Solar photovoltaic panel dynamic regulation and control method and system based on linear actuator

Abstract

The invention relates to the technical field of solar photovoltaic power generation, in particular to a solar photovoltaic panel dynamic regulation and control method and system based on a linear actuator, and the method comprises the steps: determining a movable photovoltaic panel, obtaining a photosensitive sensing device, constructing a square orthogonal resistor array through the photosensitive sensing device, and carrying out the adjustment and control of the movable photovoltaic panel. A square orthogonal resistor array is utilized to obtain a sunlight azimuth angle and a sunlight elevation angle, and a first optimal length, a second optimal length, a first sliding position and a second sliding position are calculated according to the sunlight azimuth angle and the sunlight elevation angle. And performing light receiving direction adjustment on the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position and the second sliding position to obtain a new photovoltaic panel, and completing dynamic regulation and control on the photovoltaic panel until a pre-constructed regulation and control termination instruction is received. According to the invention, the automation degree and accuracy of regulation and control of the photovoltaic panel can be improved, and the light energy utilization rate of the photovoltaic panel is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of solar photovoltaic power generation, and particularly to a dynamic regulation method and system for solar photovoltaic panels based on a linear actuator. Background Art

[0002] With the growth of global energy demand and the improvement of environmental protection awareness, solar photovoltaic power generation technology has been widely applied. However, traditional photovoltaic panels are generally installed at a fixed angle and cannot effectively track the movement trajectory of the sun, resulting in low light energy utilization rate.

[0003] Existing solar photovoltaic panel regulation methods mainly estimate the azimuth of the sun through a photoresistor or a photoelectric sensor, and use a single-axis tracking system with a mechanical transmission structure (such as gear transmission, chain drive) or a hydraulic system to adjust the angle of the solar photovoltaic panel.

[0004] Although the existing regulation methods can achieve the regulation of solar photovoltaic panels, a single photoresistor or photoelectric sensor is not accurate enough in confirming the azimuth of the sun, and has a large error when there are obstacles. At the same time, the single-axis tracking system only rotates around one axis, and there is still a large amount of energy loss in different seasons and different time periods. Moreover, when using the methods of gear transmission and chain drive to adjust the angle of the solar photovoltaic panel, the rotation angle is not precise enough. Therefore, there is an urgent need for a technology that can accurately locate the azimuth of the sun and can adjust the angle of the solar photovoltaic panel in multiple directions to improve the power generation efficiency of the solar photovoltaic panel. Summary of the Invention

[0005] The present invention provides a dynamic regulation method for solar photovoltaic panels based on a linear actuator and a computer-readable storage medium, and its main purpose is to improve the automation degree and accuracy of regulating the photovoltaic panels and improve the light energy utilization rate of the photovoltaic panels.

[0006] To achieve the above object, a dynamic regulation method for solar photovoltaic panels based on a linear actuator provided by the present invention includes: Obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod to confirm a movable photovoltaic panel, a first initial length and a second initial length, wherein both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod; Obtain a photosensitive sensing device, and use the photosensitive sensing device to construct a four-sided orthogonal resistance array; When receiving a pre-constructed photovoltaic regulation instruction, use the four-sided orthogonal resistance array to obtain the sun azimuth angle and the sun altitude angle; Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position according to the solar azimuth angle and the solar altitude angle; Based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position, adjust the light-receiving orientation of the movable photovoltaic panel to obtain an updated photovoltaic panel; Take the time when the updated photovoltaic panel is obtained as the starting point and record the time in real time to obtain the single adjustment time; When the single adjustment time reaches the preset adjustment time threshold, use the updated photovoltaic panel as the movable photovoltaic panel, use the first optimal length as the first initial length, use the second optimal length as the second initial length, and return to the step of obtaining the solar azimuth angle and the solar altitude angle by using the four-sided orthogonal resistance array until a pre-constructed regulation termination instruction is received, and complete the dynamic regulation of the photovoltaic panel.

[0007] Optionally, the step of using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod to confirm the movable photovoltaic panel, the first initial length, and the second initial length includes: Identify the to-be-executed backlight surface on the photovoltaic panel to be installed, where the shape of the to-be-executed backlight surface is a square; Identify the central installation point on the to-be-executed backlight surface, where the central installation point is located at the geometric center of the square corresponding to the to-be-executed backlight surface; Identify the first execution edge and the second execution edge on the to-be-executed backlight surface, where the first execution edge is any side of the square corresponding to the to-be-executed backlight surface, and the second execution edge is an adjacent side of the square corresponding to the to-be-executed backlight surface to the first execution edge; Based on the first execution edge and the second execution edge, respectively confirm the first installation point and the second installation point, where the first installation point is the midpoint of the first execution edge, and the second installation point is the midpoint of the second execution edge; Based on the first installation point and the central installation point, confirm the interval distance, where the interval distance is the distance between the first installation point and the central installation point; Fix one end of the central fixing rod at the preset central installation position and connect the other end of the central fixing rod to the central installation point of the photovoltaic panel to be installed to obtain a fixed photovoltaic panel, where the other end of the central fixing rod is connected to the central installation point of the photovoltaic panel to be installed through a pre-constructed universal joint, the central installation position is located on the pre-confirmed initial ground, and the to-be-executed backlight surface corresponding to the fixed photovoltaic panel is parallel to the initial ground; Based on the first installation point of the fixed photovoltaic panel and the central installation point of the fixed photovoltaic panel, confirm the first unit vector, where the direction of the first unit vector is the direction from the first installation point to the central installation point on the fixed photovoltaic panel; Confirm the initial fixed length of the central fixed rod and the slide rail length of the first slide rail. Among them, the length of the first slide rail is equal to the length of the second slide rail, and both the first slide rail and the second slide rail include: a slider; Based on the central installation position, the first unit vector, the initial ground and the slide rail length, confirm the first installation position and the second installation position. Among them, both the first installation position and the second installation position are located on the initial ground. The distance between the first installation position and the central installation position is the slide rail length, and the direction from the first installation position to the central installation position is the direction of the first unit vector. The distance between the second installation position and the central installation position is the slide rail length, and the direction from the second installation position to the central installation position is perpendicular to the direction of the first unit vector; Fix one end of the first slide rail at the central installation position and fix the other end of the first slide rail at the first installation position to obtain the first fixed slide rail; Based on the interval distance and the central installation position, confirm the first slide rail position. Among them, the first slide rail position is located on the first fixed slide rail, and the horizontal distance between the first slide rail position and the central installation position is the interval distance; Move the slider of the first fixed slide rail to the first slide rail position to obtain the first updated slider; Confirm the initial slider height of the first updated slider, and calculate the first initial length according to the initial slider height and the initial fixed length. Among them, the first initial length is the absolute difference between the initial slider height and the initial fixed length; Adjust the length of the first telescopic rod to the first initial length to obtain the first updated rod. Fix one end of the first updated rod on the first updated slider and connect the other end of the first updated rod to the first installation point for fixing the photovoltaic panel to obtain the first target rod; Based on the second slide rail, the second installation position, the central installation position, the interval distance, the initial fixed length, the second telescopic rod and the second installation point for fixing the photovoltaic panel, obtain the second target rod and the second updated slider; Based on the first updated slider, the second updated slider, the first target rod, the second target rod and the fixed photovoltaic panel, confirm the movable photovoltaic panel.

[0008] Optionally, the construction of the four - square orthogonal resistance array using the photosensitive sensing device includes: Based on the second installation position and the central installation position, confirm the second unit vector. Among them, the direction of the second unit vector is the direction from the second installation position to the central installation position; Based on the first unit vector, confirm the third unit vector. Among them, the direction of the third unit vector is opposite to the direction of the first unit vector; Based on the second unit vector, confirm the fourth unit vector. Among them, the direction of the fourth unit vector is opposite to the direction of the second unit vector; A reference space coordinate system is established with the central installation position as the origin. Among them, the direction of the first unit vector is taken as the positive x-axis direction of the reference space coordinate system, the direction of the second unit vector is taken as the positive y-axis direction of the reference space coordinate system, and the direction perpendicular to the initial ground and vertically upward is taken as the positive z-axis direction of the reference space coordinate system; Based on the interval distance, the positive one coordinate, the side one coordinate, the positive two coordinate, the side two coordinate, the positive three coordinate, the side three coordinate, the positive four coordinate and the side four coordinate are confirmed; Based on the positive one coordinate, the positive one position is confirmed. Among them, the coordinate corresponding to the positive one position in the reference space coordinate system is the positive one coordinate; Based on the positive one position and the photosensitive sensing device, the positive one sensing device is confirmed. Among them, the photosensitive sensing device includes: a photosensitive resistor, a wire, a standard power supply, a switch and a galvanometer, and the photosensitive resistor includes: an insulating substrate and a photosensitive layer. The positive one sensing device is fixed at the positive one position, and the direction from the center of gravity of the insulating substrate of the photosensitive resistor in the positive one sensing device to the center of gravity of the photosensitive layer is the direction perpendicular to the initial ground and vertically upward; Based on the positive two coordinate and the photosensitive sensing device, the positive two sensing device is confirmed. Based on the positive three coordinate and the photosensitive sensing device, the positive three sensing device is confirmed. Based on the positive four coordinate and the photosensitive sensing device, the positive four sensing device is confirmed; Based on the side one coordinate, the side two coordinate, the side three coordinate and the side four coordinate respectively, the side one position, the side two position, the side three position and the side four position are confirmed; Based on the first unit vector, the side one position and the photosensitive sensing device, the side one sensing device is confirmed. Among them, the side one sensing device is fixed at the side one position, and the direction from the center of gravity of the insulating substrate of the photosensitive resistor in the side one sensing device to the center of gravity of the photosensitive layer is the direction of the first unit vector; Based on the second unit vector, the side two position and the photosensitive sensing device, the side two sensing device is confirmed. Based on the third unit vector, the side three position and the photosensitive sensing device, the side three sensing device is confirmed. Based on the fourth unit vector, the side four position and the photosensitive sensing device, the side four sensing device is confirmed; Based on the positive one sensing device, the positive two sensing device, the positive three sensing device, the positive four sensing device, the side one sensing device, the side two sensing device, the side three sensing device and the side four sensing device, a four-sided orthogonal resistance array is confirmed.

