Tracking type photovoltaic power station automatic configuration method

Abstract

The invention provides an automatic configuration method for a tracking type photovoltaic power station, and the method comprises the steps: enabling three RTK modules to be paired with a controller, enabling the three paired RTK modules to be installed at any three corner positions of a photovoltaic array, and enabling the controller to be installed at a position which can rotate along with the photovoltaic array; a configuration instruction is sent to a controller through upper computer software, the controller controls a motor of the tracking type photovoltaic support to continuously rotate forwards and backwards according to a preset angle based on the configuration instruction, and coordinate information of three RTK modules and the inclination angle of an inclination angle detection module are recorded every time the motor rotates by one preset angle. A forward rotation data set and a reverse rotation data set are obtained; and automatically completing configuration operation of the tracking type photovoltaic power station according to the obtained forward rotation data set and the reverse rotation data set, and displaying a configuration result on upper computer software. The system and the method have the advantages that high-precision acquisition of spatial position information of each photovoltaic array can be realized, and acquisition and configuration efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of photovoltaic power stations, and particularly to an automatic configuration method for a tracking type photovoltaic power station.

Background Art

[0002] A tracking type photovoltaic power station needs to adopt a tracking type photovoltaic support. Compared with a fixed support, it has a higher upfront investment cost and a higher maintenance cost during use. However, in a centralized photovoltaic power station, it has significant effects in improving power generation efficiency and reducing power generation costs.

[0003] A tracking type photovoltaic support usually consists of a rotatable support, a drive system, and a control system. A photovoltaic array is installed on the rotatable support. During operation, the drive system can be used to drive the rotatable support to drive the photovoltaic array to rotate and adjust. In order to make the tracking type photovoltaic power station operate more efficiently, the following aspects of configuration are required for the tracking type photovoltaic power station: 1. Check whether the motor of the drive system is reversed; 2. Check whether the inclination detection module is reversed; 3. Horizontal calibration of the photovoltaic array; 4. Photovoltaic array numbering; 5. Acquisition of the spatial position information of the photovoltaic array. Since the shadow of the photovoltaic array will have a non-linear impact on the adjacent photovoltaic arrays (for example, 1% occlusion may cause 10% loss to the adjacent photovoltaic arrays), therefore, the accuracy of the acquisition of the spatial position information has a great impact on the subsequent tracking and adjustment of the photovoltaic array.

[0004] Currently, for the information acquisition of items 1-4, it can only be manually surveyed and entered, which has the problems of huge workload, time-consuming and laborious, and prone to errors in manual operation; while for item 5, it is still difficult to achieve high-precision acquisition. In view of the above existing problems, the inventor of this case has conducted in-depth research on this problem, and thus this case has been produced.

Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an automatic configuration method for a tracking type photovoltaic power station, which solves the problems of huge workload, time-consuming and laborious, prone to errors, and difficult to achieve high-precision acquisition of spatial position information in the configuration of the existing tracking type photovoltaic power station.

[0006] The present invention is implemented as follows: An automatic configuration method for a tracking type photovoltaic power station, the method comprising the following steps:

[0007] Step 1: Pair three RTK modules with a controller, install the paired three RTK modules at any three corner positions of the photovoltaic array, install the controller at a position that can rotate together with the photovoltaic array, and the controller is equipped with an inclination detection module;

[0008] Step 2: Send configuration instructions to the controller through the host computer software. The controller controls the motor of the tracking type photovoltaic support to rotate continuously forward and backward at a preset angle based on the configuration instructions, and for each rotation of a preset angle, the coordinate information of the three RTK modules and the inclination angle of the inclination detection module are recorded, so as to obtain a forward rotation data set and a reverse rotation data set;

[0009] Step 3: Automatically complete the configuration operation of the tracking type photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set, and display the configuration result on the host computer software.

