photovoltaic power generation device control system and method based on sun tracking adjustment, and the technical scheme is that the agricultural photovoltaic power generation device control system comprises a solar photovoltaic power generation module, a sun and crop monitoring module and a meteorological station. The camera is controlled to rotate to monitor the growth condition of crops in real time, and meanwhile, sun tracking adjustment is carried out according to the second sun azimuth angle and the relation between the second sun elevation angle and the pitch angle and azimuth angle of the photovoltaic panel, so that the phenomenon of alternate light and shade of the crops in the agricultural light complementation scene is solved, and the crop quality is improved. The problem that crops grow unevenly is solved, and the quality of the crops is improved.

Description

Technical Field

[0001] The present invention belongs to the field of photovoltaic power generation control, and in particular relates to a control system and method for an agricultural photovoltaic power generation device based on sun tracking regulation. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The solar photovoltaic power generation devices in existing photovoltaic agriculture are usually fixed and cannot track the long movement of the sun. This method greatly limits the range of solar photovoltaic power generation devices receiving sunlight, resulting in low solar energy conversion efficiency and low utilization efficiency of solar power generation. In addition, solar radiation intensity is one of the key environmental factors affecting plant photosynthesis, and has an important impact on crop yield and quality. The shading of photovoltaic panels will cause changes in solar radiation intensity, which will significantly affect the ecological environment of tea gardens and orchard micro-domains, resulting in the phenomenon of alternating light and dark in the solar isolation of crops in the agricultural and light complementary scenario, and uneven growth of crops, thus affecting the quality of crops. Summary of the invention

[0004] In order to solve at least one technical problem existing in the above-mentioned background technology, the present invention provides a control system and method for an agricultural photovoltaic power generation device based on solar tracking adjustment, which solves the problem of alternating light and dark due to solar isolation of crops in the agricultural-photovoltaic complementary scenario and the problem of uneven growth of crops, thereby improving the quality of crops.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] The first aspect of the present invention provides an agricultural photovoltaic power generation device control system based on sun tracking regulation, comprising a solar photovoltaic power generation module, a sun and crop monitoring module and a meteorological observation station;

[0007] The solar photovoltaic power generation module includes a photovoltaic panel and a photovoltaic panel controller; the sun and crop monitoring module includes a camera and a camera controller; the meteorological observation station is used to detect light intensity;

[0008] The camera controller is configured to: control the pitch and rotation of the camera according to the solar altitude angle and solar azimuth angle obtained by theoretical calculation, and correct the actual solar altitude angle and solar azimuth angle based on the solar image position data extracted by the camera;

[0009] The photovoltaic panel controller is configured to: start solar tracking adjustment when the light intensity is greater than or equal to a preset threshold, determine the target pitch angle and azimuth according to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, control the solar photovoltaic panel to rotate to the target pitch angle and azimuth, and stop tracking the sun when the light intensity is less than a preset threshold.

[0010] Further, the solar photovoltaic power generation module also includes a first pitch angle sensor, a first azimuth angle sensor, a first azimuth rotation servo motor and a first pitch rotation servo motor connected to the photovoltaic panel controller;

[0011] The first pitch angle sensor is used to detect the pitch angle of the photovoltaic panel, the first azimuth angle sensor is used to detect the azimuth angle of the photovoltaic panel, and the photovoltaic panel controller is configured to: drive the solar photovoltaic panel to pitch through the first pitch rotation servo motor according to the pitch angle of the photovoltaic panel obtained through feedback from the first pitch angle sensor, and drive the solar photovoltaic panel to rotate through the first azimuth rotation servo motor according to the azimuth angle of the photovoltaic panel obtained through feedback from the first azimuth angle sensor.

[0012] Furthermore, the solar photovoltaic power generation module also includes a lifting servo motor, a walking servo motor, a horizontal displacement sensor and a lifting displacement sensor connected to the photovoltaic panel controller;

[0013] The lifting displacement sensor is used to detect the vertical lifting height of the solar photovoltaic panel, and the horizontal displacement sensor is used to detect the horizontal displacement distance of the solar photovoltaic panel;

[0014] The photovoltaic panel controller is configured to: according to the vertical lifting height of the solar photovoltaic panel obtained by the feedback of the lifting displacement sensor, drive the solar photovoltaic panel to lift vertically through the lifting servo motor, and adjust the height of the solar photovoltaic power generation device to match the height of the crop;

[0015] According to the horizontal displacement distance of the solar photovoltaic panel obtained by feedback from the horizontal displacement sensor, the solar photovoltaic power generation device is driven by a walking servo motor to walk along the lightning protection maintenance station with ground tracks to the planting area.