[0009] Optionally, the obtaining of the solar azimuth angle and the solar altitude angle by using the four-sided orthogonal resistance array includes: Turn on the switch in the positive one sensing device of the four - square orthogonal resistance array and read the positive one current value of the galvanometer in the positive one sensing device. Obtain the positive two current value based on the positive two sensing device of the four - square orthogonal resistance array, obtain the positive three current value based on the positive three sensing device of the four - square orthogonal resistance array, obtain the positive four current value based on the positive four sensing device of the four - square orthogonal resistance array, obtain the side one current value based on the side one sensing device of the four - square orthogonal resistance array, obtain the side two current value based on the side two sensing device of the four - square orthogonal resistance array, obtain the side three current value based on the side three sensing device of the four - square orthogonal resistance array, and obtain the side four current value based on the side four sensing device of the four - square orthogonal resistance array; Calculate the azimuth vector according to the positive one current value, positive two current value, positive three current value and positive four current value; Calculate the sun azimuth angle according to the azimuth vector and the first unit vector; Calculate the first inclination angle according to the side one current value and the positive one current value; Calculate the second inclination angle based on the side two current value and the positive two current value, calculate the third inclination angle based on the side three current value and the positive three current value, and calculate the fourth inclination angle based on the side four current value and the positive four current value; Calculate the sun altitude angle according to the first inclination angle, second inclination angle, third inclination angle and fourth inclination angle.

[0010] Optionally, the calculating the first optimal length, second optimal length, first sliding position and second sliding position according to the sun azimuth angle and sun altitude angle includes: Calculate the first optimal length according to the initial fixed length, sun azimuth angle and sun altitude angle; Calculate the second optimal length according to the initial fixed length, sun azimuth angle and sun altitude angle; Obtain the first sliding position and second sliding position by using the sun azimuth angle and sun altitude angle.

[0011] Optionally, the obtaining the first sliding position and second sliding position by using the sun azimuth angle and sun altitude angle includes: Calculate the first sliding length according to the sun azimuth angle and sun altitude angle; Calculate the second sliding length according to the sun azimuth angle and sun altitude angle; Confirm the first sliding position based on the first sliding length and the central installation position, and confirm the second sliding position based on the second sliding length and the central installation position.

[0012] Optionally, the adjusting the light - receiving azimuth of the movable photovoltaic panel based on the first initial length, second initial length, first optimal length, second optimal length, first sliding position and second sliding position to obtain the updated photovoltaic panel includes: Calculate the first adjustment distance according to the first initial length and the first optimal length; Confirm the first absolute distance based on the first adjustment distance, where the first absolute distance is the absolute value of the first adjustment distance; Determine whether the first adjustment distance is greater than or equal to 0; If the first adjustment distance is greater than or equal to 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the drive motor in the first target rod corresponding to the movable photovoltaic panel to pull the mechanical rod in the first target rod to obtain a relay photovoltaic panel, where the distance that the drive motor in the first target rod pulls the mechanical rod in the first target rod is the first absolute distance; If the first adjustment distance is less than 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the drive motor in the first target rod corresponding to the movable photovoltaic panel to push the mechanical rod in the first target rod to obtain a relay photovoltaic panel, where the distance that the drive motor in the first target rod pushes the mechanical rod in the first target rod is the first absolute distance; Obtain the second adjustment distance and the second absolute distance based on the second initial length and the second optimal length; Determine whether the second adjustment distance is greater than or equal to 0; If the second adjustment distance is greater than or equal to 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the drive motor in the second target rod corresponding to the relay photovoltaic panel to pull the mechanical rod in the second target rod to obtain an updated photovoltaic panel, where the distance that the drive motor in the second target rod pulls the mechanical rod in the second target rod is the second absolute distance; If the second adjustment distance is less than 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the drive motor in the second target rod corresponding to the relay photovoltaic panel to push the mechanical rod in the second target rod to obtain an updated photovoltaic panel, where the distance that the drive motor in the second target rod pushes the mechanical rod in the second target rod is the second absolute distance.

[0013] To achieve the above object, the present invention also provides a dynamic regulation system for a solar photovoltaic panel based on a linear actuator, including: A movable photovoltaic panel construction module, configured to obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail, and a central fixing rod, and confirm the movable photovoltaic panel, the first initial length, and the second initial length by using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod, where both the first telescopic rod and the second telescopic rod include: a drive motor and a mechanical rod; A photosensitive array construction module, configured to obtain a photosensitive sensing device and construct a four-sided orthogonal resistance array by using the photosensitive sensing device; A light-receiving orientation adjustment module, which is configured to, when receiving a pre-constructed photovoltaic regulation instruction, use a four-square orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle, calculate a first optimal length, a second optimal length, a first sliding position, and a second sliding position according to the solar azimuth angle and the solar elevation angle, and perform light-receiving orientation adjustment on a movable photovoltaic panel based on a first initial length, a second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain an updated photovoltaic panel; A photovoltaic panel regulation loop module, which is configured to start from the time when the updated photovoltaic panel is obtained and record the time in real time to obtain a single adjustment time. When the single adjustment time reaches a preset adjustment time threshold, use the updated photovoltaic panel as the movable photovoltaic panel, use the first optimal length as the first initial length, use the second optimal length as the second initial length, and return to the step of using the four-square orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle until a pre-constructed regulation termination instruction is received, thereby completing the dynamic regulation of the photovoltaic panel.

[0014] To solve the above problems, the present invention further provides an electronic device, which includes: A memory that stores at least one instruction; and A processor that executes the instructions stored in the memory to implement the above-mentioned dynamic regulation method of a solar photovoltaic panel based on a linear actuator.

[0015] To solve the above problems, the present invention further provides a computer-readable storage medium, in which at least one instruction is stored, and the at least one instruction is executed by a processor in an electronic device to implement the above-mentioned dynamic regulation method of a solar photovoltaic panel based on a linear actuator.

[0016] To solve the problems described in the background art, the present invention obtains a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail, and a central fixing rod, and determines a movable photovoltaic panel, a first initial length, and a second initial length by using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod. Among them, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod. It can be seen that in the embodiment of the present invention, by constructing a movable photovoltaic panel and using the first telescopic rod, the second telescopic rod, the first slide rail, and the second slide rail to move simultaneously and cooperate with each other, the movable photovoltaic panel can be accurately adjusted in multiple directions, improving the accuracy of regulating the photovoltaic panel. Furthermore, a photosensitive sensing device is obtained, and a four-way orthogonal resistance array is constructed by using the photosensitive sensing device. When receiving a pre-constructed photovoltaic regulation instruction, the four-way orthogonal resistance array is used to obtain the solar azimuth angle and the solar elevation angle. It can be seen that in the embodiment of the present invention, by constructing a four-way orthogonal resistance array, the direction of the incident light of the sun is accurately positioned to obtain the solar azimuth angle and the solar elevation angle, which is convenient for subsequently adjusting the light-receiving orientation of the movable photovoltaic panel according to the solar azimuth angle and the solar elevation angle. Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position according to the solar azimuth angle and the solar elevation angle, and adjust the light-receiving orientation of the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain an updated photovoltaic panel. It can be seen that in the embodiment of the present invention, by calculating the first optimal length, the second optimal length, the first sliding position, and the second sliding position, the lengths of the first telescopic rod and the second telescopic rod are accurately adjusted according to the first optimal length and the second optimal length, and the positions of the sliders in the first slide rail and the second slide rail are accurately adjusted according to the first sliding position and the second sliding position, improving the accuracy of regulating the photovoltaic panel. Starting from the time when the updated photovoltaic panel is obtained and recording the time in real time, the single adjustment time is obtained. When the single adjustment time reaches a preset adjustment time threshold, the updated photovoltaic panel is used as the movable photovoltaic panel, the first optimal length is used as the first initial length, the second optimal length is used as the second initial length, and return to the step of obtaining the solar azimuth angle and the solar elevation angle by using the four-way orthogonal resistance array until receiving a pre-constructed regulation termination instruction, completing the dynamic regulation of the photovoltaic panel. It can be seen that in the embodiment of the present invention, by recording the single adjustment time and setting an adjustment time threshold, when the single adjustment time reaches the preset adjustment time threshold, the step of obtaining the solar azimuth angle and the solar elevation angle by using the four-way orthogonal resistance array can be automatically returned, and the light-receiving orientation of the movable photovoltaic panel is adjusted once here, improving the automation degree of regulating the photovoltaic panel. Therefore, the present invention can improve the automation degree and accuracy of regulating the photovoltaic panel, and improve the light energy utilization rate of the photovoltaic panel. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic flowchart of a dynamic regulation method for a solar photovoltaic panel based on a linear actuator provided by an embodiment of the present invention; Figure 2 Functional module diagram of a dynamic regulation system for a solar photovoltaic panel based on a linear actuator provided by an embodiment of the present invention; Figure 3 Schematic structural diagram of an electronic device for implementing the dynamic regulation method for a solar photovoltaic panel based on a linear actuator provided by an embodiment of the present invention.

