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

Abstract

The application relates to the technical field of solar photovoltaic power generation, and relates to a solar photovoltaic panel dynamic regulation method and system based on a linear actuator, which comprises the following steps: confirming a movable photovoltaic panel, acquiring a photosensitive sensing device, constructing a four-square orthogonal resistance array by using the photosensitive sensing device, acquiring a sunlight azimuth angle and a sunlight elevation angle by using the four-square orthogonal resistance array, calculating 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 elevation angle, performing light-receiving azimuth 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, obtaining an updated photovoltaic panel, and until a pre-constructed regulation termination instruction is received, dynamic regulation of the photovoltaic panel is completed. The application can improve the automation degree and the accuracy of the regulation on the photovoltaic panel, and improve the light energy utilization rate of the photovoltaic panel.

Description

Technical Field

[0001] This invention relates to the field of solar photovoltaic power generation technology, and in particular to a method and system for dynamic control of solar photovoltaic panels based on linear actuators. Background Technology

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

[0003] Existing methods for controlling solar photovoltaic panels mainly rely on photoresistors or photoelectric sensors to predict the sun's position and then use a single-axis tracking system with mechanical transmission structures (such as gear transmission or chain drive) or hydraulic systems to adjust the angle of the solar photovoltaic panels.

[0004] While existing control methods can regulate solar photovoltaic panels, the accuracy of determining the sun's position using a single photoresistor or photoelectric sensor is insufficient, and errors are significant when obstructions are present. Furthermore, single-axis tracking systems rotate only around one axis, resulting in substantial energy losses in different seasons and time periods. Additionally, adjusting the angle of solar photovoltaic panels using gear transmission and chain drive methods is not precise enough. Therefore, there is an urgent need for a technology that can accurately locate the sun's position and adjust the angle of solar photovoltaic panels in multiple directions to improve their power generation efficiency. Summary of the Invention

[0005] This invention provides a method for dynamic control of solar photovoltaic panels based on linear actuators and a computer-readable storage medium. Its main purpose is to improve the automation and accuracy of photovoltaic panel control and increase the light energy utilization rate of photovoltaic panels.

[0006] To achieve the above objectives, the present invention provides a dynamic control method for solar photovoltaic panels based on linear actuators, comprising:

[0007] 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 fixed rod. 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 fixed rod to determine the movable photovoltaic panel, the first initial length, and the second initial length. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0008] Acquire a photosensitive sensing device and use the photosensitive sensing device to construct a quadrature orthogonal resistor array;

[0009] When a pre-built photovoltaic control command is received, the azimuth and elevation angles of sunlight are obtained using a quadrature resistor array.

[0010] Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of the sunlight.

[0011] The light-receiving orientation of the movable photovoltaic panel is adjusted 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;

[0012] Starting from the time when the photovoltaic panel is updated, and recording the time in real time, the time of a single adjustment is obtained;

[0013] When the single adjustment time reaches the preset adjustment time threshold, the photovoltaic panel is updated as a 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 process returns to the step of obtaining the solar azimuth angle and solar altitude angle using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0014] Optionally, the step of determining the movable photovoltaic panel, the first initial length, and the second initial length 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 fixed rod includes:

[0015] The backlight surface to be installed on the photovoltaic panel is identified, and the shape of the backlight surface to be installed is square.

[0016] Identify the center mounting point on the backlight surface to be executed, wherein the center mounting point is located at the geometric center of the square corresponding to the backlight surface to be executed;

[0017] On the backlight surface to be executed, a first execution edge and a second execution edge are identified. The first execution edge is any edge of the square corresponding to the backlight surface to be executed, and the second execution edge is an edge of the square corresponding to the backlight surface to be executed that is adjacent to the first execution edge.

[0018] The first installation point and the second installation point are determined based on the first execution edge and the second execution edge, respectively, wherein 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;

[0019] The interval distance is determined based on the first installation point and the center installation point, wherein the interval distance is the distance between the first installation point and the center installation point;

[0020] One end of the central fixing rod is fixed at the preset center installation position, and the other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed to obtain a fixed photovoltaic panel. The other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed through a pre-constructed universal joint. The center installation position is located on the pre-confirmed initial ground, and the backlight surface to be executed corresponding to the fixed photovoltaic panel is parallel to the initial ground.

[0021] The first unit vector is determined based on the first mounting point and the center mounting point of the fixed photovoltaic panel, wherein the direction of the first unit vector is the direction from the first mounting point on the fixed photovoltaic panel to the center mounting point;

[0022] Confirm the initial fixed length of the central fixed rod, confirm the slide length of the first slide rail, wherein the length of the first slide rail is equal to the length of the second slide rail, and both the first and second slide rails include: a slider;

[0023] The first and second installation positions are determined based on the central installation position, the first unit vector, the initial ground, and the slide rail length. Both the first and second installation positions 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.

[0024] One end of the first slide rail is fixed at the center installation position and the other end of the first slide rail is fixed at the first installation position to obtain the first fixed slide rail;

[0025] The position of the first slide rail is determined based on the interval distance and the center installation position, wherein 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 center installation position is the interval distance;

[0026] Move the slider of the first fixed slide rail to the position of the first slide rail to obtain the first updated slider;

[0027] Confirm the initial slider height of the first update slider, and calculate the first initial length based on the initial slider height and the initial fixed length, wherein the first initial length is the absolute difference between the initial slider height and the initial fixed length;

[0028] The length of the first telescopic rod is adjusted to the first initial length to obtain the first renewal rod. One end of the first renewal rod is fixed on the first renewal slider and the other end of the first renewal rod is connected to the first installation point of the fixed photovoltaic panel to obtain the first target rod.

[0029] The second target rod and the second update slider are obtained based on the second slide rail, the second installation position, the center installation position, the interval distance, the initial fixed length, the second telescopic rod, and the second installation point for fixing the photovoltaic panel.

[0030] Based on the first update slider, the second update slider, the first target rod, the second target rod, and the fixed photovoltaic panel, the movable photovoltaic panel is identified.

[0031] Optionally, the method of constructing a quadrature resistor array using a photosensitive sensing device includes:

[0032] The second unit vector is determined based on the second installation position and the center installation position, wherein the direction of the second unit vector is the direction from the second installation position to the center installation position;

[0033] The third unit vector is determined based on the first unit vector, wherein the direction of the third unit vector is opposite to the direction of the first unit vector;

[0034] The fourth unit vector is determined based on the second unit vector, wherein the direction of the fourth unit vector is opposite to the direction of the second unit vector;

[0035] A reference space coordinate system is established with the central installation position as the origin. The direction of the first unit vector is taken as the positive x-axis of the reference space coordinate system, the direction of the second unit vector is taken as the positive y-axis of the reference space coordinate system, and the direction perpendicular to the initial ground and vertically upward is taken as the positive z-axis of the reference space coordinate system.

[0036] Based on the interval distance, the following coordinates were identified: positive coordinate 1, side coordinate 1, positive coordinate 2, side coordinate 2, positive coordinate 3, side coordinate 3, positive coordinate 4, and side coordinate 4.

[0037] The positive one position is determined based on the positive one coordinates, where the coordinates corresponding to the positive one position in the reference space coordinate system are the positive one coordinates.

[0038] Based on the positive position and the photosensitive sensing device, the positive sensing device is identified. The photosensitive sensing device includes: a photoresistor, a wire, a standard power supply, a switch and a galvanometer. The photoresistor includes: an insulating substrate and a photosensitive layer. The positive sensing device is fixed at the positive position, and the direction from the center of gravity of the insulating substrate of the photoresistor to the center of gravity of the photosensitive layer is perpendicular to the initial ground and vertically upward.

[0039] The positive binary sensor was identified based on the positive binary coordinate and the photosensitive sensor; the positive triangular sensor was identified based on the positive triangular coordinate and the photosensitive sensor; and the positive quadrilateral sensor was identified based on the positive tetraangular coordinate and the photosensitive sensor.

[0040] The positions of side 1, side 2, side 3, and side 4 are determined based on the side 1 coordinate, side 2 coordinate, side 3 coordinate, and side 4 coordinate, respectively.