[0010] Further, the controller controls the motor of the tracking type photovoltaic support to rotate continuously forward and backward at a preset angle based on the configuration instructions specifically as follows:

[0011] The controller first controls the motor of the tracking type photovoltaic support to rotate continuously forward at a preset angle based on the configuration instructions until the first limit alarm is triggered, and then controls the motor of the tracking type photovoltaic support to rotate continuously backward at a preset angle until the second limit alarm is triggered and then stops;

[0012] Or the controller first controls the motor of the tracking type photovoltaic support to rotate continuously backward at a preset angle based on the configuration instructions until the second limit alarm is triggered, and then controls the motor of the tracking type photovoltaic support to rotate continuously forward at a preset angle until the first limit alarm is triggered and then stops.

[0013] Further, the automatically completing the configuration operation of the tracking type photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set includes:

[0014] Obtain the inclination angle of the first record and the inclination angle of the last record from the forward rotation data set, and if the inclination angle of the first record is greater than the inclination angle of the last record, it indicates that the inclination angle of the motor of the tracking type photovoltaic support will decrease during forward rotation, and at this time, it is determined that the motor of the tracking type photovoltaic support is reverse; if the inclination angle of the first record is less than the inclination angle of the last record, it is determined that the motor of the tracking type photovoltaic support is forward;

[0015] Or obtain the inclination angle of the first record and the inclination angle of the last record from the reverse rotation data set, and if the inclination angle of the first record is greater than the inclination angle of the last record, it indicates that the inclination angle of the motor of the tracking type photovoltaic support will decrease during reverse rotation, and at this time, it is determined that the motor of the tracking type photovoltaic support is forward; if the inclination angle of the first record is less than the inclination angle of the last record, it is determined that the motor of the tracking type photovoltaic support is reverse.

[0016] Further, the automatically completing the configuration operation of the tracking type photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set further includes:

[0017] Obtain the first record and the last record from the forward rotation dataset or the reverse rotation dataset. Calculate the true inclination angles of the first record and the last record respectively according to the coordinate information of the three RTK modules, calculate the difference in true inclination angles between the first record and the last record, and at the same time calculate the difference in detected inclination angles between the first record and the last record. Determine whether the difference in true inclination angles and the difference in detected inclination angles are one positive and one negative. If so, determine that the inclination detection module is in reverse; if not, determine that the inclination detection module is in forward.

[0018] Further, the automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation dataset and reverse rotation dataset further includes:

[0019] Traverse all the records in the forward rotation dataset and the reverse rotation dataset. Calculate all the true angles according to the coordinate information of the three RTK modules in the records, and find the true angle with the smallest square value. Use the detected inclination angle corresponding to this square value as the calibrated inclination deviation.

[0020] Further, the automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation dataset and reverse rotation dataset further includes:

[0021] Report the obtained forward rotation dataset and reverse rotation dataset to the host computer software. The host computer software sorts the coordinate information in the forward rotation dataset and the reverse rotation dataset according to longitude and latitude. Obtain all the coordinate information when the photovoltaic array is in a horizontal state, and calculate the center point coordinates of the photovoltaic array according to the coordinate information of the three RTK modules when each photovoltaic array is in a horizontal state. Sort the calculated center point coordinates of all the photovoltaic arrays, and set numbers for each photovoltaic array according to the sorting.

[0022] Further, the RTK module has an "L" - shaped structure, and a slot matching the structure of the RTK module is provided on the controller. By inserting the RTK module into the slot of the controller, the RTK module is automatically paired with the controller.

[0023] Further, the communication between the controller and the three paired RTK modules is carried out by wireless communication.

[0024] Further, the sending of the configuration instruction from the host computer software to the controller is specifically as follows: The host computer software first uses the UPnP protocol to automatically discover and control all the controllers of the tracking photovoltaic power station, and then sends configuration instructions to all the discovered and controlled controllers.

[0025] Further, the method includes:

[0026] Step 4: Provide the spatial coordinate information of the entire tracking-type photovoltaic power station to other tracking algorithm modules through the host computer software. Other tracking algorithm modules generate corresponding tracking strategies for each photovoltaic array of the tracking-type photovoltaic power station according to the spatial coordinate information, and send the tracking strategies to the corresponding controllers through the host computer software, so that the controllers control the tracking-type photovoltaic brackets to drive the photovoltaic arrays to perform tracking adjustment according to the tracking strategies.