[0016] Further, the sun and crop monitoring module also includes a second pitch angle sensor, a second azimuth angle sensor, a second azimuth rotation servo motor and a second pitch rotation servo motor connected to the camera controller;

[0017] The second pitch angle sensor is used to detect the pitch angle of the camera, and the second azimuth angle sensor is used to detect the azimuth angle of the camera. The camera controller is configured to: drive the camera to pitch through a second pitch rotation servo motor according to the pitch angle of the camera obtained through feedback from the second pitch angle sensor, and drive the camera to rotate through a second azimuth rotation servo motor according to the azimuth angle of the camera obtained through feedback from the second azimuth angle sensor.

[0018] Furthermore, the calculation formulas for the solar altitude angle and the solar azimuth angle are:

[0019]

[0020] ω=15×(12-t),

[0021] Where h is the solar altitude angle, is the geographical latitude of the location, δ is the solar declination angle, ω is the solar hour angle, n is the cumulative number of days in a year, and t is the local real time.

[0022] Furthermore, the photovoltaic panel controller is also configured as follows:

[0023] Set the minimum threshold and optimal threshold of the power generation of solar photovoltaic power generation devices, and establish a database of light saturation points, light compensation points and illumination time for different crops and different growth stages;

[0024] According to the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the crop yield quality, the walking servo motor is controlled to drive the position of the solar photovoltaic power generation device, thereby adjusting the distribution of sunlight between the solar photovoltaic panels and the plants.

[0025] Furthermore, the photovoltaic panel controller is also configured as follows:

[0026] When the actual power generation of the solar photovoltaic power generation module is less than the minimum threshold, the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk to the lightning protection maintenance station with the goal of maximizing the yield, quality and benefits of crops;

[0027] When the actual power generation of the solar photovoltaic power generation module is greater than or equal to the optimal threshold, the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk along the ground track with the goal of maximizing the benefit of the solar photovoltaic power generation module;

[0028] When the actual power generation of the solar photovoltaic power generation module is greater than the minimum threshold and less than the optimal threshold, and the illuminance is lower than the plant light saturation point, an instruction to reduce the amount of solar photovoltaic power generation equipment is issued; when the illuminance exceeds or is equal to the plant light saturation point, an instruction to increase the amount of solar photovoltaic power generation equipment is issued.

[0029] Furthermore, the calculation formula for the power generation of solar photovoltaic panels and the yield quality benefits of crops is:

[0030] Establish solar photovoltaic panel power generation power P pv The relationship between the solar radiation intensity I and the solar radiation intensity I is as follows:

[0031] P pv =I×P mpp ×F,

[0032] According to the relationship between solar radiation intensity I and light rate and the effect of light time on crop growth, the relationship between crop yield quality H and solar radiation intensity I is established, and the expression is:

[0033] H=I×H mpp × K,

[0034] Among them, P pv is the power generated by the solar photovoltaic panel, I is the solar radiation intensity W / m2, when the solar radiation intensity is 1W / m2, P mpp is the reference value of the output power of the photovoltaic array at the set temperature; F is the output power coefficient; H is the quality of crop yield. When the solar radiation intensity is 1W / m2, H mpp is the reference value of crop yield quality of the photovoltaic array under the set illumination time; K is the crop yield quality coefficient.

[0035] The second aspect of the present invention provides a control method for a solar photovoltaic power generation device in the agricultural-photovoltaic complementary scenario according to the first aspect, comprising the following steps:

[0036] The camera pitch and rotation are controlled according to the theoretically calculated solar altitude and solar azimuth angles, and the actual solar altitude and solar azimuth angles are corrected based on the solar image position data extracted by the camera;

[0037] When the light intensity is greater than or equal to a preset threshold, solar tracking adjustment begins. According to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, the target pitch angle and azimuth are determined, and the solar photovoltaic panel is controlled to rotate to the target pitch angle and azimuth. When the light intensity is less than a preset threshold, solar tracking adjustment stops.

