Self-cleaning solar double-shaft intelligent tracking system and method

Abstract

The invention discloses a self-cleaning solar double-shaft intelligent tracking system and method. The system comprises a double-shaft tracking mechanism, a photovoltaic panel and a detection module. The double-shaft tracking mechanism comprises a machine base, a frame, a first rotating shaft, a frame motor, a second rotating shaft and a photovoltaic panel motor. The detection module comprises two composite sensing devices. The composite sensing devices are the same in structure, and each composite sensing device comprises a rotating disc and a plurality of light intensity sensors. The light intensity sensors are sequentially arranged on the outer circumferential surface of the rotating disc at intervals in the circumferential direction. And the turntable in one composite sensing device is coaxially fixed on the first rotating shaft. And the turntable in the other composite sensing device is coaxially fixed on the second rotating shaft. According to the invention, the continuous light intensity curve in the circumferential direction is obtained through the light intensity data measured by the plurality of light intensity sensors arranged in the circumferential direction and fitting by taking the deviation angle as the abscissa, so that the resolution ratio of the arrangement of the light intensity sensors is exceeded, a more accurate target rotation angle is obtained, the light following efficiency is improved, and the photovoltaic power generation amount is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of solar power generation, and in particular relates to a self-cleaning solar dual-axis intelligent tracking system and method. Background Art

[0002] Traditional solar tracking systems often utilize a single-axis design, capable of adjusting only in azimuth or elevation, and unable to track the sun's trajectory throughout its entire range. Limited by mechanical structure and control precision, these systems result in significant deviations between the actual illuminated surface of the photovoltaic panel and the direction of the sun's incidence, resulting in low solar energy conversion efficiency. Research has shown that the efficiency of single-axis tracking systems degrades significantly during dawn and dusk hours and at high latitudes, severely limiting the overall energy output of the photovoltaic system.

[0003] While independently optimized dual-axis tracking mechanisms exist in current research, system-level integrated innovation has yet to be achieved. This is primarily due to the following issues: traditional adjustment methods can only determine the target rotation direction or roughly the rotation angle, but cannot accurately determine the target rotation angle based on the current detection results. Dynamic corrections can only be made during the rotation process, reducing solar tracking efficiency and increasing energy consumption.

[0004] At the same time, the accumulation of contaminants on the surfaces of photovoltaic modules has become a key factor limiting power generation efficiency. Dust, bird droppings, and other contaminants form a barrier on the surface of photovoltaic panels, resulting in a 15%-25% decrease in photovoltaic conversion efficiency. Existing cleaning technologies primarily rely on manual inspections or automated cleaning cycles, which not only impose high maintenance costs but also suffer from delayed response times and poor terrain adaptability. In specialized applications such as hillsides, offshore platforms, and floating photovoltaic power plants, traditional cleaning equipment often cannot effectively operate due to structural limitations. Long-term contaminant accumulation can cause hot spot effects on modules and accelerate material degradation. Summary of the Invention

[0005] The purpose of the present invention is to provide a solar dual-axis intelligent tracking system that integrates dual-axis tracking, automatic cleaning, real-time environmental perception and intelligent control to solve the problems of photovoltaic panel efficiency degradation and high maintenance costs, improve the power generation efficiency of photovoltaic modules and reduce maintenance costs.

[0006] In a first aspect, the present invention provides a self-cleaning solar dual-axis intelligent tracking system, comprising a dual-axis tracking mechanism, a photovoltaic panel, and a detection module. The dual-axis tracking mechanism comprises a base, a frame, a first rotating shaft, a frame motor, a second rotating shaft, and a photovoltaic panel motor. The first rotating shaft is fixed to the frame and rotationally connected to the base. The second rotating shaft is fixed to the photovoltaic panel and rotationally connected to the frame. The first rotating shaft is driven to rotate by the frame motor, and the second rotating shaft is driven to rotate by the photovoltaic panel motor.