[0041] Based on the first unit vector, the side position, and the photosensitive sensing device, the side sensing device is identified, wherein the side sensing device is fixed at the side position and the direction from the center of gravity of the insulating substrate of the photoresistor in the side sensing device to the center of gravity of the photosensitive layer is the direction of the first unit vector.

[0042] The second side sensor is identified based on the second unit vector, the second side position, and the photosensitive sensor; the third side sensor is identified based on the third unit vector, the third side position, and the photosensitive sensor; and the fourth side sensor is identified based on the fourth unit vector, the fourth side position, and the photosensitive sensor.

[0043] Based on the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor and side four sensor, a quadrangular orthogonal resistor array was identified.

[0044] Optionally, the step of obtaining the azimuth and altitude angles of sunlight using a quadrature resistor array includes:

[0045] Turn on the switch in the positive one sensor of the quadrature orthogonal resistor array and read the positive one current value of the ammeter in the positive one sensor. Obtain the positive two current value based on the positive two sensor of the quadrature orthogonal resistor array, obtain the positive three current value based on the positive three sensor of the quadrature orthogonal resistor array, obtain the positive four current value based on the positive four sensor of the quadrature orthogonal resistor array, obtain the side one current value based on the side one sensor of the quadrature orthogonal resistor array, obtain the side two current value based on the side two sensor of the quadrature orthogonal resistor array, obtain the side three current value based on the side three sensor of the quadrature orthogonal resistor array, and obtain the side four current value based on the side four sensor of the quadrature orthogonal resistor array.

[0046] Calculate the azimuth vector based on the positive one current value, positive two current value, positive three current value and positive four current value;

[0047] Calculate the azimuth angle of the sun based on the azimuth vector and the first unit vector;

[0048] Calculate the first tilt angle based on the side current value and the positive current value;

[0049] The second tilt angle is calculated based on the second side current value and the second positive current value; the third tilt angle is calculated based on the third side current value and the third positive current value; and the fourth tilt angle is calculated based on the fourth side current value and the fourth positive current value.

[0050] Calculate the solar altitude angle based on the first, second, third, and fourth tilt angles.

[0051] Optionally, the step of calculating the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of sunlight includes:

[0052] The first optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight.

[0053] The second optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight.

[0054] The first and second sliding positions are obtained using the azimuth and altitude angles of sunlight.

[0055] Optionally, obtaining the first sliding position and the second sliding position using the azimuth angle and the altitude angle of sunlight includes:

[0056] Calculate the first sliding length based on the azimuth and altitude angles of sunlight;

[0057] Calculate the second sliding length based on the azimuth and altitude angles of sunlight;

[0058] The first sliding position is determined based on the first sliding length and the center installation position, and the second sliding position is determined based on the second sliding length and the center installation position.

[0059] Optionally, the step of 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 an updated photovoltaic panel includes:

[0060] Calculate the first adjustment distance based on the first initial length and the first optimal length;

[0061] The first absolute distance is determined based on the first adjustment distance, wherein the first absolute distance is the absolute value of the first adjustment distance;

[0062] Determine if the first adjustment distance is greater than or equal to 0;

[0063] If the first adjustment distance is greater than or equal to 0, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to pull the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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.

[0064] If the first adjustment distance is less than 0, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to push the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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.

[0065] The second adjustment distance and the second absolute distance are obtained based on the second initial length and the second optimal length.

[0066] Determine if the second adjustment distance is greater than or equal to 0;

[0067] If the second adjustment distance is greater than or equal to 0, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel is used to pull the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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.

[0068] If the second adjustment distance is less than 0, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel pushes the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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.

[0069] To achieve the above objectives, the present invention also provides a dynamic control system for solar photovoltaic panels based on linear actuators, comprising:

[0070] The movable photovoltaic panel construction module is used to acquire 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 fixed rod. The movable photovoltaic panel, the first initial length, and the second initial length are determined 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 fixed rod. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0071] A photosensitive array construction module is used to acquire photosensitive sensing devices and construct a quadrangular resistor array using these devices.

[0072] The light-receiving orientation adjustment module is used to obtain the sunlight azimuth angle and sunlight altitude angle using a quadrature resistor array when a pre-constructed photovoltaic control command is received. Based on the sunlight azimuth angle and sunlight altitude angle, it calculates the first optimal length, the second optimal length, the first sliding position, and the second sliding position. 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, it adjusts the light-receiving orientation of the movable photovoltaic panel to obtain an updated photovoltaic panel.

[0073] The photovoltaic panel control cycle module is used to obtain the adjustment time in real time, starting from the time of updating the photovoltaic panel. When the adjustment time reaches the preset adjustment time threshold, the updated photovoltaic panel is used as a 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 process returns to the step of obtaining the azimuth angle and altitude angle of sunlight using a quadrature orthogonal resistor array, until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0074] To address the above problems, the present invention also provides an electronic device, the electronic device comprising:

[0075] Memory, storing at least one instruction; and

[0076] The processor executes the instructions stored in the memory to implement the above-described dynamic control method for solar photovoltaic panels based on linear actuators.

[0077] To address the aforementioned problems, the present invention also provides a computer-readable storage medium storing at least one instruction, which is executed by a processor in an electronic device to implement the above-described dynamic control method for solar photovoltaic panels based on linear actuators.

[0078] To address the problems described in the background art, this 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. Using these components, a movable photovoltaic panel, a first initial length, and a second initial length are determined. Both the first and second telescopic rods include a drive motor and a mechanical rod. Thus, by constructing a movable photovoltaic panel and utilizing the simultaneous movement and coordination of the first and second telescopic rods, the first and second slide rails, the movable photovoltaic panel can be precisely adjusted in multiple directions, improving the control of the photovoltaic panel. The accuracy of the photosensitive sensor is thus obtained. A quadrature resistor array is constructed using the photosensitive sensor. When a pre-constructed photovoltaic control command is received, the quadrature resistor array is used to obtain the azimuth and altitude angles of the sunlight. It can be seen that this embodiment of the invention, by constructing a quadrature resistor array, accurately positions the direction of the incident sunlight, obtaining the azimuth and altitude angles of the sunlight. This facilitates subsequent adjustment of the light-receiving orientation of the movable photovoltaic panel based on the azimuth and altitude angles. A first optimal length, a second optimal length, a first sliding position, and a second sliding position are calculated based on the azimuth and altitude angles. Based on the first initial length, the second initial length, the first optimal length, and the second optimal length... The optimal length, first sliding position, and second sliding position are used to adjust the light-receiving orientation of the movable photovoltaic panel, resulting in a refreshed photovoltaic panel. This embodiment of the invention calculates the first optimal length, second optimal length, first sliding position, and second sliding position, thereby precisely adjusting the lengths of the first and second telescopic rods based on the first and second optimal lengths. It also precisely adjusts the positions of the sliders in the first and second slide rails based on the first and second sliding positions, improving the accuracy of photovoltaic panel control. Starting from the time it takes to refresh the photovoltaic panel, the time is recorded in real time to obtain the single adjustment time. When the single adjustment time reaches a preset adjustment time... When the time threshold is reached, the photovoltaic panel is updated as a movable photovoltaic panel, the first optimal length is used as the first initial length, and the second optimal length is used as the second initial length. The process returns to the step of obtaining the solar azimuth and solar altitude angles using a quadrature orthogonal resistor array, until a pre-constructed control termination command is received, completing the dynamic control of the photovoltaic panel. It can be seen that this embodiment of the invention records the single adjustment time and sets an adjustment time threshold. When the single adjustment time reaches the preset adjustment time threshold, it automatically returns to the step of obtaining the solar azimuth and solar altitude angles using a quadrature orthogonal resistor array, performing a single adjustment of the movable photovoltaic panel's light-receiving azimuth, thus improving the automation level of photovoltaic panel control. Therefore, this invention can improve the automation and accuracy of photovoltaic panel control, and improve the light energy utilization rate of the photovoltaic panel. Attached Figure Description

[0079] Figure 1 A flowchart illustrating a dynamic control method for solar photovoltaic panels based on linear actuators according to an embodiment of the present invention;

[0080] Figure 2 A functional block diagram of a solar photovoltaic panel dynamic control system based on a linear actuator provided in an embodiment of the present invention;

[0081] Figure 3 This is a schematic diagram of the structure of an electronic device for implementing the dynamic control method of solar photovoltaic panels based on linear actuators, according to an embodiment of the present invention.

