A control method for a photovoltaic support based on a hall algorithm and optical vision assistance

Abstract

The present application relates to photovoltaic power generation technical field, especially to a kind of control method of photovoltaic support based on hall algorithm and optical vision auxiliary, including after photovoltaic system initial installation, the target tracking angle of photovoltaic tracking support is calculated, the initial state angle value of photovoltaic tracking support is obtained by photographing, the angle that support driving device needs to run is calculated, photovoltaic tracking support is controlled to carry out angle adjustment and correction, while the real-time state of solar panel is obtained by photographing, the initial angle adjustment of photovoltaic tracking support is realized, also include in the tracking state of photovoltaic system, the actual rotation offset angle of photovoltaic tracking support is detected and calculated, and offset angle is corrected, the present application is closed loop control to the angle adjustment of photovoltaic support by hall algorithm and optical vision auxiliary means, improves the control precision of support angle, improves power generation efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic power generation, in particular to a control method for a photovoltaic support based on a Hall algorithm and optical vision assistance. BACKGROUND

[0002] In the field of photovoltaic power generation, angle adjustment of a photovoltaic tracking support is one of the core technologies for improving the power generation capacity of a photovoltaic system. The core logic is to dynamically adjust the orientation of a photovoltaic module so that it is as perpendicular as possible to the sunlight, thereby maximizing the reception of solar radiation. Currently, the commonly used photovoltaic tracking support usually uses an angle sensor to detect the angle of the photovoltaic module and feeds back to the control system. However, due to installation and debugging errors of the angle sensor, the detected value may not be consistent with the actual angle value, affecting the accuracy of the angle adjustment of the photovoltaic module and further affecting the power generation efficiency.

[0003] A photovoltaic support group tracking control device and control method based on machine vision are disclosed in Chinese patent application No. 202111126677.6. A CCD camera is arranged above the inclined single-axis photovoltaic support group to collect images of reference points and measurement points to confirm the actual inclination value of the photovoltaic support. The inclination of the photovoltaic support is then adjusted according to the difference between the actual inclination value and the theoretical inclination value.

[0004] However, due to the large overall length and size of the photovoltaic support, it is easily disturbed by external wind during operation and may swing, causing abnormal operation of the drive motor. Alternatively, when the photovoltaic support is suddenly stopped during operation, the drive motor may also be dragged and reversed due to the inertia of the mechanical transmission mechanism, causing operation deviation of the system. The above-mentioned invention does not correct this deviation, and long-term accumulation will cause the operation deviation to become larger and larger, which will seriously affect the power generation efficiency of the system.

[0005] Moreover, the CCD camera in the aforementioned invention is only used to collect information to confirm the actual inclination value of the photovoltaic support. When the photovoltaic panel is deformed, twisted, or partially damaged, it cannot detect and alarm, which affects the power generation efficiency of the entire photovoltaic power generation system, and may even cause the system to fail to work. SUMMARY

[0006] The main technical problem to be solved by the present application is to provide a control method for a photovoltaic support based on a Hall algorithm and optical vision assistance. A CCD camera is added to collect the real-time state of the photovoltaic panel and compare it with the model built in the image processing host to determine the integrity of the solar panel. At the same time, the Hall algorithm and optical vision assistance are used to form a closed-loop control for the angle adjustment of the photovoltaic support, improve the control precision of the support angle, and ensure the power generation efficiency of the entire photovoltaic system.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0008] A method for controlling photovoltaic brackets based on Hall effect algorithm and optical vision assistance includes the following steps:

[0009] Step 1: After the photovoltaic system is installed, perform the initial angle adjustment of the photovoltaic tracking bracket, which includes:

[0010] Step 1.1: The main controller receives the latitude and longitude of the photovoltaic tracking bracket installation location, the current date and time information transmitted by the auxiliary position information receiver, and calculates the initial target tracking angle Z1 of the photovoltaic tracking bracket;

[0011] Step 1.2: Use an optical vision-assisted device to photograph the photovoltaic tracking bracket and obtain its initial angle T1;

[0012] Step 1.3: The main controller calculates the initial adjustment angle Δθdrive based on the target tracking angle Z1 and the initial state angle T1;

[0013] Step 1.4: The main controller controls the bracket drive device to operate according to the adjustment angle Δθdrive, and drives the photovoltaic tracking bracket to adjust to the target angle through the drive deceleration device;

[0014] Step 1.5: After the adjustment is completed, the optical vision auxiliary device takes another picture of the photovoltaic tracking bracket to obtain its current state angle T1'. The main controller compares and verifies T1' with Z1. If the angle deviation exceeds the set threshold, the angle of the photovoltaic tracking bracket is corrected.