[0038] Furthermore, the control method further comprises: setting a minimum threshold and an optimal threshold of the power generation of the solar photovoltaic power generation device, and establishing a database of light saturation points, light compensation points and illumination time for different crops and different growth stages;

[0039] According to the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the crop yield quality, the walking servo motor is controlled to drive the position of the solar photovoltaic power generation device, thereby adjusting the distribution of sunlight between the solar photovoltaic panels and the plants.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The present invention controls the pitch and rotation of the camera according to the solar altitude angle and solar azimuth angle obtained by theoretical calculation, and corrects the solar image position data extracted by the camera to obtain the actual solar altitude angle and solar azimuth angle; controls the pitch angle and azimuth angle of the photovoltaic panel according to the actual solar altitude angle and solar azimuth angle to perform solar tracking adjustment, thereby improving the solar energy conversion efficiency.

[0042] 2. The present invention controls the position of the solar photovoltaic power generation device driven by the walking servo motor based on the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the yield and quality of crops, thereby adjusting the distribution of sunlight between the solar photovoltaic panel and the plants, solving the problem of alternating light and dark in the solar isolation of crops in the scenario of agricultural-photovoltaic complementation, and the problem of uneven crop growth, thereby improving the quality of crops. On the basis of improving the yield and quality of crops, the solar energy conversion efficiency is improved to achieve a win-win economic benefit in the scenario of agricultural-photovoltaic complementation.

[0043] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0045] Figure 1 It is a block diagram of a control system for an agricultural photovoltaic power generation device based on solar tracking regulation provided by an embodiment of the present invention;

[0046] Figure 2 is a schematic diagram of the relationship between solar radiation intensity and light and speed provided by an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of daily variation of solar radiation intensity on a sunny day, a cloudy day, and a cloudy day provided by an embodiment of the present invention;

[0048] Figure 4 It is a schematic diagram of daily variation of power generation of a solar photovoltaic panel module provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0051] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0052] Embodiment 1

[0053] like Figure 1 As shown, this embodiment provides an agricultural photovoltaic power generation device control system based on sun tracking regulation, including a solar photovoltaic power generation module, a sun and crop monitoring station, a meteorological observation station, and a thunderstorm protection maintenance station;

[0054] The solar photovoltaic power generation module includes a photovoltaic panel and a photovoltaic panel controller, a first pitch angle sensor connected to the photovoltaic panel controller, a first azimuth angle sensor, a first azimuth rotation servo motor and a first pitch rotation servo motor;

[0055] The first pitch angle sensor is used to detect the pitch angle of the photovoltaic panel, the first azimuth angle sensor is used to detect the azimuth angle of the photovoltaic panel, and the photovoltaic panel controller is configured to: drive the solar photovoltaic panel to pitch through the first pitch rotation servo motor according to the pitch angle of the photovoltaic panel obtained through feedback from the first pitch angle sensor, and drive the solar photovoltaic panel to rotate through the first azimuth rotation servo motor according to the azimuth angle of the photovoltaic panel obtained through feedback from the first azimuth angle sensor.

[0056] The solar photovoltaic power generation module also includes a lifting servo motor, a walking servo motor, a horizontal displacement sensor and a lifting displacement sensor connected to the photovoltaic panel controller;

[0057] The lifting displacement sensor is used to detect the vertical lifting height of the solar photovoltaic panel, and the horizontal displacement sensor is used to detect the horizontal displacement distance of the solar photovoltaic panel;

[0058] The photovoltaic panel controller is configured to: according to the vertical lifting height of the solar photovoltaic panel obtained by the feedback of the lifting displacement sensor, drive the solar photovoltaic panel to lift vertically through the lifting servo motor, and adjust the height of the solar photovoltaic power generation device to match the height of the crop;

[0059] According to the horizontal displacement distance of the solar photovoltaic panel obtained by feedback from the horizontal displacement sensor, the solar photovoltaic power generation device is driven by a walking servo motor to walk along the lightning protection maintenance station with ground tracks to the planting area.