[0082] Explanation of reference numerals in the attached figures:

[0083] 1. Electronic equipment; 10. Processor; 11. Memory; 12. Bus; 100. Dynamic control system for solar photovoltaic panels based on linear actuators; 101. Movable photovoltaic panel construction module; 102. Photosensitive array construction module; 103. Light-receiving orientation adjustment module; 104. Photovoltaic panel control cycle module.

[0084] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0085] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0086] This application provides a method for dynamic control of solar photovoltaic panels based on linear actuators. The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this application: a server, a terminal, etc. In other words, the method for dynamic control of solar photovoltaic panels based on linear actuators 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.

[0087] Reference Figure 1 The diagram shown is a flowchart illustrating a dynamic control method for solar photovoltaic panels based on linear actuators according to an embodiment of the present invention. In this embodiment, the dynamic control method for solar photovoltaic panels based on linear actuators includes:

[0088] S1. 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 fixed rod. 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 fixed rod to determine the movable photovoltaic panel, the first initial length, and the second initial length. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0089] 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 side and the back-facing side of the photovoltaic panel used in the embodiments of the present invention are both square.

[0090] It should be understood that the light-facing side of the photovoltaic panel to be installed is the plane facing the sunlight, where the solar cells that convert light energy into electrical energy are located, while the back-facing side of the photovoltaic panel to be installed is the plane facing away from the sunlight, where the backplate that supports and protects the circuitry and solar cells in the photovoltaic panel is located. The back-facing side is the back-facing side to be implemented in the subsequent embodiments.

[0091] Understandably, both the first and second telescopic rods are electrically operated actuators. The first telescopic rod is subsequently connected to the first mounting point, and the second telescopic rod is subsequently connected to the second mounting point. Both the first and second telescopic rods include a drive motor and a mechanical rod. The drive motor is an electric motor capable of pushing or pulling the mechanical rod in either the first or second telescopic rod. The mechanical rod, made of metal, is a major structural component of the first and second telescopic rods. For example, when the drive motor pushes the mechanical rod in the first telescopic rod, the first telescopic rod extends; when the drive motor pulls the mechanical rod in the first telescopic rod, the first telescopic rod shortens. In this embodiment, the electrically operated actuator is a linear actuator. The central fixing rod is a metal rod, and its length must be greater than the side length of the photovoltaic panel to be installed. Both the first and second slide rails are guide rails controllable by a programmable logic controller. The first slide rail is subsequently fixed between the first mounting position and the center mounting position, and the second slide rail is subsequently fixed between the second mounting position and the center mounting position. The slider is a component on the first and second slide rails, and it can slide on the first and second slide rails under the control of a programmable controller and a servo motor. Optionally, a THK-KR26 linear module can be used as the first or second slide rail. For example, the programmable controller outputs pulse signals to control the servo motor, and the servo motor then controls the slider on the first or second slide rail to move. This technique of using a programmable controller to output pulse signals to control the servo motor, and then using the servo motor to control the slider on the first or second slide rail, is existing technology and will not be elaborated here.

[0092] Specifically, the process of determining the movable photovoltaic panel, the first initial length, and the second initial length 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 fixed rod includes:

[0093] The backlight surface to be installed on the photovoltaic panel is identified, and the shape of the backlight surface to be installed is square.

[0094] Identify the center mounting point on the backlight surface to be executed, wherein the center mounting point is located at the geometric center of the square corresponding to the backlight surface to be executed;

[0095] On the backlight surface to be executed, a first execution edge and a second execution edge are identified. The first execution edge is any edge of the square corresponding to the backlight surface to be executed, and the second execution edge is an edge of the square corresponding to the backlight surface to be executed that is adjacent to the first execution edge.

[0096] The first installation point and the second installation point are determined based on the first execution edge and the second execution edge, respectively, wherein 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;

[0097] The interval distance is determined based on the first installation point and the center installation point, wherein the interval distance is the distance between the first installation point and the center installation point;

[0098] One end of the central fixing rod is fixed at the preset center installation position, and the other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed to obtain a fixed photovoltaic panel. The other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed through a pre-constructed universal joint. The center installation position is located on the pre-confirmed initial ground, and the backlight surface to be executed corresponding to the fixed photovoltaic panel is parallel to the initial ground.

[0099] The first unit vector is determined based on the first mounting point and the center mounting point of the fixed photovoltaic panel, wherein the direction of the first unit vector is the direction from the first mounting point on the fixed photovoltaic panel to the center mounting point;

[0100] Confirm the initial fixed length of the central fixed rod, confirm the slide length of the first slide rail, wherein the length of the first slide rail is equal to the length of the second slide rail, and both the first and second slide rails include: a slider;

[0101] The first and second installation positions are determined based on the central installation position, the first unit vector, the initial ground, and the slide rail length. Both the first and second installation positions 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.

[0102] One end of the first slide rail is fixed at the center installation position and the other end of the first slide rail is fixed at the first installation position to obtain the first fixed slide rail;

[0103] The position of the first slide rail is determined based on the interval distance and the center installation position, wherein 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 center installation position is the interval distance;

[0104] Move the slider of the first fixed slide rail to the position of the first slide rail to obtain the first updated slider;

[0105] Confirm the initial slider height of the first update slider, and calculate the first initial length based on the initial slider height and the initial fixed length, wherein the first initial length is the absolute difference between the initial slider height and the initial fixed length;

[0106] The length of the first telescopic rod is adjusted to the first initial length to obtain the first renewal rod. One end of the first renewal rod is fixed on the first renewal slider and the other end of the first renewal rod is connected to the first installation point of the fixed photovoltaic panel to obtain the first target rod.

[0107] The second target rod and the second update slider are obtained based on the second slide rail, the second installation position, the center installation position, the interval distance, the initial fixed length, the second telescopic rod, and the second installation point for fixing the photovoltaic panel.

[0108] Based on the first update slider, the second update slider, the first target rod, the second target rod, and the fixed photovoltaic panel, the movable photovoltaic panel is identified.

[0109] It should be explained that the initial ground refers to an area on the ground used for installing the photovoltaic panels to be installed, and the center installation position refers to the location on the initial ground used to fix the central fixing rod. Both the initial ground and the center installation position are determined by the installers of the photovoltaic panels to be installed. The main function of the universal joint is to facilitate the fixing of the photovoltaic panels and the adjustment of their angle in multiple directions.

[0110] It should be understood that in this embodiment of the invention, the photovoltaic panel to be installed is installed on the initial ground by means of a central fixing rod. Here, the central fixing rod mainly serves to support the photovoltaic panel to be installed. Since the other end of the central fixing rod is connected to the center mounting point of the photovoltaic panel to be installed through a universal joint, when the photovoltaic panel is subsequently fixed and 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 tilt under the push of the first telescopic rod or the pull of the first telescopic rod or the second telescopic rod when it is shortened.

[0111] 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 mounting point on the fixed photovoltaic panel to the center mounting point. The initial fixed length refers to the length of the central fixed rod. The slide rail length refers to the length of the first slide rail. The initial slider height refers to the height of the top plane of the first update 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, then the mechanical rod in the first telescopic rod is extended by the drive motor of the first telescopic rod 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, then the mechanical rod in the first telescopic rod is shortened by the drive motor of the first telescopic rod until the length of the first telescopic rod reaches the first initial length. The techniques of extending the mechanical rod in the first telescopic rod by the drive motor of the first telescopic rod and shortening the mechanical rod in the first telescopic rod by the drive motor of the first telescopic rod are existing technologies and will not be described in detail here.

[0112] It should be understood that the method for obtaining the second target rod and the second update slider based on the second slide rail, the second installation position, the center installation position, the interval distance, the initial fixed length, the second telescopic rod, and the second installation point for fixing the photovoltaic panel is the same as the method for obtaining the first target rod using the first slide rail, the first installation position, the center installation position, the interval distance, the initial fixed length, the first telescopic rod, and the first installation point for fixing the photovoltaic panel, and will not be described again here.