[0015] Step 1.6: Use an optical vision-assisted device to photograph the solar panel on the photovoltaic tracking bracket, obtain the real-time status of the solar panel, and compare it with the normal status model of the solar panel built into the image processing host to determine whether the solar panel is in normal condition.

[0016] Step 2: After the initial adjustment, the photovoltaic system enters tracking mode. The photovoltaic tracking bracket is then adjusted for the Nth time (N≥2) at set time intervals. This includes:

[0017] Step 2.1: Repeat steps 1.1-1.2 to obtain the target tracking angle Z of the photovoltaic tracking bracket during the Nth adjustment. N and initial state angle T N ;

[0018] Step 2.2: The main controller determines whether a signal jump is detected in the Hall sensor of the bracket drive device within the interval between two angle adjustments. If a jump is detected, the rotation offset angle ΔT of the photovoltaic tracking bracket is calculated using the Hall algorithm, based on Z... N T Nand ΔT to calculate the Nth adjustment angle Δθdrive; if there is no jump, directly according to Z N and T N to calculate the Nth adjustment angle Δθdrive;

[0019] Step 2.3: Repeat steps 1.4-1.6 to complete the Nth angle adjustment, verification and solar panel state monitoring;

[0020] Step 2.4: Keep the current state until entering the N+1th angle adjustment.

[0021] The following is a further optimization of the present application to the above technical solutions:

[0022] The calculation process of the target tracking angle Z N in steps 1.1 and 2.1 includes:

[0023] According to the formula ω = (t-12) × 15°, the time angle ω is calculated, where t is the hour of local time;

[0024] According to the formula δ = -23.45cos[(360 / 365)*(d+10)], the solar declination angle δ is calculated, where d is the current date in the year;

[0025] According to the formula Hs = arcsin(sinψsinδ + cosψcosδcosω), the solar altitude angle Hs is calculated, where ψ is the local latitude;

[0026] According to the formula Z = 90°-Hs, the target tracking angle Z N of the photovoltaic tracking support is calculated.

[0027] Further optimization: in steps 1.2 and 1.5, the state of the photovoltaic tracking support is photographed by the angle camera to obtain the degree value T N of the initial state angle and the angle value T N of the adjusted state, where N is the number of angle adjustments.

[0028] Further optimization: in step 2.2, the calculation process of the actual rotation offset angle ΔT of the photovoltaic tracking support includes:

[0029] According to the formula Fa(r) = R0+Y(a) × 360, the total running angle of the support drive device during the jump is calculated, where Fa(r) is the total running angle of the support drive device during the jump, R0 is the initial angle of the motor rotor, and Y(a) is the number of times the main controller detects the first Hall sensor signal jump;

[0030] The number of turns of the support driving device is calculated according to the formula M(R)=Fa(r) / 360, wherein M(R) is the number of turns of the support driving device.

[0031] The actual rotation offset angle of the photovoltaic tracking support is calculated according to the formula ΔT=M(R) / i×360, wherein i is the reduction ratio of the driving reduction device.

[0032] Further optimization: the calculation formula of the adjustment angle Δθ in step 1.3 is Δθ = Z - T drive And the calculation formula of the adjustment angle Δθ in step 2.2 when the Hall signal jump is not detected is Δθ = Z - T - ΔT drive drive N N The calculation formula of the adjustment angle Δθ in step 2.2 when the Hall signal jump is detected is Δθ = Z - T - ΔT drive drive N N , wherein N is the number of angle adjustments.

[0033] Further optimization: the calculation formula of the angle deviation in step 1.5 is ϵ=T N ' - Z N , wherein T N ' is the photovoltaic tracking support angle obtained by the angle camera after adjustment, and N is the number of angle adjustments.

