Double-axis linkage tracking method and device

Abstract

The invention discloses a double-shaft linkage tracking method and device, and belongs to the technical field of photovoltaic supports. The device comprises a photoresistor, a control center, a first driving mechanism, a second driving mechanism, a photovoltaic panel and a tilt angle sensor, the photoresistor is connected with the control center, the control center is connected with the first driving mechanism and the second driving mechanism, the photovoltaic panel is connected with the first driving mechanism and the second driving mechanism, and the tilt angle sensor is connected with the first driving mechanism and the second driving mechanism. And the controller is connected with the control center. The double-shaft linkage device combines an astronomical algorithm and a photoresistor correction method, realizes accurate adjustment of the azimuth angle and the elevation angle of the photovoltaic panel, and avoids the problems of single adjustment information and easy error formation in the prior art. The photovoltaic panel is ensured to be always perpendicular to solar rays, light energy is captured to the maximum extent, the power generation efficiency can be improved by 35%-45%, the annual average power generation amount is increased by 30%-40%, and the utilization efficiency of solar energy is remarkably improved. And the stability and the reliability of the device can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of photovoltaic supports, and in particular to a dual-axis linkage tracking method and device. Background Art

[0002] Against the backdrop of global energy transformation and the "dual carbon" goals, the efficient development and utilization of solar energy, as a core pillar of clean energy, has become a strategic priority for all countries. However, traditional photovoltaic systems face numerous bottlenecks that severely limit the efficient conversion and widespread application of solar energy.

[0003] Existing technologies often use fixed supports to support solar panels. However, because the sun's position in the sky constantly changes over time, fixed-angle photovoltaic panels cannot always maintain a perpendicular alignment with the sun's rays, resulting in significant waste of solar energy. Statistics show that due to the limitations of fixed supports, the average annual power generation efficiency loss exceeds 20%. This not only reduces the efficiency of solar energy utilization but also significantly reduces the economic benefits of photovoltaic systems.

[0004] Chinese patent publication CN117406795A discloses an intelligent control system and method for the tilt and height of solar photovoltaic panels. While this system uses a solar angle sensor and a wind speed sensor to monitor the solar angle and ambient wind speed in real time, and a main control module to calculate the optimal height and tilt of the photovoltaic panel, it lacks high-precision adjustment capabilities and cannot adjust the panel angle based on light intensity. The adjustment information is relatively simple, making it prone to errors.

[0005] In summary, there is an urgent need for a dual-axis tracking method and device to address the problems of low solar tracking accuracy, poor adaptability to environmental changes, and relatively simple adjustment information, which is prone to errors. In complex weather conditions such as cloudy and overcast days, tracking accuracy and power generation efficiency can drop significantly. Furthermore, the control of the system's self-consumption is less than ideal, increasing the overall energy consumption of the photovoltaic system. Summary of the Invention

[0006] To solve the above problems, the present invention provides a dual-axis linkage tracking method and device. The dual-axis linkage tracking method and device use photoresistors to correct the solar azimuth angle obtained by astronomical algorithms, and transmit relevant data to a control center. The control center drives the dual-axis device to move, achieving precise adjustment of the dual axes, ensuring that the photovoltaic panels are always perpendicular to the sunlight, improving tracking accuracy and power generation efficiency, and solving the above problems.

[0007] In a first aspect, the present invention provides a dual-axis linkage tracking method, comprising:

[0008] A dual-axis linkage tracking method, characterized by comprising a photoresistor, a control center, a first drive mechanism, a second drive mechanism, a photovoltaic panel, and a tilt sensor, wherein the photoresistor is connected to the control center, the control center is connected to the first drive mechanism and the second drive mechanism, the photovoltaic panel is connected to the first drive mechanism and the second drive mechanism, and is also connected to the control center;

[0009] The dual-axis linkage tracking method includes:

[0010] Step 1: Get the azimuth angle A and altitude angle h of the sun;

[0011] Step 2: Calculate the correction angle Δθ by monitoring the terminal voltage of the photoresistor, and combine it with the azimuth angle A and altitude angle h in step 1 to obtain the corrected azimuth angle A1 and altitude angle h1;

[0012] Step 3: The corrected angle is transmitted to the control center, which processes the angle, generates a dynamic control variable, and transmits it to the first drive mechanism and the second drive mechanism;

[0013] Step 4: The first driving mechanism drives the photovoltaic panel to rotate to adjust the azimuth angle of the photovoltaic panel; the second driving mechanism drives the photovoltaic panel to rotate to adjust the elevation angle of the photovoltaic panel;

[0014] Step 5: The tilt sensor feeds back the position information of the photovoltaic panel monitored to the control center. The control center compares the feedback signal with the desired position and repeats the process of steps 3 and 4 until the photovoltaic panel is adjusted to the optimal position.