[0060] The sun and crop monitoring station includes a camera, a camera controller, a second pitch angle sensor connected to the camera controller, a second azimuth angle sensor, a second azimuth rotation servo motor and a second pitch rotation servo motor;

[0061] The second pitch angle sensor is used to detect the pitch angle of the camera, and the second azimuth angle sensor is used to detect the azimuth angle of the camera. The camera controller is configured to: drive the camera to pitch through a second pitch rotation servo motor according to the pitch angle of the camera obtained through feedback from the second pitch angle sensor, and drive the camera to rotate through a second azimuth rotation servo motor according to the azimuth angle of the camera obtained through feedback from the second azimuth angle sensor.

[0062] The sun and crop monitoring station can not only monitor the solar altitude and solar azimuth, but also monitor the crop growth status and surrounding environment in real time. Since the sun moves slowly, the sun moves 15° relative to the sun every hour, so the solar altitude and solar azimuth can be detected every 10 minutes or 20 minutes. In other time periods, the crop growth status and surrounding environment can be monitored in real time.

[0063] The photovoltaic panel controller is configured to: start solar tracking adjustment when the light intensity is greater than or equal to a preset threshold, determine the target pitch angle and azimuth according to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, control the solar photovoltaic panel to rotate to the target pitch angle and azimuth, and stop tracking the sun when the light intensity is less than a preset threshold.

[0064] In this embodiment, the calculation formulas for the solar altitude angle and the solar azimuth angle are:

[0065] The calculation formula of the solar altitude angle h is:

[0066]

[0067] Where h is the solar altitude angle, δ is the solar declination angle, and ω is the solar hour angle.

[0068] The calculation formula of the solar azimuth angle β is:

[0069]

[0070] The calculation formula for the camera pitch θ is: θ = 90°-h, where h is the solar altitude angle.

[0071] In the formula, is the geographical latitude of the location, δ is the declination angle, and ω is the solar hour angle.

[0072] The camera azimuth angle is equal to the sun azimuth angle β, and the camera azimuth angle is controlled using the calculated sun azimuth angle β data.

[0073] The declination angle δ is the angle between the sunlight and the equatorial plane. The declination angle actually represents the latitude value where the sunlight is directly shining, and its size changes throughout the year.

[0074] According to the Cooper equation:

[0075]

[0076] Where n is the cumulative number of days in a year.

[0077] The solar hour angle ω is the angle between the solar hour circle and the meridian circle. The calculation formula of the solar hour angle ω is:

[0078] ω=15×(12-t),

[0079] t is the local real time. This formula shows that the solar hour angle is calculated from 12 noon local time and changes by 15 degrees every hour. For example, if the sun is directly overhead at 12 noon in a certain place, then at 13:00 local time, the solar hour angle is -15 degrees; at 14:00 local time, the solar hour angle is -30 degrees, and so on.

[0080] The camera controller is configured as follows: the solar altitude angle h and the camera pitch θ can be calculated according to the above-mentioned calculation formula of the solar altitude angle h and the calculation formula of the camera pitch θ, the second pitch rotation servo motor is controlled to drive the camera pitch according to the calculated camera pitch θ, and the camera pitch is controlled according to the signal feedback of the second pitch angle sensor.

[0081] The camera controller can calculate the solar azimuth angle β according to the above calculation formula of the solar azimuth angle β, control the second azimuth rotation servo motor to drive the camera to rotate according to the calculated solar azimuth angle β, and control the camera rotation according to the signal feedback of the second azimuth angle sensor.

[0082] Then the camera controller controls the camera to extract the solar image contour, obtains the solar image position data, corrects the calculated solar azimuth angle β and the calculated solar altitude angle h according to the measured solar image position data, and finally obtains the actual solar azimuth angle β and the actual solar altitude angle h.

[0083] For example: determine the first pitch angle and the first azimuth angle of the camera according to the first solar altitude angle and the first solar azimuth angle obtained by theoretical calculation, and control the camera to reach the first pitch angle and the first azimuth angle; obtain the solar image position data extracted by the camera under the first pitch angle and the first azimuth angle, correct the first solar azimuth angle and the first solar altitude angle according to the solar image position data, and obtain the second solar azimuth angle and the second solar altitude angle; determine the second pitch angle and the second azimuth angle of the camera according to the second solar azimuth angle and the second solar altitude angle, and control the camera to rotate to the second pitch angle and the second azimuth angle to monitor the growth status of crops in real time;

[0084] According to the above steps, the actual solar azimuth angle β and the actual solar altitude angle h of the sun are monitored every 10 minutes or 20 minutes, and the actual solar azimuth angle β and the actual solar altitude angle h data of each day and hour of the year are stored in the storage unit for controlling the pitch angle and azimuth angle of the solar photovoltaic panel. In other time periods, the camera controller controls the camera to monitor the crop growth status and the surrounding environment in real time.