[0018] Explanation of reference numerals: 1. Electronic device; 10. Processor; 11. Memory; 12. Bus; 100. Dynamic regulation system for a solar photovoltaic panel based on a linear actuator; 101. Movable photovoltaic panel construction module; 102. Photosensitive array construction module; 103. Light-receiving orientation adjustment module; 104. Photovoltaic panel regulation loop module.

[0019] The realization, functional features and advantages of the objectives of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0020] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0021] An embodiment of the present application provides a dynamic regulation method for a solar photovoltaic panel based on a linear actuator. The execution subject of the dynamic regulation method for a solar photovoltaic panel based on a linear actuator includes but is not limited to at least one of electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present application. In other words, the dynamic regulation method for a solar photovoltaic panel based on a linear actuator can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0022] Refer to Figure 1 As shown, it is a schematic flowchart of a dynamic regulation method for a solar photovoltaic panel based on a linear actuator provided by an embodiment of the present invention. In this embodiment, the dynamic regulation method for a solar photovoltaic panel based on a linear actuator includes: S1. Obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod to confirm a movable photovoltaic panel, a first initial length and a second initial length. Among them, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod.

[0023] It should be explained that the photovoltaic panel to be installed is a monocrystalline silicon solar cell, which can convert solar energy into electrical energy, and the light-facing surface and the backlight surface of the photovoltaic panel to be installed adopted in the embodiments of the present invention are both square. [[ID=z]]

[0024] It should be understood that the light-facing surface of the photovoltaic panel to be installed is the plane where the solar cell wafers for facing the sun and converting light energy into electrical energy are located, and the backlight surface of the photovoltaic panel to be installed is the plane where the backplane for supporting and protecting the circuits and solar cell wafers in the photovoltaic panel to be installed is located and faces away from the sun. The backlight surface is the backlight surface to be executed in the subsequent embodiments.

[0025] It can be understood that both the first telescopic rod and the second telescopic rod are electric push rods. Among them, the first telescopic rod is subsequently connected to the first installation point, and the second telescopic rod is subsequently used to be connected to the second installation point. And both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod. The driving motor is a motor that can push or pull the mechanical rod in the first telescopic rod or the second telescopic rod. The mechanical rod is made of a metal material and is the main structural component of the first telescopic rod and the second telescopic rod. For example: when the driving motor pushes the mechanical rod in the first telescopic rod, the first telescopic rod will extend; when the driving motor pulls the mechanical rod in the first telescopic rod, the first telescopic rod will shorten. In the embodiments of the present invention, the electric push rod is a linear actuator. The central fixing rod is a metal rod, and the length of the central fixing rod needs to be greater than the side length of the photovoltaic panel to be installed. Both the first slide rail and the second slide rail are guide rails that can be controlled by a programmable logic controller. Among them, the first slide rail is subsequently fixed between the first installation position and the central installation position, and the second slide rail is subsequently fixed between the second installation position and the central installation position. The slider is a component on the first slide rail and the second slide rail, and it can slide on the first slide rail and the second slide rail under the control of a programmable controller and a servo motor. Optionally, a THK-KR26 linear module is used as the first slide rail or the second slide rail. For example, a programmable controller outputs a pulse signal to control the servo motor, and then the servo motor controls the slider on the first slide rail or the second slide rail to move. And the technology of using a programmable controller to output a pulse signal to control the servo motor and then using the servo motor to control the slider on the first slide rail or the second slide rail to move is prior art and will not be elaborated here.

[0026] Specifically, the step of determining the movable photovoltaic panel, the first initial length, and the second initial length by using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod includes: Determine the backlight surface to be executed on the photovoltaic panel to be installed, where the shape of the backlight surface to be executed is square; Identify the central installation point on the backlight surface to be executed, where the central installation point is located at the geometric center of the square corresponding to the backlight surface to be executed; Identify the first execution edge and the second execution edge on the backlight surface to be executed, where the first execution edge is any side of the square corresponding to the backlight surface to be executed, and the second execution edge is an adjacent side of the square corresponding to the backlight surface to be executed to the first execution edge; Identify the first installation point and the second installation point respectively based on the first execution edge and the second execution edge, where the first installation point is the midpoint of the first execution edge, and the second installation point is the midpoint of the second execution edge; Identify the interval distance based on the first installation point and the central installation point, where the interval distance is the distance between the first installation point and the central installation point; Fix one end of the central fixing rod at the preset central installation position and connect the other end of the central fixing rod to the central installation point of the photovoltaic panel to be installed, obtaining the fixed photovoltaic panel, where the other end of the central fixing rod is connected to the central installation point of the photovoltaic panel to be installed through a pre-constructed universal joint, the central installation position is located on the pre-identified initial ground, and the backlight surface corresponding to the fixed photovoltaic panel is parallel to the initial ground; Identify the first unit vector based on the first installation point of the fixed photovoltaic panel and the central installation point of the fixed photovoltaic panel, where the direction of the first unit vector is the direction from the first installation point to the central installation point on the fixed photovoltaic panel; Identify the initial fixed length of the central fixing rod and the rail length of the first rail. The length of the first rail is equal to the length of the second rail, and both the first rail and the second rail include: sliders; Identify the first installation position and the second installation position based on the central installation position, the first unit vector, the initial ground and the rail length. Both the first installation position and the second installation position are located on the initial ground. The distance between the first installation position and the central installation position is the rail length and the direction from the first installation position to the central installation position is the direction of the first unit vector. The distance between the second installation position and the central installation position is the rail length and the direction from the second installation position to the central installation position is perpendicular to the direction of the first unit vector; Fix one end of the first rail at the central installation position and fix the other end of the first rail at the first installation position, obtaining the first fixed rail; Identify the first rail position based on the interval distance and the central installation position. The first rail position is located on the first fixed rail, and the horizontal distance between the first rail position and the central installation position is the interval distance; Move the slider of the first fixed rail to the first rail position, obtaining the first updated slider; Confirm the initial slider height of the first update slider, and calculate the first initial length according to the initial slider height and the initial fixed length, where the first initial length is the absolute difference between the initial slider height and the initial fixed length; Adjust the length of the first telescopic rod to the first initial length to obtain the first update rod. Fix one end of the first update rod on the first update slider and connect the other end of the first update rod to the first installation point of the fixed photovoltaic panel to obtain the first target rod; Obtain the second target rod and the second update slider based on the second slide rail, the second installation position, the central installation position, the spacing distance, the initial fixed length, the second telescopic rod, and the second installation point of the fixed photovoltaic panel; Confirm the movable photovoltaic panel based on the first update slider, the second update slider, the first target rod, the second target rod, and the fixed photovoltaic panel.

[0027] It should be explained that the initial ground refers to the area on a piece of ground for installing the photovoltaic panel to be installed, and the central installation position refers to the position on the initial ground for fixing the central fixed rod. Both the initial ground and the central installation position are determined by the installer of the photovoltaic panel to be installed. The main function of the universal joint is to facilitate the angle adjustment of the fixed photovoltaic panel in multiple directions.

[0028] It should be understood that in the embodiment of the present invention, the photovoltaic panel to be installed is installed on the initial ground through the central fixed rod. Here, the central fixed rod mainly serves to support the photovoltaic panel to be installed. Since the other end of the central fixed rod is connected to the central installation point of the photovoltaic panel to be installed through a universal joint, when the subsequent fixed photovoltaic panel is further connected to the first telescopic rod and the second telescopic rod, when the length of the first telescopic rod or the second telescopic rod changes, the fixed photovoltaic panel can be tilted under the push when the first telescopic rod or the second telescopic rod extends, or tilted under the pull when the first telescopic rod or the second telescopic rod shortens.

[0029] It should be explained that the first unit vector is a unit vector, and the direction of the first unit vector is the direction from the first installation point on the fixed photovoltaic panel to the central installation point. The initial fixed length refers to the length of the central fixed rod. The length of the slide rail refers to the length of the first slide rail. The initial slider height refers to the height of the top plane of the first updated slider from the initial ground. Adjusting the length of the first telescopic rod to the first initial length means: confirming the current length of the first telescopic rod. If the current length of the first telescopic rod is greater than the first initial length, the driving motor of the first telescopic rod is used to push the mechanical rod in the first telescopic rod to elongate until the length of the first telescopic rod reaches the first initial length. If the current length of the first telescopic rod is less than the first initial length, the driving motor of the first telescopic rod is used to pull the mechanical rod in the first telescopic rod to shorten until the length of the first telescopic rod reaches the first initial length. And the technology of pushing the mechanical rod in the first telescopic rod to elongate by the driving motor of the first telescopic rod and the technology of pulling the mechanical rod in the first telescopic rod to shorten by the driving motor of the first telescopic rod are both existing technologies and will not be elaborated here.