[0113] It is understood that the confirmation of 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 means that when it is confirmed that the fixed photovoltaic panel has been connected to the first target rod and the second target rod, and one end of the first target rod has been fixed to the first update slider, and one end of the second target rod has been fixed to the second update slider, then the first update slider, the second update slider, the first target rod, the second target rod, and the fixed photovoltaic panel together constitute the movable photovoltaic panel.

[0114] S2. Obtain the photosensitive sensing device and use it to construct a quadrature resistor array.

[0115] It should be explained that a photosensitive sensing device integrates a photoresistor, wires, a standard power supply, a switch, and a galvanometer. The photoresistor, standard power supply, switch, and galvanometer are connected in series via wires to form a circuit. The galvanometer refers to a current transmitter. Optionally, the standard power supply voltage is 10V. The insulating substrate is located at the bottom of the photoresistor, providing physical support for the photosensitive layer and other components of the photoresistor, while also serving as electrical insulation. The photosensitive layer is the core component of the photoresistor; its conductivity changes with variations in external light intensity, thus causing a change in the resistance of the photoresistor.

[0116] Specifically, the method of constructing a quadrangular resistor array using a photosensitive sensing device includes:

[0117] The second unit vector is determined based on the second installation position and the center installation position, wherein the direction of the second unit vector is the direction from the second installation position to the center installation position;

[0118] The third unit vector is determined based on the first unit vector, wherein the direction of the third unit vector is opposite to the direction of the first unit vector;

[0119] The fourth unit vector is determined based on the second unit vector, wherein the direction of the fourth unit vector is opposite to the direction of the second unit vector;

[0120] A reference space coordinate system is established with the central installation position as the origin. The direction of the first unit vector is taken as the positive x-axis of the reference space coordinate system, the direction of the second unit vector is taken as the positive y-axis of the reference space coordinate system, and the direction perpendicular to the initial ground and vertically upward is taken as the positive z-axis of the reference space coordinate system.

[0121] Based on the interval distance, the following coordinates were identified: positive coordinate 1, side coordinate 1, positive coordinate 2, side coordinate 2, positive coordinate 3, side coordinate 3, positive coordinate 4, and side coordinate 4.

[0122] The positive one position is determined based on the positive one coordinates, where the coordinates corresponding to the positive one position in the reference space coordinate system are the positive one coordinates.

[0123] Based on the positive position and the photosensitive sensing device, the positive sensing device is identified. The photosensitive sensing device includes: a photoresistor, a wire, a standard power supply, a switch and a galvanometer. The photoresistor includes: an insulating substrate and a photosensitive layer. The positive sensing device is fixed at the positive position, and the direction from the center of gravity of the insulating substrate of the photoresistor to the center of gravity of the photosensitive layer is perpendicular to the initial ground and vertically upward.

[0124] The positive binary sensor was identified based on the positive binary coordinate and the photosensitive sensor; the positive triangular sensor was identified based on the positive triangular coordinate and the photosensitive sensor; and the positive quadrilateral sensor was identified based on the positive tetraangular coordinate and the photosensitive sensor.

[0125] The positions of side 1, side 2, side 3, and side 4 are determined based on the side 1 coordinate, side 2 coordinate, side 3 coordinate, and side 4 coordinate, respectively.

[0126] Based on the first unit vector, the side position, and the photosensitive sensing device, the side sensing device is identified, wherein the side sensing device is fixed at the side position and the direction from the center of gravity of the insulating substrate of the photoresistor in the side sensing device to the center of gravity of the photosensitive layer is the direction of the first unit vector.

[0127] The second side sensor is identified based on the second unit vector, the second side position, and the photosensitive sensor; the third side sensor is identified based on the third unit vector, the third side position, and the photosensitive sensor; and the fourth side sensor is identified based on the fourth unit vector, the fourth side position, and the photosensitive sensor.

[0128] Based on the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor and side four sensor, a quadrangular orthogonal resistor array was identified.

[0129] It should be explained that the second, third, and fourth unit vectors are all unit vectors. The reference space coordinate system is a spatial rectangular coordinate system. The positive one position is the position corresponding to the positive one coordinate in the real world. Optionally, a metal bracket is pre-constructed at the positive one position, and then the positive one sensing device is fixed on the metal bracket, thereby fixing the positive one sensing device at the positive one position.

[0130] It should be understood that the methods for identifying the positive two-dimensional sensor based on the positive two-dimensional coordinate and the photosensitive sensor, the methods for identifying the positive three-dimensional sensor based on the positive three-dimensional coordinate and the photosensitive sensor, and the methods for identifying the positive four-dimensional sensor based on the positive four-dimensional coordinate and the photosensitive sensor are all the same as the method for identifying the positive one-dimensional sensor based on the positive one-dimensional position and the photosensitive sensor, and will not be repeated here. The methods for identifying the side one-dimensional position based on the side one-dimensional coordinate, the method for identifying the side two-dimensional position based on the side two-dimensional coordinate, the method for identifying the side three-dimensional position based on the side three-dimensional coordinate, and the method for identifying the side four-dimensional position based on the side four-dimensional coordinate are all the same as the method for identifying the positive one-dimensional position based on the positive one-dimensional coordinate, and will not be repeated here. Optionally, a metal bracket is pre-constructed at the side one-dimensional position, and then the side one-dimensional sensor is fixed to the metal bracket, thereby fixing the side one-dimensional sensor at the side one-dimensional position.

[0131] It is understood that the method for identifying the second side sensor based on the second unit vector, the second side position, and the photosensitive sensor, the method for identifying the third side sensor based on the third unit vector, the third side position, and the photosensitive sensor, and the method for identifying the fourth side sensor based on the fourth unit vector, the fourth side position, and the photosensitive sensor are all the same as the method for identifying the first side sensor based on the first unit vector, the first side position, and the photosensitive sensor, and will not be described again here.

[0132] It should be understood that the determination of the quadrangular resistor array based on the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor, and side four sensor means that when it is confirmed that the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor, and side four sensor are respectively located at the corresponding positions in reality of 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, then the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor, and side four sensor together constitute the quadrangular resistor array.

[0133] In detail, the positive coordinate system, the lateral coordinate system, the positive coordinate system, the lateral coordinate system, the positive coordinate system, the lateral coordinate system, the positive coordinate system, the lateral coordinate system, the positive coordinate system, and the lateral coordinate system are respectively as follows:

[0134] ;

[0135] in, For interval distance, , , , , , , and These are respectively the positive coordinate system, the side coordinate system, the positive coordinate system, the side coordinate system, the positive coordinate system, the side coordinate system, the positive coordinate system, the side coordinate system, the positive coordinate system, and the side coordinate system.

[0136] S3. When a pre-constructed photovoltaic control command is received, the azimuth and altitude angles of sunlight are obtained using a quadrature resistor array.

[0137] It should be explained that photovoltaic control commands are generally initiated by the staff of the photovoltaic power station. For example, Xiao Zhang is a staff member of the photovoltaic power station. After the photovoltaic panels are installed, in order to adjust the tilt angle of the photovoltaic panels during operation so that the panels face the sun and improve the power generation efficiency, he initiates the aforementioned photovoltaic control command.

[0138] In detail, the method of obtaining the azimuth and altitude angles of sunlight using a quadrature resistor array includes:

[0139] Turn on the switch in the positive one sensor of the quadrature orthogonal resistor array and read the positive one current value of the ammeter in the positive one sensor. Obtain the positive two current value based on the positive two sensor of the quadrature orthogonal resistor array, obtain the positive three current value based on the positive three sensor of the quadrature orthogonal resistor array, obtain the positive four current value based on the positive four sensor of the quadrature orthogonal resistor array, obtain the side one current value based on the side one sensor of the quadrature orthogonal resistor array, obtain the side two current value based on the side two sensor of the quadrature orthogonal resistor array, obtain the side three current value based on the side three sensor of the quadrature orthogonal resistor array, and obtain the side four current value based on the side four sensor of the quadrature orthogonal resistor array.