[0085] like Figure 2 As shown in the figure, the light compensation point refers to the light intensity when the amount of photosynthesis and respiration of plants absorbing CO2 reaches a balanced state under a certain light intensity. At the light compensation point, the photosynthesis of the plant is equal to the respiration, that is, the net photosynthesis is equal to zero, that is, the plant neither accumulates nor consumes dry matter at the light compensation point. The light saturation point refers to the light intensity value at which the photosynthetic rate of the plant increases with the increase of light intensity within a certain light intensity range, and the photosynthetic rate no longer continues to increase after the light intensity rises to a certain value. The light intensity at which light saturation is reached is the light saturation point. When the solar radiation intensity reaches the light compensation point, the photosynthetic rate increases with the increase of solar radiation intensity, but as the solar radiation intensity continues to increase, after reaching or exceeding the light compensation point of the plant, the photosynthetic rate of the plant will decrease, thereby inhibiting the growth of the plant.

[0086] Meteorological observation stations are used to detect light intensity, atmospheric pressure, air temperature, air humidity, wind direction and wind speed.

[0087] When the light intensity is greater than or equal to a preset threshold, the first pitch rotation servo motor is controlled to drive the solar photovoltaic panel to pitch according to the actual solar azimuth angle β and the actual solar altitude angle h data obtained by the sun and crop monitoring station, and the pitch of the solar photovoltaic panel is controlled according to the signal feedback of the first pitch angle sensor. The first azimuth rotation servo motor is controlled to drive the solar photovoltaic panel to rotate, and the rotation of the solar photovoltaic panel is controlled according to the signal feedback of the first azimuth angle sensor. When the light intensity is less than a preset threshold, stop tracking the sun to reduce power loss.

[0088] Light intensity and light duration not only affect the growth and development of crops, but also directly affect the yield and quality of crops. The same crop has different light requirements at different growth stages. Relatively less light is needed during vegetative growth, while lack of light has a greater impact during reproductive growth. The types of crops that are suitable for light intensity are divided into positive plants, negative plants, and shade-tolerant plants. Positive plants have a more urgent demand for light. They can only grow normally under sufficient light conditions. Their light saturation point and light compensation point are both high, and the rate of photosynthesis and metabolic rate are both relatively high. Such as dandelion. Negative plants have much lower light requirements than positive plants, and their light saturation point and light compensation point are both low. Their photosynthetic rate and respiration rate are both relatively low. Such as ginseng and Panax notoginseng. Shade-tolerant plants are also called neutral plants. They have a wide adaptability to light. They grow under full light and can tolerate moderate shade or require lighter shade during the growth period. Such as Codonopsis, Adenophora, and strawberry. The duration of light exposure can directly affect the flowering, fruiting and dormancy of crops. Crops are divided into long-day crops, short-day crops and neutral crops according to the light cycle time they can adopt. Long-day crops can only bloom when their light exposure time is longer than a certain time. If it is shorter than a certain time, the plants will not bloom or the flowering time will be delayed. Short-day crops refer to plants that bloom only when the light exposure time they adopt is shorter than a certain time, and neutral crops refer to plants that can only bloom within a certain light exposure time range. Therefore, the length of light exposure time can have a direct impact on the growth of crops. Twilight can also provide raw materials for plant photosynthesis.

[0089] In order to achieve the solar photovoltaic panel module power generation power P pv and crop yield quality H to maximize the total benefit, and establish the solar photovoltaic panel module power generation power P pv According to the relationship between solar radiation intensity I and light rate and the effect of illumination time on crop growth, the relationship between crop yield quality H and solar radiation intensity I is established. pv Under the goal of maximizing the total benefit of crop yield quality H, the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk along the ground track, and the position of the solar photovoltaic panel is adjusted, thereby adjusting the distribution of sunlight between the solar photovoltaic panel and the plants.