[0027] By adopting the technical solution of the present invention, there are at least the following beneficial effects:

[0028] 1. Install RTK modules at any three corner positions of each photovoltaic array. The three RTK modules can be used in cooperation to achieve three-point positioning, and accurately collect the spatial position information of each photovoltaic array within the tracking range, that is, the spatial position information of each photovoltaic array can be collected with high precision, which helps to perform better tracking adjustment on the photovoltaic array subsequently, so as to improve the daily power generation efficiency of the tracking-type photovoltaic power station.

[0029] 2. The construction personnel only need to pair the RTK module and the controller, and install the paired RTK module and controller on the photovoltaic array, then the host computer software can be used to configure each photovoltaic array of the tracking-type photovoltaic power station. At the same time, after the configuration is completed, the RTK module is recycled. The whole operation process is simple, with little workload, time-saving and labor-saving, and can avoid the mistakes caused by manual operation.

[0030] 3. The host computer software can perform parallel acquisition and configuration processing on each photovoltaic array of the tracking-type photovoltaic power station, which can effectively improve the acquisition and configuration efficiency and reduce the acquisition and configuration cost.

[0031] 4. By designing the RTK module in an "L" shape and setting a slot on the controller that matches the structure of the RTK module, on the one hand, the RTK module and the controller can be quickly paired by plugging, and the operation is simple and convenient; on the other hand, with the "L" shape design, the RTK module can be conveniently and accurately fixed to the vertex position of the photovoltaic array, thus ensuring the accuracy of the collected spatial position information.

Description of the Drawings

[0032] The present invention will be further described below with reference to the drawings in conjunction with the embodiments.

[0033] Figure 1 It is the execution flow block diagram of an automatic configuration method for a tracking-type photovoltaic power station of the present invention;

[0034] Figure 2 It is the structural schematic diagram of the controller and the RTK module in the present invention;

[0035] Figure 3It is a schematic structural diagram of a photovoltaic array equipped with a controller and an RTK module in the present invention.

Specific Embodiments

[0036] To better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the specification drawings and specific embodiments.

[0037] It should be noted here that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing these embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features.

[0038] Please refer to Figures 1 to 3 As shown, a method for automatically configuring a tracking photovoltaic power station in the present invention includes the following steps:

[0039] Step 1: Pair three RTK modules with a controller so that all three RTK modules can communicate with the successfully paired controller. Install the paired three RTK modules at any three corner positions of the photovoltaic array, and install the controller at a position that can rotate together with the photovoltaic array. The controller is equipped with an inclination detection module, and during the process of the controller rotating together with the photovoltaic array, the inclination detection module can detect the inclination; the RTK module is a high-precision positioning device that uses carrier phase differential technology to improve the positioning accuracy, and it can provide centimeter-level positioning accuracy. Since the RTK technology belongs to the prior art and its specific positioning principle is well-known to those skilled in the art, the RTK module will not be introduced in detail here; in the specific implementation of the present invention, the controller can be installed on the back of the photovoltaic array or on the rotatable part of the tracking photovoltaic bracket; at the same time, since the entire tracking photovoltaic power station includes many photovoltaic arrays, in order to realize the automatic configuration of the photovoltaic arrays of the entire tracking photovoltaic power station, three RTK modules and a controller need to be installed on each photovoltaic array;

[0040] Step 2: Send configuration instructions to the controller through the host computer software. The controller controls the motor of the tracking photovoltaic support to rotate continuously forward and backward at a preset angle based on the configuration instructions. And each time it rotates a preset angle, the coordinate information of the three RTK modules and the inclination angle of the inclination detection module are recorded, so as to obtain the forward rotation dataset motorForwardRotationData and the reverse rotation dataset motorReversingRotationData. Among them, the preset angle can be set according to actual usage needs. And the smaller the preset angle, the more comprehensive the recorded coordinate information and inclination angle can be. However, the smaller the preset angle, the more difficult it is to control the motor. Therefore, the preset angle should not be too small. For example, the motor can be controlled to record the coordinate information of the three RTK modules and the inclination angle of the inclination detection module every time it rotates 1°.