[0140] The azimuth vector is calculated based on the positive 1 current value, positive 2 current value, positive 3 current value, and positive 4 current value. The calculation formula is as follows:

[0141] ;

[0142] in, It is the azimuth vector. , , and These are the positive one current value, the positive two current value, the positive three current value, and the positive four current value, respectively. , , and These are the first unit vector, the second unit vector, the third unit vector, and the fourth unit vector, respectively. The preset first light intensity coefficient, This is the preset second light intensity coefficient;

[0143] The azimuth angle of the sun is calculated based on the azimuth vector and the first unit vector, using the following formula:

[0144] ;

[0145] in, The azimuth of the sun. It is an inverse cosine function. The magnitude of the azimuth vector. Let be the magnitude of the first unit vector;

[0146] The first tilt angle is calculated based on the side current value and the positive current value, using the following formula:

[0147] ;

[0148] in, The first dip angle, This is the side current value;

[0149] The second tilt angle is calculated based on the second side current value and the second positive current value; the third tilt angle is calculated based on the third side current value and the third positive current value; and the fourth tilt angle is calculated based on the fourth side current value and the fourth positive current value.

[0150] Calculate the solar altitude angle based on the first, second, third, and fourth tilt angles.

[0151] It should be understood that the methods for obtaining the positive two current value using the positive two-sensor device based on the quadrature orthogonal resistor array, the methods for obtaining the positive three current value using the positive three-sensor device based on the quadrature orthogonal resistor array, the methods for obtaining the positive four current value using the positive four-sensor device based on the quadrature orthogonal resistor array, the methods for obtaining the side one current value using the side one-sensor device based on the quadrature orthogonal resistor array, the methods for obtaining the side two current value using the side two-sensor device based on the quadrature orthogonal resistor array, the methods for obtaining the side three current value using the side three-sensor device based on the quadrature orthogonal resistor array, and the methods for obtaining the side four current value using the side four-sensor device based on the quadrature orthogonal resistor array are all the same as the method for obtaining the positive one current value using the positive one-sensor device based on the quadrature orthogonal resistor array, and will not be described again here. The methods for calculating the second tilt angle based on the second side current value and the second positive current value, the methods for calculating the third tilt angle based on the third side current value and the third positive current value, and the methods for calculating the fourth tilt angle based on the fourth side current value and the fourth positive current value are all the same as the method for calculating the first tilt angle based on the first side current value and the first positive current value, and will not be described again here.

[0152] It should be explained that the first light intensity coefficient is the resistance value of the photoresistor under a light intensity of 1 Lux. For example, if the resistance of the photoresistor is 10kΩ under a light intensity of 1 Lux, then the first light intensity coefficient is 10000. The second light intensity coefficient is related to the model and composition materials of the photoresistor; optionally, the second light intensity coefficient is 1.2.

[0153] Understandably, since the resistance of a photoresistor decreases with increasing light intensity, the current values ​​for the first, second, third, and fourth units increase with increasing light intensity. Therefore, the larger the current value corresponding to a certain sensing device (first, second, third, or fourth unit), the greater the light intensity received by the photoresistor in that device, meaning the plane containing the photoresistor's photosensitive layer is more perpendicular to the direction of the incident light. Thus, the primary function of the azimuth vector is to reflect the direction of the incident sunlight. For example, 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, the resulting projection vector will have the opposite direction to the azimuth vector. The sunlight azimuth angle is the angle between the azimuth vector and the first unit vector.

[0154] It should be understood that, since the centroid of the insulating substrate of the photoresistor in the positive sensing device points towards the centroid of the photosensitive layer in a direction perpendicular to the initial ground and vertically upwards, while the centroid of the insulating substrate of the photoresistor in the side sensing device points towards the centroid of the photosensitive layer in the direction of the first unit vector, the photoresistor in the positive sensing device is more sensitive to incident light perpendicular to the initial ground, while the photoresistor in the side sensing device is more sensitive to incident light parallel to the ground. Therefore, the tilt angle of the incident light relative to the initial ground can be reflected by comparing the side current value and the positive current value; that is, the first tilt angle is the incident light measured by the positive and side sensing devices. The second tilt angle is the tilt angle of the incident light relative to the initial ground relative to the initial ground measured by the first and second sensors. The third tilt angle is the tilt angle of the incident light relative to the initial ground measured by the third and third sensors. The fourth tilt angle is the tilt angle of the incident light relative to the initial ground measured by the fourth and fourth sensors. In this embodiment of the invention, the first, second, third, and fourth current values ​​are used as supplementary weights in the calculation of the solar altitude angle. Finally, the first, second, third, and fourth tilt angles are integrated to calculate the solar altitude angle, which represents the solar altitude angle.

[0155] In detail, the formula for calculating the solar altitude angle is as follows:

[0156] ;

[0157] in, The angle of sunlight altitude. , and These are the second dip angle, the third dip angle, and the fourth dip angle, respectively.

[0158] S4. Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of the sunlight.

[0159] Specifically, the calculation of the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of sunlight includes:

[0160] The first optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula:

[0161] ;

[0162] in, The first optimal length, It is the arctangent function. It is the tangent function. It is a sine function. It is a cosine function. The initial fixed length;

[0163] The second optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula:

[0164] ;

[0165] in, The second best length;

[0166] The first and second sliding positions are obtained using the azimuth and altitude angles of sunlight.

[0167] Specifically, obtaining the first sliding position and the second sliding position using the azimuth angle and the altitude angle of sunlight includes:

[0168] The first sliding length is calculated based on the azimuth and altitude angles of sunlight, using the following formula:

[0169] ;

[0170] in, This is the first sliding length;

[0171] The second sliding length is calculated based on the azimuth and altitude angles of sunlight, using the following formula:

[0172]

[0173] in, This is the second sliding length;

[0174] The first sliding position is determined based on the first sliding length and the center installation position, and the second sliding position is determined based on the second sliding length and the center installation position.

[0175] It should be understood that in order to make the light-facing surface of the movable photovoltaic panel face the current incident sunlight, it is necessary to adjust the tilt angle of the light-facing surface of the movable photovoltaic panel by adjusting the length of the first target rod and the length of 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 faces the current incident sunlight is the first optimal length, and the length that the second target rod needs to maintain is the second optimal length.

[0176] For example, if the light-receiving orientation of the movable photovoltaic panel is parallel to the initial ground before adjustment, the horizontal distance between the first mounting point and the center mounting point is the interval distance. However, when the light-receiving surface of the movable photovoltaic panel is tilted, the horizontal distance between the first mounting point and the center mounting point will be less than the interval distance. Since the first mounting point is connected to the first target rod, in order to ensure that the direction from one end of the first target rod to the other is always perpendicular to the initial ground (i.e., to ensure that the length change of the first target rod is only reflected in the vertical direction), when adjusting the length of the first target rod, the position of the first update slider on the first fixed slide rail needs to be adjusted simultaneously. The same applies to the second target rod and the second update slider. Therefore, the first sliding length is: the length that the first slider needs to slide in the opposite direction of the first vector when the light-receiving surface of the movable photovoltaic panel is facing the current incident light of the sun. The second sliding length is: the length that the second slider needs to slide in the opposite direction of the second vector when the light-receiving surface of the movable photovoltaic panel is facing the current incident light of the sun.

[0177] It should be understood that the method for determining the first sliding position based on the first sliding length and the center installation position, and the method for determining the second sliding position based on the second sliding length and the center installation position, are the same as the method for determining the first slide rail position based on the interval distance and the center installation position, and will not be described again here.

[0178] S5. 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, the light-receiving orientation of the movable photovoltaic panel is adjusted to obtain an updated photovoltaic panel.

[0179] In detail, the step of adjusting the light-receiving orientation of the movable photovoltaic panel based on a first initial length, a second initial length, a first optimal length, a second optimal length, a first sliding position, and a second sliding position to obtain an updated photovoltaic panel includes:

[0180] The first adjustment distance is calculated based on the first initial length and the first optimal length, using the following formula:

[0181] ;

[0182] in, The first adjustment distance, The first initial length, The first optimal length;

[0183] The first absolute distance is determined based on the first adjustment distance, wherein the first absolute distance is the absolute value of the first adjustment distance;

[0184] Determine if the first adjustment distance is greater than or equal to 0;

[0185] If the first adjustment distance is greater than or equal to 0, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to pull the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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.