[0015] In one embodiment of the present invention, the corrected azimuth angle A1 and altitude angle h1 are calculated as follows:

[0016] A1=A+μΔθ

[0017] h1=h+μΔθ

[0018] Where μ is the correction coefficient.

[0019] In one embodiment of the present invention, the correction coefficient μ is not greater than 0.8 to prevent the maximum light intensity detected by the photoresistor from having a large error due to a change in the resistance value of the resistor, thereby preventing the maximum light intensity from being significantly different from the ideal sun position.

[0020] In one embodiment of the present invention,

[0021] Signal normalization calculation method:

[0022]

[0023] The calculation method of the correction angle Δθ is:

[0024]

[0025] Among them, V i is the voltage at the photoresistor terminal, V max is the maximum value, V min is the minimum value, I n is the normalized photoresistor terminal voltage.

[0026] In a second aspect, the present invention further provides a dual-axis linkage tracking device, using the dual-axis linkage tracking method, the device comprising:

[0027] a first transmission assembly connected to the first driving mechanism;

[0028] a first shaft, the first transmission assembly being connected to the first shaft;

[0029] a connecting frame, the first shaft being connected to the connecting frame;

[0030] a second transmission assembly connected to the connecting frame and located on a side perpendicular to the first axis; and a second driving mechanism connected to the second transmission assembly;

[0031] A second shaft connected to the second transmission assembly, the connecting frame is sleeved on the outer circumference of the second shaft and is rotatably connected to the second shaft;

[0032] A hub, the photovoltaic panel is connected to the hub, and the hub is sleeved on the outer circumference of the second shaft;

[0033] The first drive mechanism drives the first transmission assembly to rotate, and in turn drives the first shaft, connecting frame, second shaft, hub and photovoltaic panel to rotate; the second drive mechanism drives the second transmission assembly, and in turn drives the second shaft, hub and photovoltaic panel to rotate, thereby realizing the adjustment of the azimuth and altitude angles of the photovoltaic panel.

[0034] In one embodiment of the present invention, the system also includes a positioning module, a wind sensor, and a Wi-Fi communication module, all of which are connected to the control center. The positioning module is used to obtain the longitude and latitude of the photovoltaic panels. The wind sensor can monitor wind speed and direction around the photovoltaic panels, enabling the system to enter protection mode in strong winds. By integrating weather forecasts, historical light information, and other information, tracking parameters can be dynamically adjusted to optimize power generation efficiency.

[0035] In one embodiment of the present invention, the photovoltaic panel is provided with an encapsulation layer, and the number of the photoresistors is four and evenly distributed around the encapsulation layer.

[0036] In one embodiment of the present invention, the second shaft is a spline shaft, and the wheel hub is provided with a spline groove, the shape and size of the spline groove being adapted to the shape and size of the spline shaft, thereby enhancing the connection strength between the second shaft and the wheel hub.

[0037] In one embodiment of the present invention, both the first transmission assembly and the second transmission assembly are planetary gear sets with a transmission ratio between 5 and 10, and both the first drive mechanism and the second drive mechanism are servo motors.

[0038] In one embodiment of the present invention, the device further comprises a frame, wherein the photovoltaic panel is mounted in the frame, the wheel hub is connected to the frame, and the frame is movable, so that the dual-axis linkage tracking device can be adapted to photovoltaic panels of different sizes.