[0041] Step 3: Automatically complete the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation dataset motorForwardRotationData and reverse rotation dataset motorReversingRotationData, and display the configuration result on the host computer software, so that relevant staff can view the configuration result. When the present invention is specifically implemented, relevant staff can view the number of controllers, status, 3D map of the power station, etc. in the host computer software, and can also quickly judge the configuration result. And after the relevant staff confirm that the configuration is successful, the RTK modules on the photovoltaic array can be disassembled and recycled, while the controller needs to be installed on the photovoltaic array or the tracking photovoltaic support all the time.

[0042] By adopting the above technical solutions of the present invention, there are at least the following beneficial effects:

[0043] 1. RTK modules are installed at any three corner positions of each photovoltaic array. The three RTK modules can be used together to achieve three-point positioning and accurately collect the spatial position information of each photovoltaic array within the tracking range, that is, the spatial position information of each photovoltaic array can be collected with high precision, which helps to perform better tracking adjustment on the photovoltaic array subsequently, so as to improve the daily power generation efficiency of the tracking photovoltaic power station.

[0044] 2. Construction workers only need to pair the RTK module and the controller, and install the paired RTK module and controller on the photovoltaic array, then they can use the host computer software to perform the configuration operation on each photovoltaic array of the tracking photovoltaic power station. At the same time, after the configuration is completed, the RTK module is recycled. The whole operation process is simple, with small workload, time-saving and labor-saving, and can avoid the mistakes caused by manual operation.

[0045] 3. The host computer software can perform parallel acquisition and configuration processing on each photovoltaic array of the tracking photovoltaic power station, which can effectively improve the acquisition and configuration efficiency and reduce the acquisition and configuration costs.

[0046] In some embodiments of the present invention, the controller controls the motor of the tracking photovoltaic support to continuously rotate forward and reverse at a preset angle based on a configuration instruction, specifically as follows:

[0047] The controller first controls the motor of the tracking photovoltaic support to continuously rotate forward at a preset angle based on the configuration instruction until the first limit alarm is triggered, and then controls the motor of the tracking photovoltaic support to continuously rotate in reverse at a preset angle until the second limit alarm is triggered and then stops; since each tracking photovoltaic support is correspondingly provided with a tracking range (such as ±50° etc.), when the motor continuously rotates forward to the first limit position at a preset angle, it will stop rotating forward and trigger the first limit alarm. Similarly, when the motor continuously rotates in reverse to the second limit position at a preset angle, it will stop rotating in reverse and trigger the second limit alarm.

[0048] Or the controller first controls the motor of the tracking photovoltaic support to continuously rotate in reverse at a preset angle based on the configuration instruction until the second limit alarm is triggered, and then controls the motor of the tracking photovoltaic support to continuously rotate forward at a preset angle until the first limit alarm is triggered and then stops.

[0049] In some embodiments of the present invention, in order to automatically complete the inspection of whether the motor rotates in reverse, the configuration operation of the tracking photovoltaic power station automatically completed according to the obtained forward rotation data set motorForwardRotationData and reverse rotation data set motorReversingRotationData includes:

[0050] Obtain the inclination angle of the first record and the inclination angle of the last record from the forward rotation data set motorForwardRotationData, and if the inclination angle of the first record is greater than the inclination angle of the last record, it indicates that the inclination angle of the motor of the tracking photovoltaic support will decrease during forward rotation. At this time, it is determined that the motor of the tracking photovoltaic support rotates in reverse; if the inclination angle of the first record is less than the inclination angle of the last record, it is determined that the motor of the tracking photovoltaic support rotates forward.

[0051] Or obtain the inclination angle of the first record and the inclination angle of the last record from the reverse rotation data set motorReversingRotationData, and if the inclination angle of the first record is greater than the inclination angle of the last record, it indicates that the inclination angle of the motor of the tracking photovoltaic support will decrease during reverse rotation. At this time, it is determined that the motor of the tracking photovoltaic support rotates forward; if the inclination angle of the first record is less than the inclination angle of the last record, it is determined that the motor of the tracking photovoltaic support rotates in reverse.