[0007] The detection module includes two composite sensing devices. These devices share the same structure, each comprising a rotating disk and multiple light intensity sensors. The light intensity sensors are spaced circumferentially on the outer circumference of the rotating disk. The rotating disk in one composite sensing device is coaxially fixed to a first rotating shaft. The rotating disk in the other composite sensing device is coaxially fixed to a second rotating shaft.

[0008] The rotation angle around the first rotation axis and the rotation angle around the second rotation axis between the current orientation of the photovoltaic panel and the orientation facing the maximum sunlight are determined by the difference in light intensity signals measured by multiple light intensity sensors on the circumference.

[0009] Preferably, the composite sensing device has a corresponding tracking direction; the tracking direction of the composite sensing device fixed to the first rotating shaft is normal to the plane on which the frame resides. The tracking direction of the composite sensing device fixed to the second rotating shaft is normal to the plane on which the photovoltaic panel resides. Each light intensity sensor in the composite sensing device corresponds to an offset angle relative to the tracking direction. The light intensity measured by each light intensity sensor in the composite sensing device is fitted with the offset angle, and the offset angle corresponding to the maximum light intensity is obtained from the resulting fitting curve and used as the target rotation angle.

[0010] Preferably, the light intensity sensors on the composite sensing device are arranged symmetrically with respect to the tracking direction.

[0011] Preferably, a photosensitive area covering 180° is provided on the outer circumference of the turntable, and a light intensity sensor is arranged at every 10° to 30° in the photosensitive area.

[0012] Preferably, the device further includes a cleaning module. The cleaning module includes a flexible scraping brush assembly for scraping and cleaning the photovoltaic panel. The composite sensing device is also provided with one or more rain sensors. When the rain sensor detects a rainfall signal, the cleaning module cleans the photovoltaic panel using the flexible scraping brush assembly.

[0013] Preferably, the cleaning module further comprises two single-sided scraper drive assemblies. The two single-sided scraper drive assemblies are respectively disposed between the two sides of the photovoltaic panel and the corresponding inner sides of the frame. The single-sided scraper drive assemblies comprise a scraper motor, a timing belt, and a timing wheel. The two timing wheels are rotationally connected to the two ends of the corresponding side edges of the frame. The two timing wheels are connected via a timing belt transmission. The timing wheels are driven to rotate by the scraper motor. The two ends of the flexible scraper assembly are respectively fixed to the timing belts in the two single-sided scraper drive assemblies.

[0014] Preferably, the first rotating shaft is connected to the midpoints of two opposite sides of the frame, the second rotating shaft is connected to the midpoints of the other two opposite sides of the frame, and the second rotating shaft is located at the symmetry axis of the photovoltaic panel.

[0015] Preferably, the axes of the first rotating shaft and the second rotating shaft are perpendicular to each other.

[0016] In a second aspect, the present invention provides a self-cleaning solar dual-axis intelligent tracking method, which uses the aforementioned self-cleaning solar dual-axis intelligent tracking system. The self-cleaning solar dual-axis intelligent tracking method comprises: The light intensity sensors in the two composite sensing devices detect light intensity signals, and the rain sensors detect rain amount signals.

[0017] When the rain sensor detects rain, the frame motor and the photovoltaic panel motor drive the photovoltaic panel to adjust to a vertical position coplanar with the frame. The flexible scraping brush assembly in the cleaning module moves back and forth on the photovoltaic panel to clean the photovoltaic panel.

[0018] When the rain sensor detects no rain, the light intensity measured by each light intensity sensor in the two composite sensing devices is fitted to generate two light intensity curves. If the light intensity curve is horizontal (determined by whether the range difference is greater than a threshold; if it is, it is not horizontal; if it is, it is horizontal), the frame motor drives the frame to rotate to a vertical position, and the photovoltaic panel motor drives the photovoltaic panel to flip to a horizontal position. Otherwise, two target rotation angles are read from the two light intensity curves. The first and second rotating shafts are driven to rotate according to the corresponding target rotation angles, respectively, so that the photovoltaic panel faces the sunlight.