[0039] Beneficial effects of the present invention:

[0040] The dual-axis linkage device provided by this invention includes a photoresistor, a control center, a first drive mechanism, a second drive mechanism, and a photovoltaic panel. Combining astronomical algorithms with a photoresistor correction method, it achieves precise adjustment of both the azimuth and elevation angles of the photovoltaic panel, avoiding the error-prone nature of existing techniques, which rely on single adjustment information. This ensures that the photovoltaic panel is always perpendicular to the sun's rays, maximizing the capture of solar energy. This can increase power generation efficiency by 35%-45%, boosting average annual power generation by 30%-40%, and significantly improving solar energy utilization.

[0041] 2. The dual-axis linkage device achieves intelligent control by combining astronomical algorithms, PSA tracking algorithms and big data collaboration. It can monitor environmental changes, light intensity, and the operating status of photovoltaic panels in real time, and feed back relevant information to the control center to dynamically adjust the angle of the photovoltaic panels until they are adjusted to the optimal position, thereby improving the power generation efficiency of the photovoltaic panels.

[0042] 3. The dual-axis linkage device has a simple structure and high tracking accuracy, which reduces manufacturing and maintenance costs. By setting up a wind sensor and a WIFI communication module, it can monitor the environment around the photovoltaic panel in real time. Combined with the weather big data prediction function, it can predict changes in light intensity in advance, dynamically adjust tracking parameters, and optimize power generation efficiency. Under complex weather conditions such as cloudy and overcast days, it can still maintain high-precision tracking performance, ensuring that the photovoltaic panel is always aligned with the actual position of the sun, thereby capturing more light energy and converting it into electrical energy. When the wind is strong, the device enters sleep mode, controlling its self-consumption to within 2%-5% of the total power generation, effectively reducing energy consumption, achieving energy conservation and environmental protection, reducing costs and increasing efficiency, improving the stability and reliability of the device, and extending the service life of the device.

[0043] 4. This dual-axis linkage device is not only suitable for large-scale photovoltaic power plants and distributed photovoltaic power generation systems, but can also be widely used in various scenarios such as agricultural photovoltaic projects and power supply in remote areas. Its modular design and movable frame structure allow for flexible configuration and expansion according to actual needs, meeting the diverse needs of different users and showing broad market application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 An exploded diagram of a dual-axis linkage device provided by an embodiment of the present invention;

[0045] Figure 2 A three-dimensional diagram of a dual-axis linkage device provided by an embodiment of the present invention;

[0046] Figure 3 A three-dimensional diagram of a dual-axis linkage device provided by an embodiment of the present invention from another perspective;

[0047] Figure 4 An exploded view of a photovoltaic panel provided by an embodiment of the present invention;

[0048] Figure 5 An exploded view of the second shaft and the wheel hub provided in an embodiment of the present invention;

[0049] Figure 6 A flow chart of the control portion of the dual-axis linkage device provided by an embodiment of the present invention;

[0050] Figure 7 A schematic diagram of the PID provided in an embodiment of the present invention;

[0051] In the picture:

[0052] 1. Base; 2. First drive mechanism; 3. First transmission assembly; 4. First shaft; 5. Connector; 6. Connecting frame; 7. Second drive mechanism; 8. Second transmission assembly; 9. Second shaft; 10. Hub; 11. Photovoltaic panel; 111. Protective layer; 112. Encapsulation layer; 113. Solar cell; 114. Backplane; 12. Photoresistor; 13. Control box; 14. Tilt sensor; 15. Wind sensor; 16. Frame; 17. Positioning module; 18. Control center; 19. Wi-Fi communication module. DETAILED DESCRIPTION

[0053] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0055] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[0056] like Figures 1 to 7 As shown, the present invention provides a dual-axis linkage tracking device, which includes a base 1 that provides support for the entire dual-axis linkage tracking device. A first drive mechanism 2 is mounted on one side of the base 1. A first transmission assembly 3 is connected to the side of the first drive mechanism 2 facing away from the base 1. A first shaft 4 is provided on the side of the first transmission assembly 3 facing away from the first drive mechanism 2. The first shaft 4 is connected to a connecting frame 6 via a connector 5, and the connecting frame 6 is connected to a frame 16. The first drive mechanism 2 rotates the first transmission assembly 3, thereby driving the first shaft 4 to rotate. The first shaft 4 drives the photovoltaic panel 11 to rotate in a vertical direction via the connecting frame 6.