[0052] In some embodiments of the present invention, in order to automatically check whether the inclination angle detection module is reversed, the operation of configuring the tracking type photovoltaic power station according to the obtained forward rotation data set motorForwardRotationData and reverse rotation data set motorReversingRotationData further includes:

[0053] Obtain the first record and the last record from the forward rotation data set motorForwardRotationData or the reverse rotation data set motorReversingRotationData, calculate the true inclination angles of the first record and the last record respectively according to the coordinate information of the three RTK modules, calculate the difference divReal between the true inclination angles of the first record and the last record, and at the same time calculate the difference divDetect between the detected inclination angles of the first record and the last record; judge whether the difference between the true inclination angles and the difference between the detected inclination angles are one positive and one negative. If so, it is determined that the inclination angle detection module is reversed. If not, it is determined that the inclination angle detection module is forward. Since the inclination angle has positive and negative values, if the inclination angle detection module is installed correctly, the change directions of the true inclination angle and the detected inclination angle are the same. Therefore, in the specific implementation of the present invention, it can be judged whether divReal*divDetect is less than zero. If so, one of divReal and divDetect must be positive and the other negative, which indicates that the change directions of the true inclination angle and the detected inclination angle are inconsistent. From this, it can be determined that the inclination angle detection module is reversed.

[0054] The following details the calculation of the true inclination angle according to the coordinate information of the three RTK modules:

[0055] Convert the three coordinate information collected by the three RTK modules to a coordinate system. Assume that the three converted coordinate points are P 1 (x 1 ,y 1 ,z 1 ), P 2 (x 2 ,y 2 ,z 2 ), and P 3 (x 3 ,y 3 ,z 3 ); According to the following distance calculation formula between two points, assume that the two point coordinates are A(a 1 ,b 1 ,c 1 ) and B(a 2 ,b 2 ,c 2 ):

[0056]

[0057] Calculate P separately 1 to P 2 、P 1 to P 3 and P 2 to P 3 distances; According to the characteristics of a triangle, the longest distance is the diagonal, the second longest is the long side, and the shortest is the short side; According to the characteristics of the photovoltaic array, it can be known that the rotation axes of the photovoltaic arrays are all perpendicular to the short side and intersect at the midpoint of the short side; Therefore, the true inclination angle is the angle of the short side;

[0058] Calculate the angle of the short side: We assume that P 1 to P 2 is the short side, then calculate the distance between P 1 to P 2 The height difference Δz between P P 1 to P 2 is Δz = z2 - z1, then the angle θ of the short side is θ = arcsin(Δz / d 1 ).

[0059] In some embodiments of the present invention, in order to automatically complete calibration, the operation of automatically configuring the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set further includes:

[0060] Traverse all records in the forward rotation data set motorForwardRotationData and the reverse rotation data set motorReversingRotationData, calculate all true angles according to the coordinate information of the three RTK modules in the records, the specific calculation method is as detailed above, and find the true angle with the smallest square value. Take the detected inclination angle corresponding to this square value as the inclination deviation for calibration, that is, subtracting the inclination deviation from the detected inclination angle is equal to the true angle. Because in specific implementation, the angle (i.e., the inclination angle) has positive and negative values, by comparing the square values, the record closest to 0° can be found, and take the detected inclination angle corresponding to this square value as the inclination deviation for calibration. At the same time, due to reasons such as instrument installation errors during actual installation, it is usually difficult to have a situation where the angle is exactly 0°.

[0061] In some embodiments of the present invention, in order to automatically set numbers for each photovoltaic array of the tracking photovoltaic power station, the operation of automatically configuring the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set further includes:

[0062] Report the obtained forward rotation dataset and reverse rotation dataset to the host computer software, and the host computer software sorts the coordinate information in the forward rotation dataset and reverse rotation dataset according to longitude and latitude. For example, when implementing the present invention specifically, the latitude can be judged first, and the coordinate information of the more northerly position is ranked more forward, then the longitude is judged, and the coordinate information of the more westerly position is ranked more forward. Of course, the present invention is not limited to this. For example, the longitude can be judged first and then the latitude, or the coordinate information of the more northerly position can be ranked more backward, etc.