[0019] Preferably, after the photovoltaic panels are cleaned, if the rain sensor still detects rain, the frame is adjusted to a vertical position and the photovoltaic panels are horizontal.

[0020] The present invention has the following beneficial effects: The present invention uses the light intensity data measured by multiple light intensity sensors arranged circumferentially to fit the offset angle as the horizontal coordinate to obtain a continuous light intensity curve in the circumferential direction, thereby exceeding the resolution of the light intensity sensor arrangement and obtaining a more accurate target angle. It solves the energy waste problem caused by the constantly corrected light chasing method in the existing technology, improves the light chasing efficiency, and increases photovoltaic power generation.

[0021] The dual-axis tracking mechanism in the present invention rotates and connects the photovoltaic panel in a flippable frame, thereby achieving full-angle tracking of sunlight, greatly improving the utilization rate of light energy, and can reduce the windward area of ​​the photovoltaic panel by adjusting the photovoltaic panel to a horizontal posture, thereby avoiding damage to the photovoltaic panel at night or on cloudy days.

[0022] The present invention incorporates a rain sensor and a photovoltaic panel cleaning module. Upon detecting rain, the panels are adjusted to a vertical position and scraped clean. This allows rainwater to remove pollutants removed by scraping and cleaning, improving the panels' photoelectric conversion efficiency. This solves the problem of automated cleaning of contaminants from the surfaces of photovoltaic modules, particularly for solar photovoltaic systems installed on hillsides, deserts, ponds, or sea surfaces. Consequently, this system offers significant economic, social, and environmental benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of the system according to Example 1 of the present invention.

[0024] Figure 2 This is a system framework diagram of the control module in Example 1 of the present invention.

[0025] Figure 3 Schematic diagram of the X-axis rotation portion of the dual-axis tracking mechanism in Example 1 of the present invention ( Figure 1 AA section in the figure).

[0026] Figure 4 Schematic diagram of the Y-axis rotation portion of the dual-axis tracking mechanism in Example 1 of the present invention ( Figure 1 (sectional view of the BB section in the middle).

[0027] Figure 5 This is a schematic cross-sectional view of the first wheel axle of the cleaning module in Example 1 of the present invention ( Figure 1 (Cross-section view of CC section in Fig.

[0028] Figure 6 Schematic diagram of the second axle cross section of the cleaning module in Example 1 of the present invention ( Figure 1 (sectional view of the DD section in the figure).

[0029] Figure 7 is a schematic side cross-sectional view of the cleaning module in Example 1 of the present invention ( Figure 1 (sectional view of section EE in Fig.

[0030] Figure 8 Schematic diagram of the structure of the composite sensing device in Example 1 of the present invention ( Figure 1 (sectional view of the FF section in the figure). DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings.

[0032] Example 1 like Figure 1 As shown, a self-cleaning solar dual-axis intelligent tracking system includes a control module 1, a dual-axis tracking mechanism, a photovoltaic panel 15, a cleaning module, and a detection module. The dual-axis tracking mechanism includes a base 6, a frame 11, a first rotating shaft 3, a first bearing 4, a frame motor 5, a photovoltaic panel motor 2, a second rotating shaft 13, and a second bearing 14. Both the frame motor 5 and the photovoltaic panel motor 2 are servo motors.

[0033] The first rotating shaft 3 is fixed to the frame 11. The two ends of the first rotating shaft 3 and the two sides of the top of the base 6 respectively form a rotating pair through first bearings 4. The frame motor 5 is used to drive the first rotating shaft 3 and the frame 11 to rotate. In this embodiment, the rotation axis of the first rotating shaft 3 is arranged horizontally.