[0057] In some embodiments, a second drive mechanism 7 is mounted on one side of the connecting frame 6. The output end of the second drive mechanism 7 is connected to a second transmission assembly 8. The side of the second transmission assembly 8 facing away from the second drive mechanism 7 is connected to a second shaft 9. The second shaft 9 passes through a through hole in the connecting frame 6 and is rotatably connected to the connecting frame 6. A hub 10 is sleeved around the outer periphery of the second shaft 9 and is fixedly connected to the hub 10. The side of the hub 10 facing away from the connecting frame 6 is connected to the frame 16. The second drive mechanism 7 rotates the second transmission assembly 8, which in turn rotates the second shaft 9. The rotation of the second shaft 9 thereby rotates the hub 10, which in turn rotates the photovoltaic panel 11 horizontally. The rotation of the connecting frame 6 rotates the second shaft 9, which in turn rotates the photovoltaic panel 11 vertically. By combining the horizontal and vertical directions, the position of the photovoltaic panel 11 can be precisely adjusted, ensuring that the photovoltaic panel 11 is always perpendicular to the sunlight.

[0058] like Figure 4 As shown, in some embodiments, the photovoltaic panel 11 includes a protective layer 111, an encapsulation layer 112, a cell 113, and a backsheet 114. The cell 113 is mounted on top of the backsheet 114, and the encapsulation layer 112 is mounted on top of the cell 113. A photoresistor 12 is mounted on the encapsulation layer 112. There are four photoresistors, evenly distributed at the four corners of the encapsulation layer 112, forming a four-quadrant photosensor array that can monitor light intensity in real time and correct the solar position subsequently obtained through astronomical algorithms. The encapsulation layer 112 is covered with a protective layer 111. The multi-layer composite photovoltaic panel 11 is mounted in a frame 16 and can rotate with the sun under the drive of a dual-axis linkage tracking device.

[0059] like Figure 5 As shown, in some embodiments, the second shaft 9 is a spline shaft, and a spline groove is provided in the wheel hub 10. The shape and size of the spline groove are adapted according to the shape and size of the spline shaft, which can enhance the connection strength between the second shaft 9 and the wheel hub 10.

[0060] In some embodiments, frame 16 is a movable frame structure, composed of two panels spliced ​​together, one panel having a strip-shaped hole on its side and the other having a through-hole on its side. After the two panels are moved to the appropriate position, bolts are inserted through the strip-shaped hole and the through-hole to connect the two panels. By configuring frame 16 as a movable frame structure, the dual-axis linkage tracking device can adapt to photovoltaic panels 11 of different sizes. Reinforcing ribs are provided on the side of frame 16 near hub 10 to reinforce frame 16 and improve wind resistance.

[0061] Optionally, both the first transmission assembly 3 and the second transmission assembly 8 are planetary gear sets, with a transmission ratio of 5 to 10, which can achieve the effect of exchanging speed for torque. Since the change in the sun's position is relatively slow, there is no high requirement for the adjustment speed, and adjustment can be performed every ten minutes, which can save energy consumption. The first drive mechanism 2 and the second drive mechanism 7 are servo motors.

[0062] In some embodiments, the dual-axis linkage device further includes a control center 18, a positioning module 17, a wind sensor 15, a WIFI communication module 19, and an inclination sensor 14. The control center 18, the positioning module 17, the wind sensor 15, the WIFI communication module 19, and the inclination sensor 14 are all installed in the control box 13, and the control box 13 is installed on the frame 16. The positioning module 17 is connected to the control center 18 and is used to obtain the longitude and latitude positions of the photovoltaic panel 11. The positioning module 17 transmits the obtained position information to the control center 18. The wind sensor 15 is connected to the control center 18 and is capable of monitoring the wind speed and direction around the photovoltaic panel 11 and transmitting the monitoring data to the control center 18, helping the system enter a protection mode in strong winds. When the wind speed is too high, the monitoring information is transmitted to the control center, and the control center stops working to ensure the safety of the equipment.