[0034] Further optimization: in step 1.6, the real-time state of the solar panel is obtained through the state camera, the photographed image is compared with the built-in normal state model of the solar panel, it is judged whether there is local loss of the solar panel, and if it is judged that there is local loss, the support driving device is controlled to stop running.

[0035] Further optimization: during the running of step 1-2, the state of the photovoltaic tracking support is monitored in real time through the inertial measurement component, when the swing of the photovoltaic tracking support exceeds the set safety threshold, the protection mechanism is triggered, and the support driving device is controlled to stop.

[0036] The application has the following beneficial effects by adopting the above technical scheme:

[0037] The optical vision auxiliary device of the application comprises two CCD cameras, which are used to obtain the angle information and state information of the support, on the one hand, the actual angle of the support is verified and calibrated with the target tracking angle calculated by the main controller, and on the other hand, the real-time state information of the solar panel can be obtained, and the device is stopped for maintenance in time when the solar panel is damaged.

[0038] ​​​​​​The present application detects the Hall sensor signal jump through the master controller, obtains the offset angle of the support in the abnormal state through the Hall algorithm, and corrects the offset angle during the next angle adjustment, so as to avoid the long-term accumulation of the support deflection caused by external force, and to avoid the excessive deviation of the whole system, and to affect the power generation efficiency of the system.

[0039] The present application also provides an inertial measurement component, which can cooperate with the optical visual auxiliary device, monitor the posture of the support in real time, detect the posture abnormality of the support in the emergency, trigger the protection mechanism, and improve the safety of the whole system.

[0040] The present application is further illustrated below in combination with the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 is the control principle diagram of the photovoltaic support control system of the present application;

[0042] Figure 2 is the installation schematic diagram of the optical visual auxiliary device of the present application;

[0043] Figure 3 is the schematic diagram of the relationship between the target tracking angle of the support and the solar elevation angle;

[0044] Figure 4 is the installation schematic diagram of the internal Hall sensor of the support driving device of the present application;

[0045] Figure 5 is the schematic diagram of the Hall level change in the internal Hall sensor of the support driving device of the present application;

[0046] Figure 6 is the flowchart of the angle adjustment during the initial installation of the photovoltaic tracking support of the present application;

[0047] Figure 7 is the flowchart of the angle adjustment in the tracking state of the photovoltaic tracking support of the present application.

[0048] In the figure: 1, photovoltaic tracking support;2, angle camera;3, state camera;4, first Hall sensor;5, second Hall sensor;6, third Hall sensor;7, inertial measurement component. DETAILED DESCRIPTION

[0049] The present application provides a control method for the photovoltaic support based on the Hall algorithm and optical visual auxiliary, which is realized based on the photovoltaic support control system, and the main working principle is that the Hall algorithm and optical visual auxiliary means are used to accurately control and adjust the angle of the photovoltaic support, so as to ensure that the solar panel is always perpendicular to the sunlight, thereby realizing the maximization of the light energy capturing efficiency.

[0050] As Figure 1As shown, the photovoltaic support control system includes a photovoltaic tracking support 1, a support drive device, a drive deceleration device, and a support control device. In this embodiment, the photovoltaic tracking support 1 is a flat single-axis type. The lower end of the photovoltaic tracking support 1 is fixedly connected to the ground, and a solar panel is installed on the upper end. The photovoltaic tracking support 1 is also equipped with a single-axis linear propulsion drive device to propel the solar panel to rotate and adjust the angle so as to receive sunlight and generate electricity.

[0051] The power output end of the bracket drive device is connected to the input end of the drive reduction device, and the output end of the drive reduction device is connected to the photovoltaic tracking bracket 1. At the same time, the bracket drive device is connected to the bracket control device. The bracket control device outputs a signal to control the bracket drive device to move, and drives the photovoltaic tracking bracket 1 to rotate through the drive reduction device, thereby driving the solar panel to rotate to the required angle.

[0052] The bracket control device includes a main controller and an auxiliary position information receiver. The main controller receives external input signals, processes and calculates data, and outputs action commands to control the photovoltaic tracking bracket 1 to rotate to the required angle. The auxiliary position information receiver confirms the installation position information of the photovoltaic tracking bracket 1 and calculates the solar altitude angle Hs based on the latitude and longitude of the installation position of the photovoltaic tracking bracket 1, the current date and time, using the following formula:

[0053] ω=(t-12)×15°……………………………………(1)

[0054] In equation (1), ω is the hour angle and t is the number of hours in the local time.