[0063] Obtain all the coordinate information of the photovoltaic array when it is in a horizontal state, calculate the center point coordinates of the photovoltaic array according to the coordinate information of the three RTK modules of each photovoltaic array when it is in a horizontal state, sort the calculated center point coordinates of all photovoltaic arrays, and set numbers for each photovoltaic array according to the sorting. Since the three RTK modules are installed at any three corner positions of the photovoltaic array, the center point coordinates of the photovoltaic array can be well determined through the coordinate information of the three RTK modules.

[0064] In some embodiments of the present invention, the RTK module has an "L" - shaped structure, and the controller is provided with a slot matching the structure of the RTK module. By inserting the RTK module into the slot of the controller, the RTK module is automatically paired with the controller.

[0065] By designing the RTK module to have an "L" - shaped structure and setting a slot on the controller that matches the structure of the RTK module, on the one hand, it can quickly pair the RTK module with the controller in a plug - in manner, with simple and convenient operation; on the other hand, with the "L" - shaped structure design, it can conveniently fix the RTK module accurately to the vertex position of the photovoltaic array, thereby ensuring the accuracy of the collected spatial position information.

[0066] In some embodiments of the present invention, wireless communication is used between the controller and the three paired RTK modules for communication to facilitate the quick installation and disassembly of the RTK modules. Among them, each RTK module can be powered by its respective configured battery.

[0067] In some embodiments of the present invention, the process of the host computer software sending configuration instructions to the controller is specifically as follows: The host computer software first uses the UPnP protocol to automatically discover and control all the controllers of the tracking - type photovoltaic power station, and then sends configuration instructions to all the discovered and controlled controllers. The UPnP protocol is fully called Universal Plug and Play, which is a network protocol aimed at enabling devices to be automatically discovered, connected, and controlled.

[0068] In some embodiments of the present invention, the method includes:

[0069] Step 4: Provide the spatial coordinate information of the entire tracking-type photovoltaic power station to other tracking algorithm modules through the host computer software. Other tracking algorithm modules generate corresponding tracking strategies for each photovoltaic array of the tracking-type photovoltaic power station according to the spatial coordinate information, and send the tracking strategies to the corresponding controllers through the host computer software, so that the controllers control the tracking-type photovoltaic brackets to drive the photovoltaic arrays to perform tracking adjustment according to the tracking strategies, so as to improve the daily power generation efficiency of the tracking-type photovoltaic power station.

[0070] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments we described are illustrative rather than used to limit the scope of the present invention. Equivalent modifications and variations made by those skilled in the art in accordance with the spirit of the present invention should be covered by the scope of the claims of the present invention.

Claims

1. A tracking photovoltaic power station automatic configuration method, characterized in that: The method comprises the following steps: Step 1: Pair three RTK modules with a controller, install the three paired RTK modules at any three corners of the photovoltaic array, install the controller at a position where it can rotate with the photovoltaic array, and the controller is equipped with a tilt detection module; Step 2: Send configuration instructions to the controller through the host computer software. The controller controls the motor of the tracking photovoltaic bracket to continuously rotate forward and reverse according to the preset angle based on the configuration instructions. Each time the preset angle is rotated, the coordinate information of the three RTK modules and the inclination of the inclination detection module are recorded, thereby obtaining a forward rotation data set and a reverse rotation data set; Step 3: Automatically complete the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set, and display the configuration result on the host computer software.