[0030] It should be understood that the method of obtaining the second target rod and the second updated slider based on the second slide rail, the second installation position, the central installation position, the spacing distance, the initial fixed length, the second telescopic rod and the second installation point of the fixed photovoltaic panel is the same as the method of obtaining the first target rod using the first slide rail, the first installation position, the central installation position, the spacing distance, the initial fixed length, the first telescopic rod and the first installation point of the fixed photovoltaic panel, and will not be elaborated here.

[0031] It can be understood that determining the movable photovoltaic panel based on the first updated slider, the second updated slider, the first target rod, the second target rod and the fixed photovoltaic panel means: when it is confirmed that the fixed photovoltaic panel is already connected to the first target rod and the second target rod, and one end of the first target rod is fixed on the first updated slider, and one end of the second target rod is fixed on the second updated slider, then the first updated slider, the second updated slider, the first target rod, the second target rod and the fixed photovoltaic panel together form the movable photovoltaic panel.

[0032] S2. Obtain a photosensitive sensing device and construct a four - square orthogonal resistance array using the photosensitive sensing device.

[0033] It should be explained that the photosensitive sensing device is a device integrating a photosensitive resistor, wires, a standard power supply, a switch and a galvanometer, and in the photosensitive sensing device, the photosensitive resistor, the standard power supply, the switch and the galvanometer are connected in series through wires to form a loop. The galvanometer refers to a current transmitter. Optionally, the voltage of the standard power supply is 10V. The insulating substrate is located at the bottom of the photosensitive resistor, which provides physical support for the photosensitive layer and other components of the photosensitive resistor, and at the same time plays the role of electrical insulation. The photosensitive layer is the core component of the photosensitive resistor. When the light intensity of the external light changes, its conductivity changes, and then the resistance of the photosensitive resistor changes.

[0034] Specifically, constructing a four-sided orthogonal resistance array by using the photosensitive sensing device includes: Confirming a second unit vector based on the second installation position and the central installation position, wherein the direction of the second unit vector is the direction from the second installation position to the central installation position; Confirming a third unit vector based on the first unit vector, wherein the direction of the third unit vector is opposite to the direction of the first unit vector; Confirming a fourth unit vector based on the second unit vector, wherein the direction of the fourth unit vector is opposite to the direction of the second unit vector; Establishing a reference space coordinate system with the central installation position as the origin, wherein the direction of the first unit vector is used as the positive x-axis direction of the reference space coordinate system, the direction of the second unit vector is used as the positive y-axis direction of the reference space coordinate system, and the direction perpendicular to the initial ground and vertically upward is used as the positive z-axis direction of the reference space coordinate system; Confirming a positive one coordinate, a side one coordinate, a positive two coordinate, a side two coordinate, a positive three coordinate, a side three coordinate, a positive four coordinate and a side four coordinate based on the interval distance; Confirming a positive one position based on the positive one coordinate, wherein the coordinate corresponding to the positive one position in the reference space coordinate system is the positive one coordinate; Confirming a positive one sensing device based on the positive one position and the photosensitive sensing device, wherein the photosensitive sensing device includes: a photosensitive resistor, wires, a standard power supply, a switch and a galvanometer, and the photosensitive resistor includes: an insulating substrate and a photosensitive layer, the positive one sensing device is fixed at the positive one position and the direction from the center of gravity of the insulating substrate of the photosensitive resistor in the positive one sensing device to the center of gravity of the photosensitive layer is the direction perpendicular to the initial ground and vertically upward; Confirming a positive two sensing device based on the positive two coordinate and the photosensitive sensing device, confirming a positive three sensing device based on the positive three coordinate and the photosensitive sensing device, and confirming a positive four sensing device based on the positive four coordinate and the photosensitive sensing device; Respectively confirming a side one position, a side two position, a side three position and a side four position based on the side one coordinate, the side two coordinate, the side three coordinate and the side four coordinate; The first side sensing device is identified based on a first unit vector, a first side position, and a photosensitive sensing device, where the first side sensing device is fixed at the first side position, and the direction from the center of gravity of the insulating substrate of the photoresistor in the first side sensing device to the center of gravity of the photosensitive layer is the direction of the first unit vector; The second side sensing device is identified based on a second unit vector, a second side position, and a photosensitive sensing device, the third side sensing device is identified based on a third unit vector, a third side position, and a photosensitive sensing device, and the fourth side sensing device is identified based on a fourth unit vector, a fourth side position, and a photosensitive sensing device; A four-sided orthogonal resistance array is identified based on the first positive sensing device, the second positive sensing device, the third positive sensing device, the fourth positive sensing device, the first side sensing device, the second side sensing device, the third side sensing device, and the fourth side sensing device.

[0035] It should be explained that the second unit vector, the third unit vector, and the fourth unit vector are all unit vectors. The reference space coordinate system is a three-dimensional rectangular coordinate system. The first positive position is the position corresponding to the first positive coordinate in the real world. Optionally, a metal bracket is pre-constructed at the first positive position, and then the first positive sensing device is fixed on the metal bracket so as to fix the first positive sensing device at the first positive position.

[0036] It should be understood that the method for identifying the second positive sensing device based on the second positive coordinate and the photosensitive sensing device, the method for identifying the third positive sensing device based on the third positive coordinate and the photosensitive sensing device, and the method for identifying the fourth positive sensing device based on the fourth positive coordinate and the photosensitive sensing device are all the same as the method for identifying the first positive sensing device based on the first positive position and the photosensitive sensing device, and will not be elaborated here. The method for identifying the first side position based on the first side coordinate, the method for identifying the second side position based on the second side coordinate, the method for identifying the third side position based on the third side coordinate, and the method for identifying the fourth side position based on the fourth side coordinate are all the same as the method for identifying the first positive position based on the first positive coordinate, and will not be elaborated here. Optionally, a metal bracket is pre-constructed at the first side position, and then the first side sensing device is fixed on the metal bracket so as to fix the first side sensing device at the first side position.

[0037] It can be understood that the method for identifying the second side sensing device based on the second unit vector, the second side position, and the photosensitive sensing device, the method for identifying the third side sensing device based on the third unit vector, the third side position, and the photosensitive sensing device, and the method for identifying the fourth side sensing device based on the fourth unit vector, the fourth side position, and the photosensitive sensing device are all the same as the method for identifying the first side sensing device based on the first unit vector, the first side position, and the photosensitive sensing device, and will not be elaborated here.

[0038] It should be understood that the confirmation of the four - square orthogonal resistance array based on the positive - one sensing device, positive - two sensing device, positive - three sensing device, positive - four sensing device, side - one sensing device, side - two sensing device, side - three sensing device, and side - four sensing device means that: when it is confirmed that the positive - one sensing device, positive - two sensing device, positive - three sensing device, positive - four sensing device, side - one sensing device, side - two sensing device, side - three sensing device, and side - four sensing device have respectively located at the positions corresponding to the positive - one coordinate, positive - two coordinate, positive - three coordinate, positive - four coordinate, side - one coordinate, side - two coordinate, side - three coordinate, and side - four coordinate in reality, then the positive - one sensing device, positive - two sensing device, positive - three sensing device, positive - four sensing device, side - one sensing device, side - two sensing device, side - three sensing device, and side - four sensing device jointly form the four - square orthogonal resistance array.

[0039] Specifically, the positive - one coordinate, side - one coordinate, positive - two coordinate, side - two coordinate, positive - three coordinate, side - three coordinate, positive - four coordinate, and side - four coordinate are respectively as follows: ; Among them, is the interval distance, 、 、 、 、 、 、 and are respectively the positive - one coordinate, side - one coordinate, positive - two coordinate, side - two coordinate, positive - three coordinate, side - three coordinate, positive - four coordinate, and side - four coordinate.

[0040] S3. When receiving a pre - constructed photovoltaic regulation instruction, use the four - square orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle.

[0041] It should be explained that the photovoltaic regulation instruction is generally initiated by the staff of the photovoltaic power station. Exemplarily, Xiao Zhang is a staff member of the photovoltaic power station. After the photovoltaic panels are installed, in order to regulate the tilt angle of the photovoltaic panels when the photovoltaic panels are operating, so that the photovoltaic panels face the sun to improve the power generation efficiency of the photovoltaic panels, thus the photovoltaic regulation instruction is initiated.