[0055] δ=-23.45cos[(360 / 365)*(d+10)]…………………………(2)

[0056] In equation (2), δ is the solar declination angle, and d is the day of the year in which the current date is.

[0057] Hs=arcsin(sinψsinδ+cosψcosδcosω)………………(3)

[0058] In equation (3), Hs is the solar altitude angle and ψ is the local latitude.

[0059] It should be noted that the calculated value of the solar altitude angle Hs is positive during the daytime and negative during the nighttime. When the calculated value of Hs is negative, the photovoltaic tracking bracket 1 stops tracking and the bracket drive device stops operating.

[0060] Figure 3This is a schematic diagram showing the relationship between the target tracking angle and the solar altitude angle of the photovoltaic tracking bracket 1. After calculating the solar altitude angle Hs according to formulas (1)-(3), the target tracking angle Z of the photovoltaic tracking bracket 1 is further obtained. N The calculation formula is as follows:

[0061] Z N =90°-Hs………………………………………………(4)

[0062] In equation (4), Z N The target tracking angle is the Nth adjustment of the photovoltaic tracking bracket 1.

[0063] In this embodiment, the auxiliary location information receiver is a sensor that can receive spatial GPRS location information to confirm the latitude and longitude of the installation location of the photovoltaic tracking bracket 1, as well as the current date and time information.

[0064] The support control device also includes an inertial measurement unit 7, which is signal-connected to the main controller. In this embodiment, the inertial measurement unit 7 is a Bosch BMI323 six-axis accelerometer. Through its internally integrated three-axis accelerometer and three-axis gyroscope, it collects linear motion and rotational motion data of the photovoltaic tracking support 1, analyzes the measurement results, and transmits them to the main controller to obtain the real-time attitude of the photovoltaic tracking support 1. At the same time, when the photovoltaic tracking support 1 suddenly experiences an abnormal attitude, the inertial measurement unit 7 can promptly sense and feed back to the main controller, triggering a protection mechanism and improving the safety of the system.

[0065] For example, if the buffer block of the rotating part of the photovoltaic tracking bracket 1 breaks and falls off, causing the bracket to vibrate, or if the photovoltaic tracking bracket 1 shakes due to extreme winds, the inertial measurement unit 7 will sense this change, analyze the measurement results and transmit them to the main controller. If the shaking exceeds the set safety threshold, the main controller will control the bracket drive device to stop and trigger the protection mechanism.

[0066] The bracket drive device is a motor. In this embodiment, a DC brushless motor is selected. Compared with the DC brushed motor in the prior art, it eliminates the need for maintenance operations such as periodic replacement of carbon brushes and has the advantages of high conversion efficiency, long service life and maintenance-free operation. The DC brushless motor is a mature structure in the prior art and will not be described in detail in this application.

[0067] The motor has a built-in Hall sensor circuit board, such as Figures 4-5As shown, three switch type single polarity Hall sensors are installed on the stator of the direct current brushless motor, which are a first Hall sensor 4, a second Hall sensor 5 and a third Hall sensor 6, and the three Hall sensors are installed at intervals of 60°, when the S pole of the rotor magnetic core inside the motor approaches the Hall sensor, the Hall signal will change, and the logic level output by the Hall sensor is 1, when the S pole of the rotor magnetic core is away from the Hall sensor, the logic level output by the Hall sensor is 0.

[0068] Due to the interval installation of the three Hall sensors, different level combinations of the logic signals output at the same time will be generated, after the main controller receives the input signals of the three Hall sensors, the position interval currently located by the rotor is determined according to the different level combinations, the MOS tube is driven to be turned on through the G2060 chip, a closed loop control is formed, and the three-phase brushless motor can be operated, the main controller converts the rotor position of the motor reflected by the Hall signal into real-time angle information of the photovoltaic tracking support 1, and precise adjustment of the photovoltaic tracking support 1 is realized.

[0069] The driving speed reduction device is a speed reduction box, the input end of the speed reduction box is matched with and transmissionally connected with the output end of the support driving device, and the structure of the speed reduction box is a common structure in the prior art, which will not be described herein.