[0034] The photovoltaic panel 15 is fixed to the second rotating shaft 13. The ends of the second rotating shaft 13 and the upper and lower sides of the frame 11 respectively form a rotating pair via second bearings 14. The photovoltaic panel motor 2 is used to drive the second rotating shaft 13 and the photovoltaic panel 15 to rotate. In this embodiment, the rotational axes of the second rotating shaft 13 and the first rotating shaft 3 are perpendicular to each other. The photovoltaic panel 15 is located on the inner side of the frame 11, and a gap is left between the outer contour of the photovoltaic panel 15 and the inner edge of the frame 11.

[0035] The first rotating shaft 3 connects to the midpoints of two opposing sides of the frame 11. The second rotating shaft 13 connects to the midpoints of the other two opposing sides of the frame 11. The second rotating shaft 13 is located at the axis of symmetry of the photovoltaic panel 15. The dual-axis tracking mechanism, consisting of an X-axis and a Y-axis, controls the rotation of the photovoltaic panel in two directions, tracking sunlight in real time.

[0036] The detection module includes an X-axis composite sensing device 18 and a Y-axis composite sensing device 12. The X-axis composite sensing device 18 and the Y-axis composite sensing device 12 have the same structure, and both include a turntable 20, thirteen light intensity sensors 19 and multiple rain sensors. The thirteen light intensity sensors 19 are installed in the photosensitive area of ​​the outer circumference of the turntable 20. The photosensitive area is semi-cylindrical, that is, it occupies an angular range of 180° on the outer circumference of the turntable 20. The light intensity sensors 19 are arranged in sequence at equal intervals along the circumference of the turntable 20. A light intensity sensor 19 is arranged at every 15° angle on the photosensitive area. The multiple rain sensors are dispersed at different positions of the photosensitive area of ​​the turntable 20.

[0037] In some embodiments, the rain sensor and the light intensity sensor 19 are integrated and packaged in the same sensor module, so the number of rain sensors on the turntable 20 is also thirteen, and the rain sensor and the light intensity sensor 19 are an integrated structure.

[0038] The rotating disk 20 in the X-axis composite sensing device 18 is coaxially fixed to the end of the first rotating shaft 3. The rotating disk 20 in the Y-axis composite sensing device 12 is coaxially fixed to the end of the second rotating shaft 13.

[0039] In this embodiment, the frame 11, first rotating shaft 3, frame motor 5, and X-axis composite sensing device 18 form the X-axis rotational axis. The frame motor 5 drives the frame 11 to rotate about the horizontal axis (X-axis) to track sunlight, with a rotation range of 180°. During solar power generation, the X-axis rotational axis is controlled by comparing signals from thirteen light intensity sensors 19 in the X-axis composite sensing device 18 to maximize the intensity of sunlight received by the photovoltaic panels 15.

[0040] The photovoltaic panel 15, second rotating shaft 13, photovoltaic panel motor 2, and Y-axis composite sensing device 12 form the Y-axis rotational axis. Initially, the photovoltaic panel motor 2 drives the photovoltaic panel 15 to rotate about the vertical axis (Y-axis) to track sunlight, with a rotation range of 180°. By comparing the signals from the thirteen light intensity sensors 19 in the Y-axis composite sensing device 12, the Y-axis rotation is controlled to maximize the intensity of sunlight received by the photovoltaic panel 15.

[0041] When it rains, the rain sensor outputs a control signal to activate the self-cleaning device to automatically remove pollutants on the surface of the photovoltaic panels.

[0042] The cleaning module includes a flexible scraper assembly 10 and two single-sided scraper drive assemblies. The two single-sided scraper drive assemblies are respectively positioned between the left and right sides of the photovoltaic panel 15 and the inner side of the frame 11. The single-sided scraper drive assemblies include a scraper motor 7, a synchronous belt 8, a synchronous pulley 9, a synchronous axle 16, and a synchronous bearing 17. The two synchronous axles 16 are rotatably connected to the corresponding side edges of the frame 11 at both ends via synchronous bearings 17. The two synchronous pulleys 9 are fixed to the two synchronous axles 16 and connected via the synchronous belt 8. The scraper motor 7 drives one of the synchronous pulleys 9. The flexible scraper assembly 10 is elongated, with its brushing side edge resting against the front of the photovoltaic panel 15. The ends of the flexible scraper assembly 10 are secured to the synchronous belts 8 of the two single-sided scraper drive assemblies. The synchronized movement of the two single-sided scraper drive assemblies drives the flexible scraper assembly 10 to move back and forth across the photovoltaic panel 15, cleaning the front of the panel 15 and removing attached contaminants, thereby improving the panel's power generation efficiency.