2. A tracking photovoltaic power station automatic configuration method as claimed in claim 1, characterized in that: The controller controls the motor of the tracking photovoltaic support to continuously rotate forward and reverse according to a preset angle based on the configuration instructions: Based on the configuration instructions, the controller first controls the motor of the tracking photovoltaic support to continuously rotate forward at a preset angle until the first limit alarm is triggered, and then controls the motor of the tracking photovoltaic support to continuously rotate reversely at a preset angle until the second limit alarm is triggered; Alternatively, based on the configuration instructions, the controller first controls the motor of the tracking photovoltaic bracket to continuously reverse at a preset angle until the second limit alarm is triggered, and then controls the motor of the tracking photovoltaic bracket to continuously rotate forward at a preset angle until the first limit alarm is triggered.

3. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The step of automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set includes: The inclination angle of the first record and the inclination angle of the last record are obtained from the forward rotation data set. If the inclination angle of the first record is greater than the inclination angle of the last record, it means that the inclination angle of the motor of the tracking photovoltaic bracket will decrease when it rotates forward. At this time, it is determined that the motor of the tracking photovoltaic bracket is in the reverse direction; if the inclination angle of the first record is less than the inclination angle of the last record, it is determined that the motor of the tracking photovoltaic bracket is in the forward direction; Alternatively, the inclination angle of the first record and the inclination angle of the last record are obtained from the reversal data set. If the inclination angle of the first record is greater than the inclination angle of the last record, it means that the inclination angle of the motor of the tracking photovoltaic bracket will decrease when it is reversed. At this time, the motor of the tracking photovoltaic bracket is determined to be in the forward direction; if the inclination angle of the first record is less than the inclination angle of the last record, the motor of the tracking photovoltaic bracket is determined to be in the reverse direction.

4. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The step of automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set also includes: Get the first record and the last record from the forward data set or the reverse data set, calculate the true inclination of the first record and the last record respectively according to the coordinate information of the three RTK modules, calculate the true inclination difference between the first record and the last record, and calculate the detected inclination difference between the first record and the last record; determine whether the true inclination difference and the detected inclination difference are one positive and one negative, if yes, determine that the inclination detection module is reverse, if not, determine that the inclination detection module is forward.

5. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The step of automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set also includes: Traverse all the records in the forward and reverse data sets, calculate all the true angles according to the coordinate information of the three RTK modules in the records, find the true angle with the smallest square value, and use the detected inclination angle corresponding to the square value as the calibrated inclination deviation.

6. A tracking photovoltaic power station automatic configuration method as claimed in claim 1, characterized in that: The step of automatically completing the configuration operation of the tracking photovoltaic power station according to the obtained forward rotation data set and reverse rotation data set also includes: The obtained forward data set and reverse data set are reported to the host computer software, and the host computer software sorts the coordinate information in the forward data set and the reverse data set according to longitude and latitude; obtains all coordinate information of the photovoltaic array when it is in a horizontal state, and calculates the center point coordinates of the photovoltaic array according to the coordinate information of the three RTK modules of each photovoltaic array when it is in a horizontal state, sorts the calculated center point coordinates of all photovoltaic arrays, and sets numbers for each photovoltaic array according to the sorting.

7. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The RTK module has an "L"-shaped structure, and the controller is provided with a slot matching the structure of the RTK module. By inserting the RTK module into the slot of the controller, the RTK module and the controller are automatically paired.

8. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The controller communicates with the three paired RTK modules in a wireless communication manner.

9. The automatic configuration method of a tracking photovoltaic power station according to claim 1, characterized in that: The sending of the configuration instruction to the controller by the host computer software specifically includes: the host computer software first uses the UPnP protocol to automatically discover and control all controllers of the tracking photovoltaic power station, and then sends the configuration instruction to all the controllers discovered and controlled.

10. A tracking photovoltaic power station automatic configuration method according to any one of claims 1 to 9, characterized in that: The method comprises: Step 4: Provide the spatial coordinate information of the entire tracking photovoltaic power station to other tracking algorithm modules through the host computer software. Other tracking algorithm modules generate corresponding tracking strategies for each photovoltaic array of the tracking photovoltaic power station according to the spatial coordinate information, and send the tracking strategies to the corresponding controllers through the host computer software, so that the controller controls the tracking photovoltaic bracket according to the tracking strategy to drive the photovoltaic array to perform tracking adjustment.

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