[0070] In the embodiment, the motor speed selected is 2000r / min, and considering the actual situation of the motor power and the change of the solar angle, the driving speed reduction device is a speed reduction box with a speed reduction ratio of 240 and matched with the output shaft of the motor, so as to meet the requirement of driving the photovoltaic tracking support 1 to rotate.

[0071] In addition to the embodiment, the speed reduction box can also be provided in multiple, and the speed reduction ratios of the speed reduction boxes at different levels are distributed according to the actual installation and power transmission requirements, and the multi-stage speed reduction mechanism is more conducive to space arrangement and torque distribution.

[0072] Due to the large overall length of the photovoltaic tracking support 1, the photovoltaic tracking support 1 is easily disturbed by external wind force and swings during operation, which will cause the support driving device to rotate uncontrollably, and at the same time, the photovoltaic tracking support 1 will encounter mechanical hard limit problems during operation, so as to cause the support driving device to stop and brake, at this time, due to the inertia of the mechanical transmission mechanism, the support driving device will also be dragged to reverse, these rotations are not normal signals of the driving system operation, and are non-uniform motion, due to the existence of the driving speed reduction device, the small angle swing of the photovoltaic tracking support 1 will be amplified when transmitted to the support driving device, if not corrected, the long-term accumulation will cause the operation deviation of the whole system to be larger and larger, and the system power generation efficiency is affected.

[0073] In order to further improve the tracking accuracy, eliminate the rotation influence caused by external force, the application also provides a Hall jump detection algorithm, through the detection of Hall sensor signal jump, combining the Hall algorithm to estimate the angle of abnormal rotation of the motor, and then obtain the deflection angle of the support, and compensate for the above deviation.

[0074] The angle of abnormal rotation of the motor caused by external force is uncertain in direction, if the detected Hall signal jump sequence is first Hall sensor 4→second Hall sensor 5→third Hall sensor 6, it is judged as positive angle deviation, if the detected Hall signal jump sequence is third Hall sensor 6→second Hall sensor 5→first Hall sensor 4, it is judged as reverse angle deviation.

[0075] Figure 5 The level change diagram of the internal Hall sensor of the support driving device is shown in the figure, it can be seen from the figure that the brushless motor rotates one circle, for a single Hall sensor, a signal jump is generated, the following takes the first Hall sensor 4 as an example to specifically explain the Hall jump algorithm.

[0076] The total running angle calculation formula of the support driving device in the jump process is:

[0077] Fa(r)=R0+Y(a)×360…………………………………………(5)

[0078] In formula (5), Fa(r) is the total running angle of the support driving device in the jump process, R0 is the initial angle of the motor rotor, generally 180°, Y(a) is the number of times of signal jump of the first Hall sensor 4 detected by the main controller.

[0079] The calculation formula of the reverse rotation number of the support driving device is:

[0080] M(R)=Fa(r) / 360………………………………………………(6)

[0081] In formula (6), M(R) is the number of reverse rotation of the support driving device.

[0082] The calculation formula of the actual rotation deviation angle of the photovoltaic tracking support 1 is:

[0083] ΔT=M(R) / i×360………………………………………………(7)

[0084] In formula (7), ΔT is the actual rotation deviation angle of the photovoltaic tracking support 1, i is the speed reduction ratio of the driving speed reduction device.

[0085] The clockwise rotation angle value of the photovoltaic tracking support 1 is positive. If the value of ΔT calculated by using the formulas (5)-(7) is +0.2°, and the photovoltaic tracking support 1 needs to rotate counterclockwise by 10° in the next action, the actual angle that the photovoltaic tracking support 1 needs to rotate is -9.8°, that is, the photovoltaic tracking support 1 needs to rotate counterclockwise by 9.8°.

[0086] As shown in Figures 1-2 , the photovoltaic support control system further comprises an optical vision auxiliary device, the optical vision auxiliary device is signal connected with an image processing host, the image processing host is used for processing image information photographed and transmitted by the optical vision auxiliary device, and performs data processing, the image processing host is internally provided with an AOI vision auxiliary algorithm and is signal connected with the main controller, the optical vision auxiliary device is fixedly installed at a position corresponding to the solar panel on the photovoltaic tracking support 1, the optical vision auxiliary device comprises an angle camera 2 and a state camera 3, in the embodiment, the angle camera 2 and the state camera 3 are both CCD industrial cameras.