[0043] like Figure 2As shown, the control module includes a parameter setter, a PID optimization controller, a servo driver, and a timer. The light intensity sensor 19 and the rain sensor in the composite sensing device detect weather conditions. The detection signal is combined with the output signal of the dual-axis tracking mechanism and input into the PID optimization controller for analysis and calculation. One signal is output to the servo drivers corresponding to the X and Y rotation axes, controlling the dual-axis tracking mechanism to track sunlight. If it rains, another signal is output to the servo driver corresponding to the cleaning module, activating the self-cleaning device. The scraper motor drives the synchronous wheel and synchronous belt, driving the flexible scraper assembly to reciprocate across the surface of the photovoltaic panel. The timer controls the automatic cleaning of contaminants on the photovoltaic panel surface.

[0044] In this embodiment, each motor and the structure it drives to rotate can be directly fixedly connected or indirectly connected via a transmission structure, which includes a gear transmission structure, a belt transmission structure, or other existing power transmission devices.

[0045] Example 2 A self-cleaning solar dual-axis intelligent tracking method is provided, using the self-cleaning solar dual-axis intelligent tracking system provided in Example 1. The self-cleaning solar dual-axis intelligent tracking method comprises the following steps: Step 1: Mark the position of light intensity sensor 19 in X-axis composite sensing device 18, whose detection direction is perpendicular to the plane of frame 11, as the 0° position. The remaining light intensity sensors 19 are marked based on the angular difference between themselves and the 0° position (consider defining one rotation direction as the positive direction and the other as the negative direction). The detection direction of the light intensity sensor at the 0° position serves as the X-axis tracking direction.

[0046] Each light intensity sensor 19 in the X-axis composite sensing device 18 detects the intensity of sunlight. Discrete points corresponding to the light intensity data measured by the X-axis composite sensing device 18 are plotted on a graph with the angular position of the light intensity sensor as the abscissa and the measured light intensity value as the ordinate. A light intensity curve is then plotted around the X-axis. The abscissa corresponding to the highest point in the light intensity curve is taken as the target rotation angle θ.

[0047] The frame motor 5 drives the frame 11 and the photovoltaic panel 15 to rotate around the X-axis by a target rotation angle θ, so that the light intensity sensor at the 0° position in the X-axis composite sensing device 18 measures the maximum light intensity value.

[0048] Step 2: In the Y-axis composite sensing device 12, the position of the light intensity sensor whose detection direction is perpendicular to the plane of the photovoltaic panel 15 is marked as the 0° position. The remaining light intensity sensors are marked according to the angle difference between themselves and the 0° position (assuming that one rotation direction is defined as the positive direction and the other rotation direction is defined as the negative direction). The detection direction of the light intensity sensor at the 0° position is used as the Y-axis tracking direction.

[0049] Each light intensity sensor 19 in the Y-axis composite sensing device 12 detects the intensity of sunlight. Discrete points corresponding to the light intensity data measured by the Y-axis composite sensing device 12 are plotted on a scale with the angular position of the light intensity sensor as the abscissa and the measured light intensity value as the ordinate. A light intensity curve is then plotted around the Y-axis. The abscissa corresponding to the highest point in the light intensity curve is taken as the target rotation angle φ.

[0050] The photovoltaic panel motor 2 drives the photovoltaic panel 15 to rotate around the Y axis by a target rotation angle φ, so that the light intensity sensor at the 0° position in the Y axis composite sensing device 12 measures the maximum light intensity value.