[0063] In some embodiments, the WIFI communication module 19 is connected to the control center 18. The WIFI communication module 19 integrates weather forecasts, historical light information, and other information, collects meteorological information such as cloud thickness and rainfall, and predicts changes in light intensity in advance, dynamically adjusts tracking parameters, and optimizes power generation efficiency. Under complex weather conditions such as cloudy and overcast days, the system can still maintain high-precision tracking performance, ensuring that the photovoltaic panels are always aligned with the actual position of the sun, thereby capturing more light energy and converting it into electrical energy. When encountering rain or bad weather, the control center 18 receives the information transmitted by the WIFI communication module 19 and adjusts the angle of the photovoltaic panel 11 in advance, putting it into sleep mode, reducing invalid movement, and controlling self-consumption within 2%-5% of the total power generation, effectively reducing energy consumption, and achieving energy conservation and environmental protection, cost reduction and efficiency improvement.

[0064] In some embodiments, tilt sensor 14 is connected to control center 18 and can measure the angular position of photovoltaic panel 11 and feed this data back to control center 18 in real time. Control center 18 continuously receives feedback signals about the current position, compares it with the desired position information, and adjusts it to ultimately move photovoltaic panel 11 to the desired position. The detection accuracy of tilt sensor 14 is ±0.1°, which helps improve the adjustment accuracy of the dual-axis linkage tracking device and enhance the power generation efficiency of the photovoltaic panel.

[0065] Optionally, the connecting member 5 may be a bolt or a pin, which connects the first shaft 4 to the connecting frame 6 and can withstand a larger torque.

[0066] Optionally, the material of the protection layer 111 is tempered glass, the material of the encapsulation layer 112 is EVA, and the material of the back plate 114 is TPT.

[0067] Optionally, the base 1, the connecting frame 6, the hub 10 and the frame 16 are all made of galvanized steel or aluminum alloy to improve the corrosion resistance of the equipment.

[0068] The present invention also provides a dual-axis linkage tracking method, which includes the following steps:

[0069] Step 1: Obtain the position of the sun. The positioning module 17 can obtain the longitude and latitude of the location of the photovoltaic panel 11, the RTC obtains the current time point, and the azimuth and altitude of the sun are obtained through the astronomical algorithm.

[0070] The calculation process of the sun's position includes:

[0071] Calculate the Julian century number:

[0072]

[0073] Where JD is the Julian day, T is the Julian century, Y is the year, M is the month, D is the day of the month, and t is the hour of universal time.

[0074] Calculate the sun's mean ecliptic longitude:

[0075] L0=(280.46646+36000.76983·T+0.0003032·T 2 )

[0076] Calculate the solar mean anomaly:

[0077] M=(357.52911+35999.05029T-0.0001537T 2 )

[0078] Calculate the center of the solar equation:

[0079] C=(1.914602-0.004817T)sinM+(0.019993-0.000101T)sin2M+0.000289sin3M

[0080] Calculate the true ecliptic longitude:

[0081] λ=(L0+C)

[0082] Calculate the obliquity of the ecliptic:

[0083] ε=23.439291-0.0130042·T-1.64×10 {-7} ·T 2 +5.04×10 {-7} ·T 3

[0084] Calculate right ascension and declination:

[0085] α=arctan2(sinλcosεcosλ)

[0086] δ=arcsin(sinλsinε)

[0087] Among them, α is the right ascension and δ is the declination.

[0088] Calculate Greenwich sidereal time:

[0089]

[0090] Calculate local sidereal time and hour angle:

[0091] θ=(θ0+longitude)

[0092] H=(θ-α)

[0093] Where θ is the local sidereal time and H is the hour angle.

[0094] Calculate the azimuth and altitude:

[0095] A=arctan2(sinHcosHsinφ-tanδcosφ)

[0096] h=arcsin(sinφsinδ+cosφcosδcosH)

[0097] Where A is the azimuth, h is the altitude, and φ is the latitude (north latitude is positive).

[0098] Step 2: The four photoresistors 12 on the photovoltaic panel 11 can monitor the position with the maximum light intensity. By monitoring the terminal voltages of the four photoresistors 12, four different voltage values ​​are obtained. The voltage values ​​are normalized and the correction angle is calculated. The correction angle is combined with the azimuth and altitude angle obtained by the astronomical algorithm in step 1 to obtain the photovoltaic panel position corrected by the astronomical algorithm and the photoresistors.