[0042] Specifically, the use of the four - square orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle includes: Turn on the switch in the positive one sensing device of the quadrilateral orthogonal resistance array and read the positive one current value of the galvanometer in the positive one sensing device. Obtain the positive two current value based on the positive two sensing device of the quadrilateral orthogonal resistance array, obtain the positive three current value based on the positive three sensing device of the quadrilateral orthogonal resistance array, obtain the positive four current value based on the positive four sensing device of the quadrilateral orthogonal resistance array, obtain the side one current value based on the side one sensing device of the quadrilateral orthogonal resistance array, obtain the side two current value based on the side two sensing device of the quadrilateral orthogonal resistance array, obtain the side three current value based on the side three sensing device of the quadrilateral orthogonal resistance array, and obtain the side four current value based on the side four sensing device of the quadrilateral orthogonal resistance array; Calculate the azimuth vector according to the positive one current value, positive two current value, positive three current value and positive four current value. The calculation formula is as follows: ; Wherein, is the azimuth vector, , , and are the positive one current value, positive two current value, positive three current value and positive four current value respectively, , , and are the first unit vector, second unit vector, third unit vector and fourth unit vector respectively, is the preset first light intensity coefficient, is the preset second light intensity coefficient; Calculate the solar azimuth angle according to the azimuth vector and the first unit vector. The calculation formula is as follows: ; Wherein, is the solar azimuth angle, is the arccosine function, is the modulus of the azimuth vector, is the modulus of the first unit vector; Calculate the first inclination angle according to the side one current value and the positive one current value. The calculation formula is as follows: ; Wherein, is the first inclination angle, is the side one current value; Calculate the second inclination angle based on the side two current value and the positive two current value, calculate the third inclination angle based on the side three current value and the positive three current value, and calculate the fourth inclination angle based on the side four current value and the positive four current value; Calculate the solar altitude angle according to the first inclination angle, second inclination angle, third inclination angle and fourth inclination angle.

[0043] It should be understood that the method for the positive two sensing device based on the four-sided orthogonal resistance array to obtain the positive two current value, the method for the positive three sensing device based on the four-sided orthogonal resistance array to obtain the positive three current value, the method for the positive four sensing device based on the four-sided orthogonal resistance array to obtain the positive four current value, the method for the side one sensing device based on the four-sided orthogonal resistance array to obtain the side one current value, the method for the side two sensing device based on the four-sided orthogonal resistance array to obtain the side two current value, the method for the side three sensing device based on the four-sided orthogonal resistance array to obtain the side three current value, and the method for the side four sensing device based on the four-sided orthogonal resistance array to obtain the side four current value are all the same as the method for the positive one sensing device using the four-sided orthogonal resistance array to obtain the positive one current value, and will not be elaborated here. The method for calculating the second inclination angle based on the side two current value and the positive two current value, the method for calculating the third inclination angle based on the side three current value and the positive three current value, and the method for calculating the fourth inclination angle based on the side four current value and the positive four current value are all the same as the method for calculating the first inclination angle according to the side one current value and the positive one current value, and will not be elaborated here.

[0044] It should be explained that the first light intensity coefficient is the resistance value of the photosensitive resistor under the light intensity of 1 Lux. For example, if the resistance value of the photosensitive resistor under the light of 1 Lux is 10 kΩ, then the first light intensity coefficient is 10000. The second light intensity coefficient is related to the model and composition material of the photosensitive resistor. Optionally, the second light intensity coefficient is 1.2.

[0045] It can be understood that since the resistance value of the photosensitive resistor decreases with the increase of the light intensity, the positive one current value, the positive two current value, the positive three current value, and the positive four current value will increase with the increase of the light intensity. Therefore, when the current value corresponding to a certain sensing device (positive one sensing device, positive two sensing device, positive three sensing device, or positive four sensing device) is larger, it means that the light intensity of the sunlight received by the photosensitive resistor in this sensing device is stronger, that is, the plane where the photosensitive layer of this photosensitive resistor is located is more perpendicular to the direction of the incident light. Therefore, the main function of the azimuth vector is to reflect the direction of the incident light of the sun. Exemplarily, if the direction of the sunlight vector represents the direction of the incident light and the sunlight vector is projected onto the plane corresponding to the initial ground to obtain a projection vector, then the direction of the projection vector is opposite to the direction of the azimuth vector. The solar azimuth angle is the angle between the azimuth vector and the first unit vector.

[0046] It should be understood that since the direction in which the center of gravity of the insulating substrate of the photoresistor in the positive-one sensing device points to the center of gravity of the photosensitive layer is perpendicular to the initial ground and vertically upward, and the direction in which the center of gravity of the insulating substrate of the photoresistor in the side-one sensing device points to the center of gravity of the photosensitive layer is the direction of the first unit vector, that is, the photoresistor in the positive-one sensing device is more sensitive to the incident light perpendicular to the initial ground, and the photoresistor in the side-one sensing device is more sensitive to the incident light parallel to the ground, therefore, the inclination angle of the incident light relative to the initial ground can be reflected by comparing the side-one current value and the positive-one current value, that is, the first inclination angle is the incident light measured by the positive-one sensing device and the side-one sensing device. Relative to the inclination angle of the initial ground, the second inclination angle is the inclination angle of the incident light measured by the positive second sensor device and the side second sensor device relative to the initial ground, the third inclination angle is the inclination angle of the incident light measured by the positive third sensor device and the side third sensor device relative to the initial ground, and the fourth inclination angle is the inclination angle of the incident light measured by the positive fourth sensor device and the side fourth sensor device relative to the initial ground. At the same time, the embodiment of the present invention uses the positive first current value, the positive second current value, the positive third current value and the positive fourth current value as the calculation weights for the sunlight altitude angle, and finally integrates the first inclination angle, the second inclination angle, the third inclination angle and the fourth inclination angle to calculate the sunlight altitude angle, and the sunlight altitude angle represents the solar altitude angle.

[0047] In detail, the calculation formula of the sunlight altitude angle is as follows: ; in, is the sunlight altitude angle, 、 and They are the second inclination angle, the third inclination angle and the fourth inclination angle respectively.

[0048] S4. Calculate a first optimal length, a second optimal length, a first sliding position, and a second sliding position according to the sunlight azimuth angle and the sunlight altitude angle; In detail, the calculation of the first optimal length, the second optimal length, the first sliding position, and the second sliding position according to the sunlight azimuth angle and the sunlight altitude angle includes: The first optimal length is calculated based on the initial fixed length, sunlight azimuth angle, and sunlight altitude angle. The calculation formula is as follows: ; in, is the first optimal length, is the inverse tangent function, is the tangent function, is a sine function, is the cosine function, is the initial fixed length; Calculate the second optimal length according to the initial fixed length, the sunlight azimuth angle, and the sunlight altitude angle. The calculation formula is as follows: ; Wherein, is the second optimal length; Obtain the first sliding position and the second sliding position by using the sunlight azimuth angle and the sunlight altitude angle.

[0049] Specifically, the obtaining of the first sliding position and the second sliding position by using the sunlight azimuth angle and the sunlight altitude angle includes: Calculate the first sliding length according to the sunlight azimuth angle and the sunlight altitude angle. The calculation formula is as follows: ; Wherein, is the first sliding length; Calculate the second sliding length according to the sunlight azimuth angle and the sunlight altitude angle. The calculation formula is as follows:

[0050] Wherein, is the second sliding length; Confirm the first sliding position based on the first sliding length and the central installation position, and confirm the second sliding position based on the second sliding length and the central installation position.

[0051] It should be understood that if the light-facing surface of the movable photovoltaic panel is to be directly facing the incident light of the current sun, the inclination angle of the light-facing surface of the movable photovoltaic panel needs to be adjusted by adjusting the lengths of the first target rod and the second target rod. Therefore, the length that the first target rod needs to maintain when the light-facing surface of the movable photovoltaic panel is directly facing the incident light of the current sun is the first optimal length, and the length that the second target rod needs to maintain is the second optimal length.

[0052] Exemplarily, if the light-facing surface of the movable photovoltaic panel is parallel to the initial ground before the light-receiving orientation is adjusted, the horizontal distance between the first installation point corresponding to the movable photovoltaic panel and the central installation point is the interval distance at this time. However, when the light-facing surface of the movable photovoltaic panel is tilted, the horizontal distance between the first installation point corresponding to the tilted movable photovoltaic panel and the central installation point will be less than the interval distance. Since the first installation point is connected to the first target rod, in order to ensure that the direction from one end to the other end of the first target rod is always perpendicular to the initial ground (i.e., making the length change of the first target rod only reflected in the vertical direction), when adjusting the length of the first target rod, it is necessary to simultaneously adjust the position of the first update slider on the first fixed slide rail. The same applies to the second target rod and the second update slider. Therefore, the first sliding length is: when the light-facing surface of the movable photovoltaic panel faces the incident light of the current sun, the length that the first slider needs to slide in the opposite direction of the first vector on the first fixed slide rail. The second sliding length is: when the light-facing surface of the movable photovoltaic panel faces the incident light of the current sun, the length that the second slider needs to slide in the opposite direction of the second vector on the second fixed slide rail.

[0053] It should be understood that the method for confirming the first sliding position based on the first sliding length and the central installation position and the method for confirming the second sliding position based on the second sliding length and the central installation position are the same as the method for confirming the position of the first slide rail based on the interval distance and the central installation position, and will not be elaborated here.

[0054] S5. Perform light-receiving orientation adjustment on the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain an updated photovoltaic panel.