[0051] At this time, the photovoltaic panel 15 faces the direction of the sun, so that the light-receiving area is maximized, thereby maximizing the power generation efficiency of the photovoltaic module.

[0052] Step 3: As sunlight changes, repeat steps 1 and 2 to achieve dynamic tracking of the photovoltaic panel 15 to the sun.

[0053] Step 4: When the light intensity signals measured by the light intensity sensors 19 in the X-axis composite sensing device 18 and the Y-axis composite sensing device 12 approach equality, the fitted X-axis and Y-axis light intensity curves approximate a horizontal line, and the rain sensor detects no rainfall signal, it is determined that the current situation is cloudy or the sun has set. The condition for the light intensity curve to approximate a horizontal line is that the range is less than a threshold. At this point, the frame motor 5 and the photovoltaic panel motor 2 drive the photovoltaic panel 15 to flip to a horizontal position, preventing the wind from overloading the self-cleaning solar dual-axis intelligent tracking system.

[0054] Step 5: When the rain sensor in the X-axis composite sensing device 18 or the Y-axis composite sensing device 12 detects a rain signal in real time, it is determined that it is currently raining and a self-cleaning operation is performed.

[0055] The self-cleaning process is as follows: the frame motor 5 and the photovoltaic panel motor 2 drive the photovoltaic panel 15 to flip to a vertical position and align it with the frame 11. The scraper motor 7 in the cleaning module drives the synchronous wheel 9 and the synchronous belt 8, which drives the flexible scraper assembly 10 to reciprocate across the surface of the photovoltaic panel 15. The scraped pollutants flow downward with the rainwater and are separated from the photovoltaic panel 15, thus cleaning the front of the photovoltaic panel. The self-cleaning operation duration is controlled by a timer.

[0056] When there is no rain for a preset period of time, the self-cleaning operation can also be started to remove dust on the photovoltaic panel 15 using the flexible scraping brush assembly 10 .

Claims

1. A self-cleaning solar dual-axis intelligent tracking system, comprising a dual-axis tracking mechanism, a photovoltaic panel (15) and a detection module, characterized in that: The dual-axis tracking mechanism comprises a base (6), a frame (11), a first rotating shaft (3), a frame motor (5), a second rotating shaft (13) and a photovoltaic panel motor (2); the first rotating shaft (3) is fixed to the frame (11) and is rotationally connected to the base (6); the second rotating shaft (13) is fixed to the photovoltaic panel (15) and is rotationally connected to the frame (11); the first rotating shaft (3) is driven to rotate by the frame motor (5); the second rotating shaft (13) is driven to rotate by the photovoltaic panel motor (2); The detection module includes two composite sensing devices; the composite sensing devices have the same structure, and both include a rotating disk (20) and a plurality of light intensity sensors (19); the light intensity sensors (19) are sequentially spaced along the circumferential direction on the outer circumferential surface of the rotating disk (20); the rotating disk (20) in one of the composite sensing devices is coaxially fixed on the first rotating shaft (3); the rotating disk (20) in the other composite sensing device is coaxially fixed on the second rotating shaft (13); The rotation angle around the first rotation axis (3) and the rotation angle around the second rotation axis (13) between the current orientation of the photovoltaic panel (15) and the maximum light-facing orientation are determined by the difference in light intensity signals measured by a plurality of light intensity sensors (19) on the circumference.

2. The self-cleaning solar dual-axis intelligent tracking system according to claim 1, characterized in that: The composite sensing device corresponds to a tracking direction; the tracking direction of the composite sensing device fixed on the first rotating shaft (3) is the normal direction of the plane where the frame (11) is located; the tracking direction of the composite sensing device fixed on the second rotating shaft (13) is the normal direction of the plane where the photovoltaic panel (15) is located; each light intensity sensor (19) in the composite sensing device corresponds to an offset angle relative to the tracking direction; the light intensity and the offset angle measured by each light intensity sensor (19) in the composite sensing device are fitted, and the offset angle corresponding to the maximum light intensity is obtained in the obtained fitting curve as the target rotation angle.