[0186] If the first adjustment distance is less than 0, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to push the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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.

[0187] The second adjustment distance and the second absolute distance are obtained based on the second initial length and the second optimal length.

[0188] Determine if the second adjustment distance is greater than or equal to 0;

[0189] If the second adjustment distance is greater than or equal to 0, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel is used to pull the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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.

[0190] If the second adjustment distance is less than 0, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel pushes the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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.

[0191] It should be understood that when it is confirmed that the first update 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 a first absolute distance, the movable photovoltaic panel at this time is the relay photovoltaic panel. Furthermore, the technique of the drive motor in the first target rod pulling the mechanical rod in the first target rod by a first absolute distance is existing technology. For example, the distance the drive motor pulls the mechanical rod can be monitored by installing a displacement sensor on the first target rod. The method for 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 for obtaining the first adjustment distance and the first absolute distance using the first initial length and the first optimal length, and will not be described again here.

[0192] Understandably, when it is confirmed that the second update slider corresponding to the relay photovoltaic panel has moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel has pulled the mechanical rod in the second target rod by the second absolute distance, the relay photovoltaic panel at this time is the update photovoltaic panel.

[0193] S6. Starting from the time when the photovoltaic panel is updated, record the time in real time to obtain the single adjustment time.

[0194] For example, if the time for updating the photovoltaic panel is 10:00, then starting from 10:00, the time is recorded in real time. When it is 10:01, the single adjustment time is 1 minute, and when it is 10:06, the single adjustment time is 6 minutes.

[0195] S7. When the single adjustment time reaches the preset adjustment time threshold, the photovoltaic panel is updated as a movable photovoltaic panel, the first optimal length is taken as the first initial length, the second optimal length is taken as the second initial length, and the process returns to the step of obtaining the azimuth angle and altitude angle of sunlight using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0196] Preferably, the time threshold is adjusted to half an hour.

[0197] It should be understood that as time passes throughout the day, the azimuth and altitude angles of sunlight will gradually change. Therefore, it is necessary to adjust the time threshold every so often, then return to the steps described above of obtaining the azimuth and altitude angles of sunlight using a quadrature orthogonal resistor array, and then adjust the tilt angle of the movable photovoltaic panel once more.

[0198] It should be explained that the control termination command is generally initiated by the staff of the photovoltaic power station. For example, Xiao Zhang is a staff member of the photovoltaic power station. When it gets dark or when the photovoltaic panels need to be inspected, Xiao Zhang initiates the control termination command to end the cycle and terminate the dynamic control of the photovoltaic panels.

[0199] To address the problems described in the background art, this 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. Using these components, a movable photovoltaic panel, a first initial length, and a second initial length are determined. Both the first and second telescopic rods include a drive motor and a mechanical rod. Thus, by constructing a movable photovoltaic panel and utilizing the simultaneous movement and coordination of the first and second telescopic rods, the first and second slide rails, the movable photovoltaic panel can be precisely adjusted in multiple directions, improving the control of the photovoltaic panel. The accuracy of the photosensitive sensor is thus obtained. A quadrature resistor array is constructed using the photosensitive sensor. When a pre-constructed photovoltaic control command is received, the quadrature resistor array is used to obtain the azimuth and altitude angles of the sunlight. It can be seen that this embodiment of the invention, by constructing a quadrature resistor array, accurately positions the direction of the incident sunlight, obtaining the azimuth and altitude angles of the sunlight. This facilitates subsequent adjustment of the light-receiving orientation of the movable photovoltaic panel based on the azimuth and altitude angles. A first optimal length, a second optimal length, a first sliding position, and a second sliding position are calculated based on the azimuth and altitude angles. Based on the first initial length, the second initial length, the first optimal length, and the second optimal length... The optimal length, first sliding position, and second sliding position are used to adjust the light-receiving orientation of the movable photovoltaic panel, resulting in a refreshed photovoltaic panel. This embodiment of the invention calculates the first optimal length, second optimal length, first sliding position, and second sliding position, thereby precisely adjusting the lengths of the first and second telescopic rods based on the first and second optimal lengths. It also precisely adjusts the positions of the sliders in the first and second slide rails based on the first and second sliding positions, improving the accuracy of photovoltaic panel control. Starting from the time it takes to refresh the photovoltaic panel, the time is recorded in real time to obtain the single adjustment time. When the single adjustment time reaches a preset adjustment time... When the time threshold is reached, the photovoltaic panel is updated as a movable photovoltaic panel, the first optimal length is used as the first initial length, and the second optimal length is used as the second initial length. The process returns to the step of obtaining the solar azimuth and solar altitude angles using a quadrature orthogonal resistor array, until a pre-constructed control termination command is received, completing the dynamic control of the photovoltaic panel. It can be seen that this embodiment of the invention records the single adjustment time and sets an adjustment time threshold. When the single adjustment time reaches the preset adjustment time threshold, it automatically returns to the step of obtaining the solar azimuth and solar altitude angles using a quadrature orthogonal resistor array, performing a single adjustment of the movable photovoltaic panel's light-receiving azimuth, thus improving the automation level of photovoltaic panel control. Therefore, this invention can improve the automation and accuracy of photovoltaic panel control, and improve the light energy utilization rate of the photovoltaic panel.

[0200] like Figure 2 The diagram shown is a functional block diagram of a solar photovoltaic panel dynamic control system based on a linear actuator provided in an embodiment of the present invention.

[0201] The solar photovoltaic panel dynamic control system 100 based on linear actuators described in this invention can be installed in an electronic device. Depending on the functions implemented, the solar photovoltaic panel dynamic control system 100 based on linear actuators may 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 control cycle module 104. The module described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, stored in the memory of the electronic device.

[0202] The movable photovoltaic panel construction module 101 is used to acquire 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 fixed rod. The movable photovoltaic panel, the first initial length, and the second initial length are determined 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 fixed rod. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0203] The photosensitive array construction module 102 is used to acquire a photosensitive sensing device and construct a quadrature orthogonal resistor array using the photosensitive sensing device.

[0204] The light-receiving orientation adjustment module 103 is used to obtain the sunlight azimuth angle and sunlight altitude angle using a quadrature resistor array when a pre-constructed photovoltaic control command is received. Based on the sunlight azimuth angle and sunlight altitude angle, it calculates a first optimal length, a second optimal length, a first sliding position, and a second sliding position. 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, it adjusts the light-receiving orientation of the movable photovoltaic panel to obtain an updated photovoltaic panel.

[0205] The photovoltaic panel control cycle module 104 is used to obtain the adjustment time in real time, starting from the time of updating the photovoltaic panel. When the adjustment time reaches the preset adjustment time threshold, the updated photovoltaic panel is used as a 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 process returns to the step of obtaining the azimuth angle and altitude angle of sunlight using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0206] In detail, the modules in the solar photovoltaic panel dynamic control system 100 based on linear actuators described in this embodiment of the invention employ the same methods as described above during use. Figure 1 The method used is the same as the dynamic control method for solar photovoltaic panels based on linear actuators described in the previous section, and can produce the same technical effect, so it will not be repeated here.

[0207] like Figure 3 The diagram shown is a schematic representation of an electronic device for implementing a dynamic control method for solar photovoltaic panels based on a linear actuator, according to an embodiment of the present invention.

[0208] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a dynamic control method program for solar photovoltaic panels based on linear actuators.

[0209] The memory 11 includes at least one type of readable storage medium, such as flash memory, portable hard drive, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as the portable hard drive of the electronic device 1. In other embodiments, the memory 11 can be an external storage device of the electronic device 1, such as a plug-in portable hard drive, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the electronic device 1. Furthermore, the memory 11 includes both internal storage units and external storage devices of the electronic device 1. The memory 11 can be used not only to store application software and various types of data installed on the electronic device 1, such as the code of a solar photovoltaic panel dynamic control method program based on a linear actuator, but also to temporarily store data that has been output or will be output.

[0210] In some embodiments, the processor 10 may be composed of integrated circuits, such as a single packaged integrated circuit or multiple integrated circuits with the same or different functions, including combinations of one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connecting various components of the entire electronic device through various interfaces and lines. It executes programs or modules stored in the memory 11 (e.g., a dynamic control method program for solar photovoltaic panels based on linear actuators) and calls data stored in the memory 11 to perform various functions of the electronic device 1 and process data.