[0055] Specifically, performing light-receiving orientation adjustment on the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain an updated photovoltaic panel includes: Calculate the first adjustment distance according to the first initial length and the first optimal length. The calculation formula is as follows: ; Wherein, is the first adjustment distance, is the first initial length, is the first optimal length; Confirm the first absolute distance based on the first adjustment distance, where the first absolute distance is the absolute value of the first adjustment distance; Judge whether the first adjustment distance is greater than or equal to 0; If the first adjustment distance is greater than or equal to 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the drive motor in the first target rod corresponding to the movable photovoltaic panel to pull the mechanical rod in the first target rod to obtain a relay photovoltaic panel, where the distance that the drive motor in the first target rod pulls the mechanical rod in the first target rod is the first absolute distance; If the first adjustment distance is less than 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the drive motor in the first target rod corresponding to the movable photovoltaic panel to push the mechanical rod in the first target rod to obtain a relay photovoltaic panel, where the distance that the drive motor in the first target rod pushes the mechanical rod in the first target rod is the first absolute distance; Obtain a second adjustment distance and a second absolute distance based on the second initial length and the second optimal length; Judge whether the second adjustment distance is greater than or equal to 0; If the second adjustment distance is greater than or equal to 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the drive motor in the second target rod corresponding to the relay photovoltaic panel to pull the mechanical rod in the second target rod to obtain an updated photovoltaic panel, where the distance that the drive motor in the second target rod pulls the mechanical rod in the second target rod is the second absolute distance; If the second adjustment distance is less than 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the drive motor in the second target rod corresponding to the relay photovoltaic panel to push the mechanical rod in the second target rod to obtain an updated photovoltaic panel, where the distance that the drive motor in the second target rod pushes the mechanical rod in the second target rod is the second absolute distance.

[0056] It should be understood that when it is confirmed that the first updated slider corresponding to the movable photovoltaic panel has moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel has pulled the mechanical rod in the first target rod by the first absolute distance, the movable photovoltaic panel at this time is the relay photovoltaic panel. And the technology that the drive motor in the first target rod pulls the mechanical rod in the first target rod by the first absolute distance is the prior art. For example, a displacement sensor can be installed on the first target rod to monitor the distance that the drive motor pulls the mechanical rod. The method of obtaining the second adjustment distance and the second absolute distance based on the second initial length and the second optimal length is the same as the method of obtaining the first adjustment distance and the first absolute distance using the first initial length and the first optimal length, and will not be elaborated here.

[0057] It is understandable that when it is confirmed that the second update slider corresponding to the relay photovoltaic panel moves to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel pulls the mechanical rod in the second target rod by a second absolute distance, the relay photovoltaic panel at this time is the updated photovoltaic panel.

[0058] S6. Starting from the time when the updated photovoltaic panel is obtained and recording the time in real time, the single adjustment time is obtained.

[0059] Exemplarily, if the time when the updated photovoltaic panel is obtained is 10:00, then starting from 10:00 and recording the time in real time. When it is 10:01, the single adjustment time is 1 minute. When it is 10:06, the single adjustment time is 6 minutes.

[0060] S7. When the single adjustment time reaches the preset adjustment time threshold, the updated photovoltaic panel is used as the movable photovoltaic panel, the first optimal length is used as the first initial length, the second optimal length is used as the second initial length, and the step of obtaining the solar azimuth angle and the solar altitude angle by using the four - square orthogonal resistance array is returned until the pre - constructed regulation termination instruction is received, and the dynamic regulation of the photovoltaic panel is completed.

[0061] Preferably, the adjustment time threshold is half an hour.

[0062] It should be understood that as time passes during the day, both the solar azimuth angle and the solar altitude angle will gradually change. Therefore, it is necessary to return to the step of obtaining the solar azimuth angle and the solar altitude angle by using the four - square orthogonal resistance array every adjustment time threshold, and then adjust the tilt angle of the movable photovoltaic panel once again.

[0063] It should be explained that the regulation termination instruction is generally initiated by the staff of the photovoltaic power station. Exemplarily, Xiao Zhang is a staff member of the photovoltaic power station. When it enters the night or when it is necessary to repair the photovoltaic panel, Xiao Zhang initiates the regulation termination instruction to end the loop process and terminate the dynamic regulation of the photovoltaic panel.

[0064] To solve the problems described in the background art, the present invention obtains a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail and a central fixing rod, and determines a movable photovoltaic panel, a first initial length and a second initial length by using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod. Among them, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod. It can be seen that in the embodiment of the present invention, by constructing a movable photovoltaic panel and using the first telescopic rod, the second telescopic rod, the first slide rail and the second slide rail to move simultaneously and cooperate with each other, the movable photovoltaic panel can be accurately adjusted in angle in multiple directions, improving the accuracy of regulating the photovoltaic panel. Furthermore, a photosensitive sensing device is obtained, and a four-way orthogonal resistance array is constructed by using the photosensitive sensing device. When receiving a pre-constructed photovoltaic regulation instruction, the four-way orthogonal resistance array is used to obtain the solar azimuth angle and the solar altitude angle. It can be seen that in the embodiment of the present invention, by constructing a four-way orthogonal resistance array, the direction of the incident sunlight is accurately positioned to obtain the solar azimuth angle and the solar altitude angle, which is convenient for subsequently adjusting the light-receiving orientation of the movable photovoltaic panel according to the solar azimuth angle and the solar altitude angle. Calculate the first optimal length, the second optimal length, the first sliding position and the second sliding position according to the solar azimuth angle and the solar altitude angle, and adjust the light-receiving orientation of the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position and the second sliding position to obtain an updated photovoltaic panel. It can be seen that in the embodiment of the present invention, by calculating the first optimal length, the second optimal length, the first sliding position and the second sliding position, the lengths of the first telescopic rod and the second telescopic rod are accurately adjusted according to the first optimal length and the second optimal length, and the positions of the sliders in the first slide rail and the second slide rail are accurately adjusted according to the first sliding position and the second sliding position, improving the accuracy of regulating the photovoltaic panel. Starting from the time when the updated photovoltaic panel is obtained and recording the time in real time, the single adjustment time is obtained. When the single adjustment time reaches a preset adjustment time threshold, the updated photovoltaic panel is used as the movable photovoltaic panel, the first optimal length is used as the first initial length, the second optimal length is used as the second initial length, and return to the step of obtaining the solar azimuth angle and the solar altitude angle by using the four-way orthogonal resistance array until receiving a pre-constructed regulation termination instruction, completing the dynamic regulation of the photovoltaic panel. It can be seen that in the embodiment of the present invention, by recording the single adjustment time and setting the adjustment time threshold, when the single adjustment time reaches the preset adjustment time threshold, it is possible to automatically return to the step of obtaining the solar azimuth angle and the solar altitude angle by using the four-way orthogonal resistance array, and perform a light-receiving orientation adjustment on the movable photovoltaic panel here, improving the automation degree of regulating the photovoltaic panel. Therefore, the present invention can improve the automation degree and accuracy of regulating the photovoltaic panel and improve the light energy utilization rate of the photovoltaic panel.

[0065] Such asFigure 2 As shown, it is a functional block diagram of a solar photovoltaic panel dynamic regulation system based on a linear actuator provided by an embodiment of the present invention.

[0066] The solar photovoltaic panel dynamic regulation system 100 based on a linear actuator of the present invention can be installed in an electronic device. According to the functions achieved, the solar photovoltaic panel dynamic regulation system 100 based on a linear actuator can include a movable photovoltaic panel construction module 101, a photosensitive array construction module 102, a light-receiving orientation adjustment module 103, and a photovoltaic panel regulation loop module 104. The modules of the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, and are stored in the memory of the electronic device.

[0067] The movable photovoltaic panel construction module 101 is used to obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail, and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod to confirm a movable photovoltaic panel, a first initial length, and a second initial length. Among them, both the first telescopic rod and the second telescopic rod include: a drive motor and a mechanical rod; The photosensitive array construction module 102 is used to obtain a photosensitive sensing device and construct a four-way orthogonal resistance array by using the photosensitive sensing device; The light-receiving orientation adjustment module 103 is used to, when receiving a pre-constructed photovoltaic regulation instruction, obtain the sunlight azimuth angle and the sunlight altitude angle by using the four-way orthogonal resistance array, calculate a first optimal length, a second optimal length, a first sliding position, and a second sliding position according to the sunlight azimuth angle and the sunlight altitude angle, and perform light-receiving orientation adjustment on the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain an updated photovoltaic panel; The photovoltaic panel regulation loop module 104 is used to start from the time when the updated photovoltaic panel is obtained and record the time in real time to obtain a single adjustment time. When the single adjustment time reaches a preset adjustment time threshold, the updated photovoltaic panel is used as the movable photovoltaic panel, the first optimal length is used as the first initial length, the second optimal length is used as the second initial length, and the step of obtaining the sunlight azimuth angle and the sunlight altitude angle by using the four-way orthogonal resistance array is returned until a pre-constructed regulation termination instruction is received, and the dynamic regulation of the photovoltaic panel is completed.

[0068] Specifically, each module in the solar photovoltaic panel dynamic regulation system 100 based on a linear actuator in the embodiment of the present invention adopts the same as the above-mentioned Figure 1The same technical means as the dynamic regulation method of the solar photovoltaic panel based on the linear actuator described in [reference] can be used, and the same technical effects can be achieved, which will not be elaborated here.

[0069] As Figure 3 shown, it is a schematic structural diagram of an electronic device for implementing the dynamic regulation method of the solar photovoltaic panel based on the linear actuator provided by an embodiment of the present invention.