[0099] The photoresistor correction process includes:

[0100] Signal normalization calculation method:

[0101]

[0102] Among them, V i is the voltage at the photoresistor terminal, which can be obtained through the voltage detection device, V min 、V max To set the reference value, select any sunny noon at the location to measure the voltage of the four photoresistors and take the average value. Repeat about 10 groups and take the maximum and minimum values ​​as the preset reference value. There are 4 photoresistors in the present invention, so n is 1, 2, 3, and 4. n is the normalized photoresistor terminal voltage.

[0103] Calculate the correction angle:

[0104]

[0105] A1=A+μΔθ

[0106] h1=h+μΔθ

[0107] Where A1 is the corrected azimuth, h1 is the corrected altitude, Δθ is the correction angle, and μ is the correction coefficient.

[0108] Optionally, μ should be no greater than 0.8 to prevent the maximum light intensity detected by the photoresistor from having a large error due to a change in the resistance value, etc., resulting in a large difference from the ideal sun position.

[0109] Step 3: Use the PSA algorithm to adjust the position of the photovoltaic panel 11 in real time. The values ​​of A1 and h1 obtained in step 2, as well as the data acquired by the wind sensor 15 and the Wi-Fi communication module 19, are transmitted to the control center 18. The control center processes the data using the PSA algorithm to generate a dynamic control variable, that is, the angle information is converted into an electrical signal. The electrical signal is transmitted to the first drive mechanism 2 and the second drive mechanism 7, thereby adjusting the azimuth and elevation angles of the photovoltaic panel 11.

[0110] Step 4: The first drive mechanism 2 and the second drive mechanism 7 rotate the dual-axis linkage to adjust the position of the photovoltaic panel 11. The first drive mechanism 2 rotates the first transmission assembly 3, which in turn rotates the first shaft 4 and the connecting frame 6 to adjust the azimuth angle of the photovoltaic panel. The second drive mechanism 7 rotates the second transmission assembly 3, which in turn rotates the second shaft 9 and the hub 10 to adjust the elevation angle of the photovoltaic panel.

[0111] Step 5: The tilt sensor 14 feeds back the position information of the monitored photovoltaic panel 11 to the control center 18. The control center 18 continuously receives the feedback signal of the current position, compares it with the desired position, and repeats the process of steps 3 and 4 until the photovoltaic panel 11 is adjusted to the optimal position.

[0112] like Figure 7As shown, in some embodiments, the PSA algorithm is an optimization algorithm based on the PID control principle, used to accurately and efficiently control the motor to reach a predetermined position. Its core is to integrate the feedback adjustment mechanism of PID control into the regulation of the photovoltaic panel 11. The collected data is processed using the proportional, integral, and differential functions commonly used in PID to generate dynamic control variables, which drive the movement of the first drive mechanism 2 and the second drive mechanism 7. Because the first drive mechanism 2 and the second drive mechanism 7 are both servo motors, the actual motion signals output by the motors may differ from the desired signals, making it difficult to accurately adjust the photovoltaic panel 11 to the desired position. The position of the photovoltaic panel 11 is monitored in real time by an inclination sensor 14, which feeds data back to the control center 18. The PSA algorithm continuously receives feedback signals of the current position and compares them with the desired position. Through repeated adjustments, the photovoltaic panel 11 is rotated to the desired position. This approach can reduce the deviation of the motion signal, ensure that the photovoltaic panel is always perpendicular to the sunlight, and improve tracking accuracy and power generation efficiency.