[0087] As shown in Figures 6-7 , after the photovoltaic system is installed, the angle of the photovoltaic tracking support 1 needs to be initially adjusted and angle calibrated, after the calibration is completed, the photovoltaic system enters a tracking state, and then the angle of the photovoltaic tracking support 1 is adjusted according to a set time interval, and the adjustment steps are as follows:

[0088] The angle camera 2 photographs to obtain a current state image of the photovoltaic tracking support 1, and transmits image information to the image processing host, the image processing host processes the information to obtain a current angle T N of the photovoltaic tracking support 1, the main controller combines information of the auxiliary position information receiver to calculate a current target tracking angle Z N of the photovoltaic tracking support 1, then in the Nth adjustment, the calculation formula of the angle that the photovoltaic tracking support needs to adjust is as follows:

[0089] Δθ drive =Z N −T N ………………………………………(8)

[0090] In the formula (8), Δθ drive is the angle that the photovoltaic tracking support needs to adjust in the Nth adjustment, Z N is the target tracking angle of the photovoltaic tracking support 1 calculated by the main controller in the Nth adjustment, and T N is the initial state angle of the photovoltaic tracking support 1 photographed by the angle camera 2 in the Nth adjustment.

[0091] During the waiting period between two angle adjustments, the angle camera 2 does not work, if there is a small angle swing of the photovoltaic tracking support 1 caused by external force during the period, the angle camera 2 cannot capture it, at this time, the main controller calculates ΔT as the correction angle value according to the formula (5)-(7), and corrects the actual angle value to be adjusted by the photovoltaic tracking support 1, at this time:

[0092] Δθ drive =Z N −T N −ΔT………………………………………………(9)

[0093] The main controller calculates the number of revolutions of the support driving device according to the calculated Δθ drive value combined with the reduction ratio of the driving reduction device, and controls the operation of the support driving device.

[0094] After the support driving device stops operating, the angle camera 2 takes a photo again to obtain the angle T N ' of the photovoltaic tracking support 1, and the control system compares T N ' with Z N value to verify the angle deviation, when the angle deviation value exceeds the set threshold, the angle of the photovoltaic tracking support is adjusted and corrected, and the calculation formula of the angle deviation is:

[0095] ϵ=T N '−Z N ………………………………………………………(10)

[0096] In formula (10), ϵ is the error value of the actual angle of the photovoltaic tracking support 1 and the target tracking angle, T N ' is the angle of the photovoltaic tracking support 1 obtained by the angle camera 2 after the support driving device stops operating.

[0097] Thus, the closed-loop control logic of “photographing→calculating→driving→verifying” is formed, which ensures accurate control of the rotation angle of the photovoltaic tracking support 1. It should be noted that when the photovoltaic system is installed for the first time, the detection of the Hall sensor signal jump is not required, and the adjustment angle does not need to be corrected by ΔT value. After the initial adjustment ends and enters the tracking state, the main controller detects the jump of the Hall sensor signal before each state adjustment, and if the jump is detected, the ΔT value is calculated for angle correction.

[0098] The state camera 3 is used for photographing to obtain the overall state of the solar panel installed on the photovoltaic tracking support 1, the image processing host has a model of the normal state of the solar panel, the model is established by photographing the solar panel in normal state from different angles, the image taken by the state camera 3 is compared with the model built in the image processing host, it is judged whether there is local missing of the solar panel, if it is judged that there is local missing, the support driving device is immediately controlled to stop running, and the solar panel is manually repaired to prevent more serious missing phenomenon.