[0070] The electronic device 1 may include a processor 10, a memory 11, and a bus 12, and may further include a computer program stored in the memory 11 and executable on the processor 10, such as a program for the dynamic regulation method of the solar photovoltaic panel based on the linear actuator.

[0071] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 may be an internal storage unit of the electronic device 1 in some embodiments, such as the mobile hard disk of the electronic device 1. The memory 11 may also be an external storage device of the electronic device 1 in other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 1. Further, the memory 11 also includes the internal storage unit of the electronic device 1 and the external storage device. The memory 11 can be used not only to store application software installed on the electronic device 1 and various types of data, such as the code of the program for the dynamic regulation method of the solar photovoltaic panel based on the linear actuator, but also to temporarily store data that has been output or will be output.

[0072] The processor 10 may be composed of integrated circuits in some embodiments. For example, it may be composed of a single packaged integrated circuit, or may be composed of multiple integrated circuits with the same or different functions, including a combination of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and circuits, and by running or executing programs or modules stored in the memory 11 (such as the program for the dynamic regulation method of the solar photovoltaic panel based on the linear actuator, etc.), and calling data stored in the memory 11, to perform various functions of the electronic device 1 and process data.

[0073] The bus 12 can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is arranged to implement connection communication between the memory 11 and at least one processor 10, etc.

[0074] Figure 3 Only an electronic device with components is shown. Those skilled in the art can understand that Figure 3 the shown structure does not constitute a limitation on the electronic device 1 and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0075] For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for powering each component. Preferably, the power source can be logically connected to the at least one processor 10 through a power management device, so as to implement functions such as charge management, discharge management, and power consumption management through the power management device. The power source may also include any components such as one or more DC or AC power sources, a recharge device, a power failure detection circuit, a power converter or inverter, a power status indicator, etc. The electronic device 1 may also include various sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0076] Furthermore, the electronic device 1 may further include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0077] Optionally, the electronic device 1 may further include a user interface. The user interface may be a display, an input unit (such as a keyboard), and optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visual user interface.

[0078] The program of the dynamic regulation method for a solar photovoltaic panel based on a linear actuator stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve the following: Obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail, and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod to confirm a movable photovoltaic panel, a first initial length, and a second initial length. Among them, both the first telescopic rod and the second telescopic rod include: a drive motor and a mechanical rod; Obtain a photosensitive sensing device and use the photosensitive sensing device to construct a four-sided orthogonal resistance array; When receiving a pre-constructed photovoltaic regulation instruction, use the four-sided orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle; Calculate a first optimal length, a second optimal length, a first sliding position, and a second sliding position according to the solar azimuth angle and the solar elevation angle; Based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position, perform a light-receiving azimuth adjustment on the movable photovoltaic panel to obtain an updated photovoltaic panel; Take the time when the updated photovoltaic panel is obtained as the starting point and record the time in real time to obtain a single adjustment time; When the single adjustment time reaches a preset adjustment time threshold, use the updated photovoltaic panel as the movable photovoltaic panel, use the first optimal length as the first initial length, use the second optimal length as the second initial length, and return to the step of using the four-sided orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle until receiving a pre-constructed regulation termination instruction to complete the dynamic regulation of the photovoltaic panel.

[0079] Specifically, the specific implementation method of the above instructions by the processor 10 can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiment will not be elaborated here.

[0080] Furthermore, if the modules / units integrated in the electronic device 1 are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only Memory).

[0081] The present invention also provides a computer-readable storage medium storing a computer program, which when executed by a processor of an electronic device, can implement: Obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod to confirm a movable photovoltaic panel, a first initial length and a second initial length. Among them, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod; Obtain a photosensitive sensing device and construct a four-way orthogonal resistance array by using the photosensitive sensing device; When receiving a pre-constructed photovoltaic regulation instruction, obtain a solar azimuth angle and a solar altitude angle by using the four-way orthogonal resistance array; Calculate a first optimal length, a second optimal length, a first sliding position and a second sliding position according to the solar azimuth angle and the solar altitude angle; Based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position and the second sliding position, adjust the light-receiving orientation of the movable photovoltaic panel to obtain an updated photovoltaic panel; Take the time when the updated photovoltaic panel is obtained as the starting point and record the time in real time to obtain a single adjustment time; When the single adjustment time reaches a preset adjustment time threshold, use the updated photovoltaic panel as the movable photovoltaic panel, use the first optimal length as the first initial length, use the second optimal length as the second initial length, and return to the step of obtaining the solar azimuth angle and the solar altitude angle by using the four-way orthogonal resistance array until receiving a pre-constructed regulation termination instruction, and complete the dynamic regulation of the photovoltaic panel.

[0082] In several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and there can be other division methods in actual implementation.

[0083] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0084] In addition, the functional modules in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware, or in the form of a combination of hardware and software functional modules.

[0085] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dynamic regulation method for solar photovoltaic panels based on a linear actuator, characterized in that, The method includes: Obtain a photovoltaic panel to be installed, a first telescopic rod, a second telescopic rod, a first slide rail, a second slide rail, and a central fixing rod, and use the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod to confirm a movable photovoltaic panel, a first initial length, and a second initial length. Among them, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod; Obtain a photosensitive sensing device and construct a four-way orthogonal resistance array using the photosensitive sensing device; When receiving a pre-constructed photovoltaic regulation instruction, use the four-way orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle; Calculate a first optimal length, a second optimal length, a first sliding position, and a second sliding position according to the solar azimuth angle and the solar elevation angle; Based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position, adjust the light-receiving orientation of the movable photovoltaic panel to obtain an updated photovoltaic panel; Take the time when the updated photovoltaic panel is obtained as the starting point and record the time in real time to obtain a single adjustment time; When the single adjustment time reaches a preset adjustment time threshold, use the updated photovoltaic panel as the movable photovoltaic panel, use the first optimal length as the first initial length, use the second optimal length as the second initial length, and return to the step of using the four-way orthogonal resistance array to obtain the solar azimuth angle and the solar elevation angle until receiving a pre-constructed regulation termination instruction, and complete the dynamic regulation of the photovoltaic panel.

2. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 1, characterized in that, The step of using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail, and the central fixing rod to confirm the movable photovoltaic panel, the first initial length, and the second initial length includes: Confirm a to-be-executed backlight surface on the photovoltaic panel to be installed, where the shape of the to-be-executed backlight surface is a square; Confirm a central installation point on the to-be-executed backlight surface, where the central installation point is located at the geometric center of the square corresponding to the to-be-executed backlight surface; Confirm a first execution edge and a second execution edge on the to-be-executed backlight surface, where the first execution edge is any side of the square corresponding to the to-be-executed backlight surface, and the second execution edge is a side adjacent to the first execution edge in the square corresponding to the to-be-executed backlight surface; Respectively confirm a first installation point and a second installation point based on the first execution edge and the second execution edge, where the first installation point is the midpoint of the first execution edge, and the second installation point is the midpoint of the second execution edge; Confirm an interval distance based on the first installation point and the central installation point, where the interval distance is the distance between the first installation point and the central installation point; Fix one end of the central fixing rod at a preset central installation position and connect the other end of the central fixing rod to the central installation point of the photovoltaic panel to be installed to obtain a fixed photovoltaic panel. Among them, the other end of the central fixing rod is connected to the central installation point of the photovoltaic panel to be installed through a pre-constructed universal joint. The central installation position is located on a pre-confirmed initial ground, and the to-be-executed backlight surface corresponding to the fixed photovoltaic panel is parallel to the initial ground; Confirm a first unit vector based on the first installation point of the fixed photovoltaic panel and the central installation point of the fixed photovoltaic panel, where the direction of the first unit vector is the direction from the first installation point to the central installation point on the fixed photovoltaic panel; Confirm the initial fixed length of the central fixed rod and the slide rail length of the first slide rail. Among them, the length of the first slide rail is equal to the length of the second slide rail, and both the first slide rail and the second slide rail include: a slider; Based on the central installation position, the first unit vector, the initial ground, and the slide rail length, confirm the first installation position and the second installation position. Among them, both the first installation position and the second installation position are located on the initial ground. The distance between the first installation position and the central installation position is the slide rail length, and the direction from the first installation position to the central installation position is the direction of the first unit vector. The distance between the second installation position and the central installation position is the slide rail length, and the direction from the second installation position to the central installation position is perpendicular to the direction of the first unit vector; Fix one end of the first slide rail at the central installation position and fix the other end of the first slide rail at the first installation position to obtain the first fixed slide rail; Based on the interval distance and the central installation position, confirm the position of the first slide rail. Among them, the position of the first slide rail is located on the first fixed slide rail, and the horizontal distance between the position of the first slide rail and the central installation position is the interval distance; Move the slider of the first fixed slide rail to the position of the first slide rail to obtain the first updated slider; Confirm the initial slider height of the first updated slider, and calculate the first initial length according to the initial slider height and the initial fixed length. Among them, the first initial length is the absolute difference between the initial slider height and the initial fixed length; Adjust the length of the first telescopic rod to the first initial length to obtain the first updated rod. Fix one end of the first updated rod on the first updated slider and connect the other end of the first updated rod to the first installation point for fixing the photovoltaic panel to obtain the first target rod; Based on the second slide rail, the second installation position, the central installation position, the interval distance, the initial fixed length, the second telescopic rod, and the second installation point for fixing the photovoltaic panel, obtain the second target rod and the second updated slider; Based on the first updated slider, the second updated slider, the first target rod, the second target rod, and the fixed photovoltaic panel, confirm the movable photovoltaic panel.

3. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 2, wherein, The construction of the four-sided orthogonal resistance array using the photosensitive sensing device includes: Based on the second installation position and the central installation position, confirm the second unit vector. Among them, the direction of the second unit vector is the direction from the second installation position to the central installation position; Based on the first unit vector, confirm the third unit vector. Among them, the direction of the third unit vector is opposite to the direction of the first unit vector; Based on the second unit vector, confirm the fourth unit vector. Among them, the direction of the fourth unit vector is opposite to the direction of the second unit vector; Establish a reference space coordinate system with the central installation position as the origin. Among them, take the direction of the first unit vector as the positive x-axis direction of the reference space coordinate system, take the direction of the second unit vector as the positive y-axis direction of the reference space coordinate system, and take the direction perpendicular to the initial ground and vertically upward as the positive z-axis direction of the reference space coordinate system; Based on the interval distance, confirm the positive one coordinate, the side one coordinate, the positive two coordinate, the side two coordinate, the positive three coordinate, the side three coordinate, the positive four coordinate, and the side four coordinate; Based on the positive one coordinate, confirm the positive one position. Among them, the coordinate corresponding to the positive one position in the reference space coordinate system is the positive one coordinate; Based on the positive one position and the photosensitive sensing device, the positive one sensing device is confirmed. Among them, the photosensitive sensing device includes: a photosensitive resistor, a wire, a standard power supply, a switch, and a galvanometer. And the photosensitive resistor includes: an insulating substrate and a photosensitive layer. The positive one sensing device is fixed at the positive one position, and the direction in which the center of gravity of the insulating substrate of the photosensitive resistor in the positive one sensing device points to the center of gravity of the photosensitive layer is vertically upward perpendicular to the initial ground; Based on the positive two coordinates and the photosensitive sensing device, the positive two sensing device is confirmed. Based on the positive three coordinates and the photosensitive sensing device, the positive three sensing device is confirmed. Based on the positive four coordinates and the photosensitive sensing device, the positive four sensing device is confirmed; Based on the side one coordinate, side two coordinate, side three coordinate, and side four coordinate, the side one position, side two position, side three position, and side four position are confirmed respectively; Based on the first unit vector, the side one position, and the photosensitive sensing device, the side one sensing device is confirmed. Among them, the side one sensing device is fixed at the side one position, and the direction in which the center of gravity of the insulating substrate of the photosensitive resistor in the side one sensing device points to the center of gravity of the photosensitive layer is the direction of the first unit vector; Based on the second unit vector, the side two position, and the photosensitive sensing device, the side two sensing device is confirmed. Based on the third unit vector, the side three position, and the photosensitive sensing device, the side three sensing device is confirmed. Based on the fourth unit vector, the side four position, and the photosensitive sensing device, the side four sensing device is confirmed; Based on the positive one sensing device, positive two sensing device, positive three sensing device, positive four sensing device, side one sensing device, side two sensing device, side three sensing device, and side four sensing device, a four-sided orthogonal resistance array is confirmed.

4. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 3, characterized in that, The obtaining of the solar azimuth angle and solar elevation angle by using the four-sided orthogonal resistance array includes: Turn on the switch in the positive one sensing device of the four-sided orthogonal resistance array and read the positive one current value of the galvanometer in the positive one sensing device. Obtain the positive two current value based on the positive two sensing device of the four-sided orthogonal resistance array, obtain the positive three current value based on the positive three sensing device of the four-sided orthogonal resistance array, obtain the positive four current value based on the positive four sensing device of the four-sided orthogonal resistance array, obtain the side one current value based on the side one sensing device of the four-sided orthogonal resistance array, obtain the side two current value based on the side two sensing device of the four-sided orthogonal resistance array, obtain the side three current value based on the side three sensing device of the four-sided orthogonal resistance array, and obtain the side four current value based on the side four sensing device of the four-sided orthogonal resistance array; Calculate the azimuth vector according to the positive one current value, positive two current value, positive three current value, and positive four current value; Calculate the solar azimuth angle according to the azimuth vector and the first unit vector; Calculate the first inclination angle according to the side one current value and the positive one current value; Calculate the second inclination angle based on the side two current value and the positive two current value, calculate the third inclination angle based on the side three current value and the positive three current value, and calculate the fourth inclination angle based on the side four current value and the positive four current value; Calculate the solar elevation angle according to the first inclination angle, second inclination angle, third inclination angle, and fourth inclination angle.

5. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 4, characterized in that, The calculating of the first optimal length, second optimal length, first sliding position, and second sliding position according to the solar azimuth angle and solar elevation angle includes: Calculate the first optimal length according to the initial fixed length, solar azimuth angle, and solar elevation angle; Calculate the second optimal length according to the initial fixed length, the solar azimuth angle, and the solar altitude angle; Obtain the first sliding position and the second sliding position by using the solar azimuth angle and the solar altitude angle.

6. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 5, wherein, The obtaining the first sliding position and the second sliding position by using the solar azimuth angle and the solar altitude angle includes: Calculate the first sliding length according to the solar azimuth angle and the solar altitude angle; Calculate the second sliding length according to the solar azimuth angle and the solar altitude angle; Confirm the first sliding position based on the first sliding length and the central installation position, and confirm the second sliding position based on the second sliding length and the central installation position.

7. The dynamic regulation method of a solar photovoltaic panel based on a linear actuator according to claim 6, characterized in that, The adjusting the light-receiving orientation of the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position, and the second sliding position to obtain the updated photovoltaic panel includes: Calculate the first adjustment distance according to the first initial length and the first optimal length; Confirm the first absolute distance based on the first adjustment distance, where the first absolute distance is the absolute value of the first adjustment distance; Judge whether the first adjustment distance is greater than or equal to 0; If the first adjustment distance is greater than or equal to 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the driving motor in the first target rod corresponding to the movable photovoltaic panel to pull the mechanical rod in the first target rod to obtain the relay photovoltaic panel, where the distance that the driving motor in the first target rod pulls the mechanical rod in the first target rod is the first absolute distance; If the first adjustment distance is less than 0, move the first updated slider corresponding to the movable photovoltaic panel to the first sliding position, and use the driving motor in the first target rod corresponding to the movable photovoltaic panel to push the mechanical rod in the first target rod to obtain the relay photovoltaic panel, where the distance that the driving motor in the first target rod pushes the mechanical rod in the first target rod is the first absolute distance; Obtain the second adjustment distance and the second absolute distance based on the second initial length and the second optimal length; Judge whether the second adjustment distance is greater than or equal to 0; If the second adjustment distance is greater than or equal to 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the driving motor in the second target rod corresponding to the relay photovoltaic panel to pull the mechanical rod in the second target rod to obtain the updated photovoltaic panel, where the distance that the driving motor in the second target rod pulls the mechanical rod in the second target rod is the second absolute distance; If the second adjustment distance is less than 0, move the second updated slider corresponding to the relay photovoltaic panel to the second sliding position, and use the driving motor in the second target rod corresponding to the relay photovoltaic panel to push the mechanical rod in the second target rod to obtain the updated photovoltaic panel, where the distance that the driving motor in the second target rod pushes the mechanical rod in the second target rod is the second absolute distance.

8. A dynamic regulation system for solar photovoltaic panels based on a linear actuator, characterized in that, The system includes: Movable photovoltaic panel construction module, used to obtain the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod, and confirm the movable photovoltaic panel, the first initial length and the second initial length by using the photovoltaic panel to be installed, the first telescopic rod, the second telescopic rod, the first slide rail, the second slide rail and the central fixing rod. Wherein, both the first telescopic rod and the second telescopic rod include: a driving motor and a mechanical rod; Photosensitive array construction module, used to obtain a photosensitive sensing device and construct a four-way orthogonal resistance array by using the photosensitive sensing device; Light-receiving azimuth adjustment module, when receiving a pre-constructed photovoltaic regulation instruction, uses the four-way orthogonal resistance array to obtain the sunlight azimuth angle and the sunlight elevation angle, calculates the first optimal length, the second optimal length, the first sliding position and the second sliding position according to the sunlight azimuth angle and the sunlight elevation angle, and adjusts the light-receiving azimuth of the movable photovoltaic panel based on the first initial length, the second initial length, the first optimal length, the second optimal length, the first sliding position and the second sliding position to obtain an updated photovoltaic panel; Photovoltaic panel regulation loop module, used to start from the time when the updated photovoltaic panel is obtained and record the time in real time to obtain the single adjustment time. When the single adjustment time reaches the preset adjustment time threshold, take the updated photovoltaic panel as the movable photovoltaic panel, take the first optimal length as the first initial length, take the second optimal length as the second initial length, and return to the step of obtaining the sunlight azimuth angle and the sunlight elevation angle by using the four-way orthogonal resistance array until receiving a pre-constructed regulation termination instruction to complete the dynamic regulation of the photovoltaic panel.

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