[0211] The bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize the connection and communication between the memory 11 and at least one processor 10, etc.

[0212] Figure 3 Only electronic devices with components are shown; it will be understood by those skilled in the art that... Figure 3 The structure shown 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.

[0213] For example, although not shown, the electronic device 1 may also include a power supply (such as a battery) to power the various components. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, thereby enabling functions such as charging management, discharging management, and power consumption management. The power supply may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be described in detail here.

[0214] Furthermore, the electronic device 1 may also 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 typically used to establish communication connections between the electronic device 1 and other electronic devices.

[0215] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), and optionally, 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-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen, etc. The display may also be appropriately referred to as a screen or display unit, used to display information processed in the electronic device 1 and to display a visual user interface.

[0216] The program for the dynamic control method of solar photovoltaic panels based on linear actuators, stored in the memory 11 of the electronic device 1, is a combination of multiple instructions. When run in the processor 10, it can achieve the following:

[0217] 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 fixed rod. 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 fixed rod to determine the movable photovoltaic panel, the first initial length, and the second initial length. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0218] Acquire a photosensitive sensing device and use the photosensitive sensing device to construct a quadrature orthogonal resistor array;

[0219] When a pre-built photovoltaic control command is received, the azimuth and elevation angles of sunlight are obtained using a quadrature resistor array.

[0220] Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of the sunlight.

[0221] The light-receiving orientation of the movable photovoltaic panel is adjusted 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;

[0222] Starting from the time when the photovoltaic panel is updated, and recording the time in real time, the time of a single adjustment is obtained;

[0223] When the single adjustment time reaches the preset adjustment time threshold, the photovoltaic panel is updated as a 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 process returns to the step of obtaining the solar azimuth angle and solar altitude angle using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0224] Specifically, the processor 10's implementation method for the above instructions can be found in [reference needed]. Figures 1 to 3 The descriptions of the relevant steps in the corresponding embodiments are not repeated here.

[0225] Furthermore, if the modules / units integrated in the electronic device 1 are implemented as 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 may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, or a read-only memory (ROM).

[0226] 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 perform the following:

[0227] 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 fixed rod. 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 fixed rod to determine the movable photovoltaic panel, the first initial length, and the second initial length. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod.

[0228] Acquire a photosensitive sensing device and use the photosensitive sensing device to construct a quadrature orthogonal resistor array;

[0229] When a pre-built photovoltaic control command is received, the azimuth and elevation angles of sunlight are obtained using a quadrature resistor array.

[0230] Calculate the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth angle and the altitude angle of the sunlight.

[0231] The light-receiving orientation of the movable photovoltaic panel is adjusted 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;

[0232] Starting from the time when the photovoltaic panel is updated, and recording the time in real time, the time of a single adjustment is obtained;

[0233] When the single adjustment time reaches the preset adjustment time threshold, the photovoltaic panel is updated as a 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 process returns to the step of obtaining the solar azimuth angle and solar altitude angle using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

[0234] In the embodiments provided by this 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 merely illustrative, and actual implementations may have other classification methods.

[0235] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0236] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0237] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0238] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for dynamic control of solar photovoltaic panels based on linear actuators, characterized in that, The method includes: 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 fixed rod. 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 fixed rod to determine the movable photovoltaic panel, the first initial length, and the second initial length. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod. Acquire a photosensitive sensing device and use the photosensitive sensing device to construct a quadrature orthogonal resistor array; When a pre-constructed photovoltaic control command is received, the azimuth and altitude angles of sunlight are obtained using a quadrature resistor array. The process of obtaining the azimuth and altitude angles of sunlight using a quadrature resistor array includes: Turn on the switch in the positive one sensor of the quadrature orthogonal resistor array and read the positive one current value of the ammeter in the positive one sensor. Obtain the positive two current value based on the positive two sensor of the quadrature orthogonal resistor array, obtain the positive three current value based on the positive three sensor of the quadrature orthogonal resistor array, obtain the positive four current value based on the positive four sensor of the quadrature orthogonal resistor array, obtain the side one current value based on the side one sensor of the quadrature orthogonal resistor array, obtain the side two current value based on the side two sensor of the quadrature orthogonal resistor array, obtain the side three current value based on the side three sensor of the quadrature orthogonal resistor array, and obtain the side four current value based on the side four sensor of the quadrature orthogonal resistor array. Calculate the azimuth vector based on the positive one current value, positive two current value, positive three current value and positive four current value; Calculate the azimuth angle of the sun based on the azimuth vector and the first unit vector; Calculate the first tilt angle based on the side current value and the positive current value; The second tilt angle is calculated based on the second side current value and the second positive current value; the third tilt angle is calculated based on the third side current value and the third positive current value; and the fourth tilt angle is calculated based on the fourth side current value and the fourth positive current value. The solar altitude angle is calculated based on the first, second, third, and fourth tilt angles. The formula for calculating the solar altitude angle is as follows: ; in, The angle of sunlight altitude. , and These are the second dip angle, the third dip angle, and the fourth dip angle, respectively. The calculation of the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth and altitude angles of sunlight includes: The first optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula: ; in, The first optimal length, It is the arctangent function. It is the tangent function. It is a sine function. It is a cosine function. The initial fixed length; The second optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula: ; in, The second best length; The first and second sliding positions are obtained using the azimuth and altitude angles of sunlight. The light-receiving orientation of the movable photovoltaic panel is adjusted 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; Starting from the time when the photovoltaic panel is updated, and recording the time in real time, the time of a single adjustment is obtained; When the single adjustment time reaches the preset adjustment time threshold, the photovoltaic panel is updated as a 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 process returns to the step of obtaining the solar azimuth angle and solar altitude angle using a quadrature orthogonal resistor array until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

2. The dynamic control method for solar photovoltaic panels based on linear actuators as described in claim 1, characterized in that, The process of determining the movable photovoltaic panel, the first initial length, and the second initial length 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 fixed rod includes: The backlight surface to be installed on the photovoltaic panel is identified, and the shape of the backlight surface to be installed is square. Identify the center mounting point on the backlight surface to be executed, wherein the center mounting point is located at the geometric center of the square corresponding to the backlight surface to be executed; On the backlight surface to be executed, a first execution edge and a second execution edge are identified. The first execution edge is any edge of the square corresponding to the backlight surface to be executed, and the second execution edge is an edge of the square corresponding to the backlight surface to be executed that is adjacent to the first execution edge. The first installation point and the second installation point are determined based on the first execution edge and the second execution edge, respectively, wherein 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; The interval distance is determined based on the first installation point and the center installation point, wherein the interval distance is the distance between the first installation point and the center installation point; One end of the central fixing rod is fixed at the preset center installation position, and the other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed to obtain a fixed photovoltaic panel. The other end of the central fixing rod is connected to the center installation point of the photovoltaic panel to be installed through a pre-constructed universal joint. The center installation position is located on the pre-confirmed initial ground, and the backlight surface to be executed corresponding to the fixed photovoltaic panel is parallel to the initial ground. The first unit vector is determined based on the first mounting point and the center mounting point of the fixed photovoltaic panel, wherein the direction of the first unit vector is the direction from the first mounting point on the fixed photovoltaic panel to the center mounting point; Confirm the initial fixed length of the central fixed rod, confirm the slide length of the first slide rail, wherein the length of the first slide rail is equal to the length of the second slide rail, and both the first and second slide rails include: a slider; The first and second installation positions are determined based on the central installation position, the first unit vector, the initial ground, and the slide rail length. Both the first and second installation positions 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. One end of the first slide rail is fixed at the center installation position and the other end of the first slide rail is fixed at the first installation position to obtain the first fixed slide rail; The position of the first slide rail is determined based on the interval distance and the center installation position, wherein 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 center 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 update slider, and calculate the first initial length based on the initial slider height and the initial fixed length, wherein the first initial length is the absolute difference between the initial slider height and the initial fixed length; The length of the first telescopic rod is adjusted to the first initial length to obtain the first renewal rod. One end of the first renewal rod is fixed on the first renewal slider and the other end of the first renewal rod is connected to the first installation point of the fixed photovoltaic panel to obtain the first target rod. The second target rod and the second update slider are obtained based on the second slide rail, the second installation position, the center installation position, the interval distance, the initial fixed length, the second telescopic rod, and the second installation point for fixing the 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, the movable photovoltaic panel is identified.