[0113] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A dual-axis linkage tracking method, characterized in that: The invention comprises a photoresistor (12), a control center (18), a first drive mechanism (2), a second drive mechanism (7), a photovoltaic panel (11) and an inclination sensor (14), wherein the photoresistor (12) is connected to the control center (18), the control center (18) is connected to the first drive mechanism (2) and the second drive mechanism (7), the photovoltaic panel (11) is connected to the first drive mechanism (2) and the second drive mechanism (7), and is also connected to the control center (18); The dual-axis linkage tracking method includes: Step 1: Get the azimuth angle A and altitude angle h of the sun; Step 2: Calculate the correction angle Δθ by monitoring the terminal voltage of the photoresistor (12), and combine it with the azimuth angle A and altitude angle h in step 1 to obtain the corrected azimuth angle A1 and altitude angle h1; Step 3: The corrected angle is transmitted to the control center (18), and the control center (18) processes the angle, generates a dynamic control amount, and transmits it to the first drive mechanism (2) and the second drive mechanism (7); Step 4: the first driving mechanism (2) drives the photovoltaic panel (11) to rotate, thereby adjusting the azimuth angle of the photovoltaic panel (11); the second driving mechanism (7) drives the photovoltaic panel (11) to rotate, thereby adjusting the elevation angle of the photovoltaic panel (11); Step 5: The tilt sensor (14) feeds back the position information of the photovoltaic panel (11) monitored to the control center (18), and the control center (18) compares the feedback signal with the desired position and repeats the process of steps 3 and 4 until the photovoltaic panel (11) is adjusted to the optimal position.

2. A dual-axis linkage tracking method according to claim 1, characterized in that: The calculation method of the corrected azimuth angle A1 and altitude angle h1 is: A1=A+μΔθ h1=h+μΔθ Where μ is the correction coefficient.

3. A dual-axis linkage tracking method according to claim 2, characterized in that: The correction coefficient μ is not greater than 0.

8.

4. A dual-axis linkage tracking method according to claim 3, characterized in that: Signal normalization calculation method: The calculation method of the correction angle Δθ is: Among them, V i is the voltage at the photoresistor terminal, V max is the maximum value, V min is the minimum value, I n is the normalized photoresistor terminal voltage.

5. A dual-axis linkage tracking device, characterized in that: A dual-axis linkage tracking method according to any one of claims 1 to 4 is used; the dual-axis linkage device further comprises: A first transmission assembly (3) connected to the first driving mechanism (2); a first shaft (4), the first transmission assembly (3) being connected to the first shaft (4); a connecting frame (6), the first shaft (4) being connected to the connecting frame (6); a second transmission assembly (8), the second transmission assembly (8) being connected to the connecting frame (6) and being located on a side perpendicular to the first axis (4); the second driving mechanism (7) being connected to the second transmission assembly (8); A second shaft (9) is connected to the second transmission assembly (8); the connecting frame (6) is sleeved on the outer periphery of the second shaft (9) and is rotationally connected to the second shaft (9); A hub (10), the photovoltaic panel (11) is connected to the hub (10), and the hub (10) is sleeved on the outer circumference of the second shaft (9); The first driving mechanism (2) drives the first transmission assembly (3) to rotate, and in turn drives the first shaft (4), the connecting frame (6), the second shaft (9), the wheel hub (10) and the photovoltaic panel (11) to rotate; the second driving mechanism (7) drives the second transmission assembly (3), and in turn drives the second shaft (9), the wheel hub (10) and the photovoltaic panel (11) to rotate, thereby adjusting the azimuth angle and the elevation angle of the photovoltaic panel (11).

6. A dual-axis linkage tracking device according to claim 5, characterized in that: It also includes a positioning module (17), a wind sensor (15) and a WIFI communication module (19), and the positioning module (17), the wind sensor (15) and the WIFI communication module (19) are all connected to the control center (18).

7. The dual-axis linkage tracking device according to claim 5, characterized in that: The photovoltaic panel (11) is provided with an encapsulation layer (112), and the number of the photoresistors (12) is four and they are evenly distributed around the encapsulation layer (112).

8. The dual-axis linkage tracking device according to claim 5, characterized in that: The second shaft (9) is a spline shaft, and a spline groove is provided in the wheel hub (10). The shape and size of the spline groove are adapted to the shape and size of the spline shaft.

9. The dual-axis linkage tracking device according to claim 5, characterized in that: The first transmission assembly (3) and the second transmission assembly (8) are both planetary gear sets, and the transmission ratio thereof is between 5 and 10. The first drive mechanism (2) and the second drive mechanism (7) are both servo motors.

10. The dual-axis linkage tracking device according to claim 5, characterized in that: It also includes a frame (16), the photovoltaic panel (11) is installed in the frame (16), the hub (10) is connected to the frame (16), and the frame (16) is a movable frame.

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