[0099] As shown in Figure 6 The control method of the photovoltaic support based on the Hall algorithm and optical vision auxiliary of the application comprises the following steps:

[0100] Step 1: After the photovoltaic system is installed, the angle of the photovoltaic tracking support 1 is adjusted for the first time, including:

[0101] Step 1.1: The main controller receives the longitude and latitude signals transmitted by the auxiliary position information receiver, and the current date and time, and calculates the target tracking angle Z1 of the photovoltaic tracking support 1;

[0102] Step 1.2: The angle camera 2 takes a photo of the initial state of the photovoltaic tracking support 1, and the image processing host transmits the processed image to the main controller to obtain the initial state angle value T1 of the photovoltaic tracking support 1;

[0103] Step 1.3: The main controller calculates the value of Δθ drive According to formula (8), and further obtains the number of turns of the support driving device through the reduction ratio of the driving reduction device;

[0104] Step 1.4: The main controller controls the operation of the support driving device, and then drives the photovoltaic tracking support 1 to adjust the angle through the driving reduction device;

[0105] Step 1.5: After the support driving device stops running, the angle camera 2 takes a photo of the current state of the photovoltaic tracking support 1 again, and the image processing host transmits the processed image to the main controller to obtain the current state angle value T1' of the photovoltaic tracking support 1, and compares and corrects with the value Z1, if the difference between the two exceeds the set threshold, the angle of the photovoltaic tracking support 1 is corrected;

[0106] Step 1.6: The state camera 3 takes a photo to obtain the real-time state of the solar panel, and compares it with the model built in the image processing host to determine whether the state of the solar panel is normal, if the solar panel is found to be damaged, the support driving device is immediately stopped, and the solar panel is repaired.

[0107] Step 2: After the first adjustment, the photovoltaic system enters a tracking state, and the angle of the photovoltaic tracking support 1 is adjusted for the Nth (N≥2) time according to the set time interval, including:

[0108] Step 2.1: Repeat steps 1.1-1.2 to obtain the target tracking angle Z of the photovoltaic tracking support 1 at the Nth adjustment N and the initial state angle T N ;

[0109] Step 2.2: The main controller determines whether a jump in the Hall signal is detected within the time period between the two angle adjustments. If so, calculate Δθ drive using formulas (5)-(7) and formula (9). If not, calculate Δθ drive using formula (8);

[0110] Step 2.3: The main controller obtains the number of turns that the support driving device needs to rotate by driving the reduction ratio of the reduction device;

[0111] Step 2.4: Repeat steps 1.4-1.6 to complete the Nth angle adjustment and calibration operation of the photovoltaic tracking support 1;

[0112] Step 2.5: Keep the current state until the N+1th angle adjustment begins.

[0113] During the implementation of the above steps 1 and 2, the inertial measurement component 7 monitors the state of the photovoltaic tracking support 1 in real time. If a sudden large amplitude shaking occurs, the signal is fed back to the main controller to trigger the protection mechanism.

[0114] For those of ordinary skill in the art, according to the teachings of the present application, changes, modifications, replacements, and variations made to the embodiments without departing from the principles and spirits of the present application still fall within the protection scope of the present application.

Claims

1. A control method for photovoltaic brackets based on Hall effect algorithm and optical vision assistance, characterized in that, Includes the following steps: Step 1: After the photovoltaic system is installed, the photovoltaic tracking bracket (1) is adjusted at its first angle, specifically including: Step 1.1: The main controller receives the latitude and longitude, current date and time information of the installation position of the photovoltaic tracking bracket (1) transmitted by the auxiliary position information receiver, and calculates the initial target tracking angle Z1 of the photovoltaic tracking bracket (1); Step 1.2: Take a picture of the photovoltaic tracking bracket (1) using an optical vision-assisted device to obtain its initial state angle T1; Step 1.3: The main controller calculates the initial adjustment angle Δθdrive based on the target tracking angle Z1 and the initial state angle T1; Step 1.4: The main controller controls the bracket drive device to move according to the adjustment angle Δθdrive, and drives the photovoltaic tracking bracket (1) to adjust to the target angle through the drive deceleration device; Step 1.5: After the adjustment is completed, the optical vision auxiliary device takes another picture of the photovoltaic tracking bracket (1) to obtain its current state angle T1'. The main controller compares and verifies T1' with Z1. If the angle deviation exceeds the set threshold, the angle of the photovoltaic tracking bracket (1) is corrected. Step 1.6: Take a picture of the solar panel on the photovoltaic tracking bracket (1) using an optical vision auxiliary device to obtain the real-time status of the solar panel and compare it with the normal status model of the solar panel built into the image processing host to determine whether the solar panel status is normal. Step 2: After the initial adjustment, the photovoltaic system enters the tracking state. The angle of the photovoltaic tracking bracket (1) is adjusted for the Nth time (N≥2) according to the set time interval, specifically including: Step 2.1: Repeat steps 1.1-1.2 to obtain the target tracking angle Z of the photovoltaic tracking bracket (1) during the Nth adjustment. N and initial state angle T N ; Step 2.2: The main controller determines whether a signal jump of the Hall sensor in the bracket drive device is detected within the interval between two angle adjustments. If a jump is detected, the rotation offset angle ΔT of the photovoltaic tracking bracket (1) is calculated using the Hall algorithm, based on Z. N T N Calculate the Nth adjustment angle Δθdrive using ΔT; if there is no jump, then directly use Z. N and T N Calculate the Nth adjustment angle Δθdrive; Step 2.3: Repeat steps 1.4-1.6 to complete the Nth angle adjustment, verification, and solar panel status monitoring; Step 2.4: Maintain the current state until the N+1th angle adjustment is performed.