[0090] Solar photovoltaic panel module power generation P pv The relationship with solar radiation intensity I is as follows:

[0091] P pv =I×P mpp ×F,

[0092] Where P pv is the power generation of the solar photovoltaic panel module, I is the solar radiation intensity W / m2, when the solar radiation intensity is 1W / m2, P mpp is the reference value of the output power of the photovoltaic array at a certain temperature; F is the output power coefficient.

[0093] The relationship between crop yield quality H and solar radiation intensity I is as follows:

[0094] H=I×H mpp × K,

[0095] Where: H is the crop yield quality, I is the solar radiation intensity W / m2, the solar radiation intensity I is less than the light saturation point, when the solar radiation intensity is 1W / m2, H npp is the reference value of crop yield quality under a certain illumination time of the photovoltaic array; K is the crop yield quality coefficient.

[0096] like Figure 3 As shown, the solar radiation intensity on sunny, cloudy and overcast days is quite different. The solar radiation intensity on sunny days changes steadily, with the highest radiation occurring at 13:20, which is 731.90 W / m2, and the daily average radiation is 206.58 W / m2. The radiation on cloudy days fluctuates violently, with the highest radiation occurring at 14:40, which is 364.40 W / m2, and the daily average radiation is 69.22 W / m2. The irradiation changes on cloudy days are relatively stable, with the highest radiation occurring at 13:20, which is 500.60 W / m2, and the daily average radiation is 139.14 W / m2. The daily cumulative radiation is sunny> cloudy> overcast.

[0097] like Figure 4 As shown in the figure, the power generation of the solar photovoltaic panel module has an obvious alternating pattern of day and night changes, and changes with the daily change of solar radiation intensity, showing a periodic change pattern. There is no sunlight at night, and the overall power output of the solar photovoltaic panel module is zero at night. The highest power generation of the solar photovoltaic panel module on the day occurs between 12:30 and 15:00, and the power generation of the solar photovoltaic panel module reaches 30MW.

[0098] The specific steps to adjust the sunlight distribution between solar photovoltaic panels and plants are as follows:

[0099] Step 1: Set the minimum threshold and optimal threshold of the power generation of the solar photovoltaic panel power generation device, and establish a database of light saturation points, light compensation points and light time for different crops and different growth stages;

[0100] Step 2: When the power generation of the solar photovoltaic panel power generation device is less than the minimum threshold, the principle is to maximize the benefits of crop yield quality H. Control the walking servo motor to drive the solar photovoltaic power generation device along the ground track to the lightning protection maintenance station. For example, at night, the power generation of the solar photovoltaic panel module is basically zero, and the solar photovoltaic panel power generation device can be placed in the lightning protection maintenance station for maintenance and maintenance. When the power generation of the solar photovoltaic panel module is greater than or equal to the optimal threshold, the principle is to maximize the power generation benefits of the solar photovoltaic panel module, control the walking servo motor to drive the solar photovoltaic power generation device along the ground track, maximize the amount of solar photovoltaic power generation devices, and maximize the power generation benefits of the solar photovoltaic power generation device.

[0101] Step 3: When the power generation of the solar photovoltaic panel power generation device is greater than the minimum threshold and less than the optimal threshold, and the illuminance is lower than the light saturation point of the plant, the amount of solar photovoltaic power generation devices should be reduced, the shaded area should be reduced, and the light intensity and light time of the crop should be increased. When the illuminance exceeds or equals the light saturation point of the plant, the amount of solar photovoltaic power generation devices should be increased, the shaded area should be increased, and the light intensity and light time of the crop should be reduced.

[0102] Step 4: Adjust the shade area every 5-6 hours to ensure that the amount of sunlight for crops in each area is consistent, so that crops grow evenly and the yield and quality of crops are improved.

[0103] Finally, the solar photovoltaic panel module generates power P pv and crop yield quality H to maximize total benefits.

[0104] When the meteorological observation station observes severe weather such as heavy snow, ice, hail, low temperature, strong wind, heavy rain, lightning, etc., the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk along the ground track to the thunderstorm shelter maintenance station to avoid damage to the solar photovoltaic power generation device. When the solar photovoltaic power generation device is stacked at the thunderstorm maintenance station, the lifting servo motor can be used to drive the solar photovoltaic panel to descend vertically to the lowest position, which is convenient for maintenance and stacking. When generating electricity, the lifting servo motor drives the solar photovoltaic panel to rise and fall vertically according to the height of the crop to adjust the height of the solar photovoltaic power generation device. In order to facilitate maintenance and stacking, the first pitch rotation servo motor can be controlled to drive the solar photovoltaic panel to pitch 90 degrees.