3. The dynamic control method for solar photovoltaic panels based on linear actuators as described in claim 2, characterized in that, The method of constructing a quadrature resistor array using a photosensitive sensing device includes: The second unit vector is determined based on the second installation position and the center installation position, wherein the direction of the second unit vector is the direction from the second installation position to the center installation position; The third unit vector is determined based on the first unit vector, wherein the direction of the third unit vector is opposite to the direction of the first unit vector; The fourth unit vector is determined based on the second unit vector, wherein 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. The direction of the first unit vector is taken as the positive x-axis of the reference space coordinate system, the direction of the second unit vector is taken as the positive y-axis of the reference space coordinate system, and the direction perpendicular to the initial ground and vertically upward is taken as the positive z-axis of the reference space coordinate system. Based on the interval distance, the following coordinates were identified: positive coordinate 1, side coordinate 1, positive coordinate 2, side coordinate 2, positive coordinate 3, side coordinate 3, positive coordinate 4, and side coordinate 4. The positive one position is determined based on the positive one coordinates, where the coordinates corresponding to the positive one position in the reference space coordinate system are the positive one coordinates. Based on the positive position and the photosensitive sensing device, the positive sensing device is identified. The photosensitive sensing device includes: a photoresistor, a wire, a standard power supply, a switch and a galvanometer. The photoresistor includes: an insulating substrate and a photosensitive layer. The positive sensing device is fixed at the positive position, and the direction from the center of gravity of the insulating substrate of the photoresistor to the center of gravity of the photosensitive layer is perpendicular to the initial ground and vertically upward. The positive binary sensor was identified based on the positive binary coordinate and the photosensitive sensor; the positive triangular sensor was identified based on the positive triangular coordinate and the photosensitive sensor; and the positive quadrilateral sensor was identified based on the positive tetraangular coordinate and the photosensitive sensor. The positions of side 1, side 2, side 3, and side 4 are determined based on the side 1 coordinate, side 2 coordinate, side 3 coordinate, and side 4 coordinate, respectively. Based on the first unit vector, the side position, and the photosensitive sensing device, the side sensing device is identified, wherein the side sensing device is fixed at the side position and the direction from the center of gravity of the insulating substrate of the photoresistor in the side sensing device to the center of gravity of the photosensitive layer is the direction of the first unit vector. The second side sensor is identified based on the second unit vector, the second side position, and the photosensitive sensor; the third side sensor is identified based on the third unit vector, the third side position, and the photosensitive sensor; and the fourth side sensor is identified based on the fourth unit vector, the fourth side position, and the photosensitive sensor. Based on the positive one sensor, positive two sensor, positive three sensor, positive four sensor, side one sensor, side two sensor, side three sensor and side four sensor, a quadrangular orthogonal resistor array was identified.

4. The dynamic control method for solar photovoltaic panels based on linear actuators as described in claim 3, characterized in that, The method of obtaining the first sliding position and the second sliding position using the azimuth angle and the altitude angle of sunlight includes: Calculate the first sliding length based on the azimuth and altitude angles of sunlight; Calculate the second sliding length based on the azimuth and altitude angles of sunlight; The first sliding position is determined based on the first sliding length and the center installation position, and the second sliding position is determined based on the second sliding length and the center installation position.

5. The dynamic control method for solar photovoltaic panels based on linear actuators as described in claim 4, characterized in that, The process of adjusting the light-receiving orientation of the movable photovoltaic panel based on a first initial length, a second initial length, a first optimal length, a second optimal length, a first sliding position, and a second sliding position to obtain an updated photovoltaic panel includes: Calculate the first adjustment distance based on the first initial length and the first optimal length; The first absolute distance is determined based on the first adjustment distance, wherein the first absolute distance is the absolute value of the first adjustment distance; Determine if the first adjustment distance is greater than or equal to 0; If the first adjustment distance is greater than or equal to 0, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to pull the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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, the first update slider corresponding to the movable photovoltaic panel is moved to the first sliding position, and the drive motor in the first target rod corresponding to the movable photovoltaic panel is used to push the mechanical rod in the first target rod to obtain the relay photovoltaic panel. 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. The second adjustment distance and the second absolute distance are obtained based on the second initial length and the second optimal length. Determine if the second adjustment distance is greater than or equal to 0; If the second adjustment distance is greater than or equal to 0, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel is used to pull the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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, the second update slider corresponding to the relay photovoltaic panel is moved to the second sliding position, and the drive motor in the second target rod corresponding to the relay photovoltaic panel pushes the mechanical rod in the second target rod to obtain the updated photovoltaic panel. 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.

6. A dynamic control system for solar photovoltaic panels based on linear actuators, characterized in that, The system includes: The movable photovoltaic panel construction module is used to acquire 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 fixed rod. The movable photovoltaic panel, the first initial length, and the second initial length are determined 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 fixed rod. The first telescopic rod and the second telescopic rod each include a drive motor and a mechanical rod. A photosensitive array construction module is used to acquire photosensitive sensing devices and construct a quadrangular resistor array using these devices. The solar azimuth adjustment module is used to obtain the solar azimuth and solar altitude angles using a quadrature resistor array when a pre-constructed photovoltaic control command is received. The method of obtaining the solar azimuth and solar altitude angles using the quadrature resistor array includes: Turn on the switch in the positive one sensor of the quadrature orthogonal resistor array and read the positive one current value of the ammeter in the positive one sensor. Obtain the positive two current value based on the positive two sensor of the quadrature orthogonal resistor array, obtain the positive three current value based on the positive three sensor of the quadrature orthogonal resistor array, obtain the positive four current value based on the positive four sensor of the quadrature orthogonal resistor array, obtain the side one current value based on the side one sensor of the quadrature orthogonal resistor array, obtain the side two current value based on the side two sensor of the quadrature orthogonal resistor array, obtain the side three current value based on the side three sensor of the quadrature orthogonal resistor array, and obtain the side four current value based on the side four sensor of the quadrature orthogonal resistor array. Calculate the azimuth vector based on the positive one current value, positive two current value, positive three current value and positive four current value; Calculate the azimuth angle of the sun based on the azimuth vector and the first unit vector; Calculate the first tilt angle based on the side current value and the positive current value; The second tilt angle is calculated based on the second side current value and the second positive current value; the third tilt angle is calculated based on the third side current value and the third positive current value; and the fourth tilt angle is calculated based on the fourth side current value and the fourth positive current value. The solar altitude angle is calculated based on the first, second, third, and fourth tilt angles. The formula for calculating the solar altitude angle is as follows: ; in, The angle of sunlight altitude. , and The inclination angles are the second, third, and fourth inclination angles, respectively. Based on the azimuth and altitude angles of sunlight, the first optimal length, the second optimal length, the first sliding position, and the second sliding position are calculated. The calculation of the first optimal length, the second optimal length, the first sliding position, and the second sliding position based on the azimuth and altitude angles of sunlight includes: The first optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula: ; in, The first optimal length, It is the arctangent function. It is the tangent function. It is a sine function. It is a cosine function. The initial fixed length; The second optimal length is calculated based on the initial fixed length, the azimuth angle of the sunlight, and the altitude angle of the sunlight, using the following formula: ; in, The second best length; The first sliding position and the second sliding position are obtained by using the azimuth angle and the elevation angle of the sunlight. 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, the light-receiving orientation of the movable photovoltaic panel is adjusted to obtain the updated photovoltaic panel. The photovoltaic panel control cycle module is used to obtain the adjustment time in real time, starting from the time of updating the photovoltaic panel. When the adjustment time reaches the preset adjustment time threshold, the updated photovoltaic panel is used as a 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 process returns to the step of obtaining the azimuth angle and altitude angle of sunlight using a quadrature orthogonal resistor array, until a pre-constructed control termination command is received, thus completing the dynamic control of the photovoltaic panel.

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