3. The self-cleaning solar dual-axis intelligent tracking system according to claim 2, characterized in that: The light intensity sensors (19) on the composite sensing device are arranged symmetrically with respect to the tracking direction.

4. A self-cleaning solar dual-axis intelligent tracking system according to claim 2 or 3, characterized in that: A photosensitive area covering a range of 180° is provided on the outer circumference of the turntable (20); a light intensity sensor (19) is arranged at every 10° to 30° in the photosensitive area.

5. The self-cleaning solar dual-axis intelligent tracking system according to claim 1, characterized in that: It also includes a cleaning module; the cleaning module includes a flexible scraping brush assembly (10) for scraping and cleaning the photovoltaic panel (15); the composite sensing device is also provided with one or more rain sensors; when the rain sensor measures a rain signal, the cleaning module cleans the photovoltaic panel (15) through the flexible scraping brush assembly (10).

6. The self-cleaning solar dual-axis intelligent tracking system according to claim 5, characterized in that: The cleaning module further comprises two single-sided scraping brush drive assemblies; the two single-sided scraping brush drive assemblies are respectively arranged between the two sides of the photovoltaic panel (15) and the corresponding inner sides of the frame (11); the single-sided scraping brush drive assembly comprises a scraping brush motor (7), a synchronous belt (8) and a synchronous wheel (9); the two synchronous wheels (9) are respectively rotatably connected to the two ends of the corresponding side edges of the frame (11); the two synchronous wheels (9) are connected by transmission through the synchronous belt (8); the synchronous wheel (9) is driven to rotate by the scraping brush motor (7); and the two ends of the flexible scraping brush assembly (10) are respectively fixed to the synchronous belts (8) in the two single-sided scraping brush drive assemblies.

7. The self-cleaning solar dual-axis intelligent tracking system according to claim 1, characterized in that: The first rotating shaft (3) is connected to the midpoints of two opposite sides of the frame (11); the second rotating shaft (13) is connected to the midpoints of the other two opposite sides of the frame (11); and the second rotating shaft (13) is located at the symmetry axis of the photovoltaic panel (15).

8. The self-cleaning solar dual-axis intelligent tracking system according to claim 1, characterized in that: The axes of the first rotating shaft (3) and the second rotating shaft (13) are perpendicular to each other.

9. A self-cleaning solar dual-axis intelligent tracking method, characterized by: Using a self-cleaning solar dual-axis intelligent tracking system as described in claim 5; The self-cleaning solar dual-axis intelligent tracking method comprises: The light intensity sensors (19) in the two composite sensing devices both detect light intensity signals, and the rain sensors detect rain amount signals; When the rain sensor detects rain, the photovoltaic panel (15) is driven by the frame motor (5) and the photovoltaic panel motor (2) to adjust to a vertical position coplanar with the frame (11); the flexible scraping brush assembly (10) in the cleaning module moves back and forth on the photovoltaic panel (15) to clean the photovoltaic panel; When the rain sensor does not detect rain, two light intensity curves are obtained by fitting the light intensity measured by each light intensity sensor (19) in the two composite sensing devices; if the light intensity curve is a horizontal line, the frame motor (5) drives the frame (11) to rotate to a vertical posture, and the photovoltaic panel motor (2) drives the photovoltaic panel (15) to flip to a horizontal posture; otherwise, two target rotation angles are read from the two light intensity curves; the first rotating shaft (3) and the second rotating shaft (13) are driven to rotate according to the corresponding target rotation angles, so that the photovoltaic panel (15) faces the sunlight.

10. The self-cleaning solar dual-axis intelligent tracking method according to claim 9, characterized in that: After the photovoltaic panel is cleaned, if the rain sensor still detects rain, the frame (11) is adjusted to a vertical position and the photovoltaic panel (15) is horizontal.

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