[0105] Embodiment 2

[0106] This embodiment provides a control method for a solar photovoltaic power generation device in an agricultural-photovoltaic complementary scenario as described in Embodiment 1, comprising the following steps:

[0107] The camera pitch and rotation are controlled according to the theoretically calculated solar altitude and solar azimuth angles, and the actual solar altitude and solar azimuth angles are corrected based on the solar image position data extracted by the camera;

[0108] When the light intensity is greater than or equal to a preset threshold, solar tracking adjustment begins. According to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, the target pitch angle and azimuth are determined, and the solar photovoltaic panel is controlled to rotate to the target pitch angle and azimuth. When the light intensity is less than a preset threshold, solar tracking adjustment is stopped.

[0109] Set the minimum threshold and optimal threshold of the power generation of solar photovoltaic power generation devices, and establish a database of light saturation points, light compensation points and illumination time for different crops and different growth stages;

[0110] According to the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the crop yield quality, the walking servo motor is controlled to drive the position of the solar photovoltaic power generation device, thereby adjusting the distribution of sunlight between the solar photovoltaic panels and the plants.

[0111] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. The control system of agricultural photovoltaic power generation device based on solar tracking regulation is characterized by: Includes solar photovoltaic power generation modules, sun and crop monitoring modules and meteorological observation stations; The solar photovoltaic power generation module includes a photovoltaic panel and a photovoltaic panel controller; the sun and crop monitoring module includes a camera and a camera controller; the meteorological observation station is used to detect light intensity; The camera controller is configured to: control the pitch and rotation of the camera according to the solar altitude angle and solar azimuth angle obtained by theoretical calculation, and correct the actual solar altitude angle and solar azimuth angle based on the solar image position data extracted by the camera; The photovoltaic panel controller is configured to: start solar tracking adjustment when the light intensity is greater than or equal to a preset threshold, determine the target pitch angle and azimuth according to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, control the solar photovoltaic panel to rotate to the target pitch angle and azimuth, and stop tracking the sun when the light intensity is less than a preset threshold.

2. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The solar photovoltaic power generation module also includes a first pitch angle sensor, a first azimuth angle sensor, a first azimuth rotation servo motor and a first pitch rotation servo motor connected to the photovoltaic panel controller; The first pitch angle sensor is used to detect the pitch angle of the photovoltaic panel, the first azimuth angle sensor is used to detect the azimuth angle of the photovoltaic panel, and the photovoltaic panel controller is configured to: drive the solar photovoltaic panel to pitch through the first pitch rotation servo motor according to the pitch angle of the photovoltaic panel obtained through feedback from the first pitch angle sensor, and drive the solar photovoltaic panel to rotate through the first azimuth rotation servo motor according to the azimuth angle of the photovoltaic panel obtained through feedback from the first azimuth angle sensor.

3. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The solar photovoltaic power generation module also includes a lifting servo motor, a walking servo motor, a horizontal displacement sensor and a lifting displacement sensor connected to the photovoltaic panel controller; The lifting displacement sensor is used to detect the vertical lifting height of the solar photovoltaic panel, and the horizontal displacement sensor is used to detect the horizontal displacement distance of the solar photovoltaic panel; The photovoltaic panel controller is configured to: according to the vertical lifting height of the solar photovoltaic panel obtained by the feedback of the lifting displacement sensor, drive the solar photovoltaic panel to lift vertically through the lifting servo motor, and adjust the height of the solar photovoltaic power generation device to match the height of the crop; According to the horizontal displacement distance of the solar photovoltaic panel obtained by feedback from the horizontal displacement sensor, the solar photovoltaic power generation device is driven by a walking servo motor to walk along the lightning protection maintenance station with ground tracks to the planting area.

4. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The sun and crop monitoring module also includes a second pitch angle sensor, a second azimuth angle sensor, a second azimuth rotation servo motor and a second pitch rotation servo motor connected to the camera controller; The second pitch angle sensor is used to detect the pitch angle of the camera, and the second azimuth angle sensor is used to detect the azimuth angle of the camera. The camera controller is configured to: drive the camera to pitch through a second pitch rotation servo motor according to the pitch angle of the camera obtained through feedback from the second pitch angle sensor, and drive the camera to rotate through a second azimuth rotation servo motor according to the azimuth angle of the camera obtained through feedback from the second azimuth angle sensor.

5. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The calculation formulas for the solar altitude angle and the solar azimuth angle are: ω=15×(12-t), Where h is the solar altitude angle, is the geographical latitude of the location, δ is the solar declination angle, ω is the solar hour angle, n is the cumulative number of days in a year, and t is the local real time.

6. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The photovoltaic panel controller is further configured to: Set the minimum threshold and optimal threshold of the power generation of solar photovoltaic power generation devices, and establish a database of light saturation points, light compensation points and illumination time for different crops and different growth stages; According to the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the crop yield quality, the walking servo motor is controlled to drive the position of the solar photovoltaic power generation device, thereby adjusting the distribution of sunlight between the solar photovoltaic panels and the plants.

7. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 6, characterized in that: The photovoltaic panel controller is further configured to: When the actual power generation of the solar photovoltaic power generation module is less than the minimum threshold, the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk to the lightning protection maintenance station with the goal of maximizing the yield, quality and benefits of crops; When the actual power generation of the solar photovoltaic power generation module is greater than or equal to the optimal threshold, the walking servo motor is controlled to drive the solar photovoltaic power generation device to walk along the ground track with the goal of maximizing the benefit of the solar photovoltaic power generation module; When the actual power generation of the solar photovoltaic power generation module is greater than the minimum threshold and less than the optimal threshold, and the illuminance is lower than the plant light saturation point, an instruction to reduce the amount of solar photovoltaic power generation equipment is issued; when the illuminance exceeds or is equal to the plant light saturation point, an instruction to increase the amount of solar photovoltaic power generation equipment is issued.

8. The agricultural photovoltaic power generation device control system based on sun tracking regulation as claimed in claim 1, characterized in that: The calculation formula for the power generation of solar photovoltaic panels and the quality benefits of crop yield is: Establish solar photovoltaic panel power generation power P pv The relationship between the solar radiation intensity I and the solar radiation intensity I is as follows: P pv =I×P mpp ×F, According to the relationship between solar radiation intensity I and light rate and the effect of light time on crop growth, the relationship between crop yield quality H and solar radiation intensity I is established, and the expression is: H=Ⅰ×H mpp ×K, Among them, P pv is the power generated by the solar photovoltaic panel, I is the solar radiation intensity W / m2, when the solar radiation intensity is 1W / m2, P mpp is the reference value of the output power of the photovoltaic array at the set temperature; F is the output power coefficient; H is the quality of crop yield. When the solar radiation intensity is 1W / m2, H mpp is the reference value of crop yield quality of the photovoltaic array under the set illumination time; K is the crop yield quality coefficient.

9. A control method for an agricultural photovoltaic power generation device based on solar tracking regulation, based on the control system for an agricultural photovoltaic power generation device based on solar tracking regulation according to any one of claims 1 to 8, characterized in that: The steps include: The camera pitch and rotation are controlled according to the theoretically calculated solar altitude and solar azimuth angles, and the actual solar altitude and solar azimuth angles are corrected based on the solar image position data extracted by the camera; When the light intensity is greater than or equal to a preset threshold, solar tracking adjustment begins. According to the relationship between the actual solar altitude angle and solar azimuth and the pitch angle and azimuth of the photovoltaic panel, the target pitch angle and azimuth are determined, and the solar photovoltaic panel is controlled to rotate to the target pitch angle and azimuth. When the light intensity is less than a preset threshold, solar tracking adjustment stops.

10. The control method of agricultural photovoltaic power generation device based on sun tracking regulation according to claim 9, characterized in that: The control method further includes: setting a minimum threshold and an optimal threshold of the power generation of the solar photovoltaic power generation device, and establishing a database of light saturation points, light compensation points and illumination time for different crops and different growth stages; According to the relationship between the actual power generation of the solar photovoltaic power generation device and the minimum threshold and the optimal threshold, the actual light data and the light data in the database, with the goal of maximizing the total benefits of the power generation of the solar photovoltaic power generation device and the crop yield quality, the walking servo motor is controlled to drive the position of the solar photovoltaic power generation device, thereby adjusting the distribution of sunlight between the solar photovoltaic panels and the plants.

Images