2. The method for controlling a photovoltaic support based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: Target tracking angle Z in steps 1.1 and 2.1 N The calculation process includes: The hour angle is calculated using the formula ω = (t - 12) × 15°, where ω is the hour angle and t is the local time in hours. The solar declination angle is calculated using the formula δ=-23.45cos[(360 / 365)*(d+10)], where δ is the solar declination angle and d is the day of the year in which the current date is. The solar altitude angle is calculated using the formula Hs=arcsin(sinψsinδ+cosψcosδcosω), where Hs is the solar altitude angle and ψ is the local latitude. The target tracking angle Z of the photovoltaic tracking bracket (1) is calculated according to the formula Z=90°-Hs. N .

3. The method for controlling photovoltaic brackets based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: In steps 1.2 and 1.5, the photovoltaic tracking bracket (1) is photographed by the angle camera (2) to obtain the initial state angle value T. N and the angle value T of the adjusted state N ', where N is the number of angle adjustments.

4. The method for controlling photovoltaic brackets based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: In step 2.2, the calculation process of the actual rotational offset angle ΔT of the photovoltaic tracking bracket (1) includes: The total operating angle of the support drive device during the jump process is calculated according to the formula Fa(r)=R0+Y(a)×360, where Fa(r) is the total operating angle of the support drive device during the jump process, R0 is the initial angle of the motor rotor, and Y(a) is the number of times the main controller detects the signal jump of the first Hall sensor (4). The number of rotations of the support drive device in reverse is calculated using the formula M(R)=Fa(r) / 360, where M(R) is the number of rotations of the support drive device in reverse. The actual rotational offset angle of the photovoltaic tracking bracket (1) is calculated according to the formula ΔT=M(R) / i×360, where i is the reduction ratio of the drive deceleration device.

5. The method for controlling photovoltaic brackets based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: In step 1.3, the angle Δθ is adjusted for the first time. drive And in step 2.2, when no Hall signal transition is detected, adjust the angle Δθ. drive The calculation formula is Δθ drive =Z N -T N In step 2.2, when a Hall signal transition is detected, the angle Δθ is adjusted. drive The calculation formula is Δθ drive =Z N -T N −ΔT, where N is the number of angle adjustments.

6. The method for controlling a photovoltaic support based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: In step 1.5, the formula for calculating the angular deviation is ϵ=T N '−Z N T N 'The angle of the photovoltaic tracking bracket (1) is obtained by the angle camera (2) after adjustment, and N is the number of angle adjustments. When |ϵ| exceeds the set threshold, the angle of the photovoltaic tracking bracket (1) is corrected.

7. The method for controlling a photovoltaic support based on Hall effect algorithm and optical vision assistance according to claim 1, characterized in that: In step 1.6, the real-time status of the solar panel is obtained through the status camera (3), and the captured image is compared with the built-in normal state model of the solar panel to determine whether there is any partial missingness of the solar panel. If it is determined that there is a partial missingness, the control bracket drive device is stopped.

8. A method for controlling a photovoltaic support based on Hall effect algorithm and optical vision assistance according to any one of claims 1-7, characterized in that: During the operation of steps 1-2, the status of the photovoltaic tracking bracket (1) is monitored in real time by the inertial measurement unit (7). When the shaking of the photovoltaic tracking bracket (1) exceeds the set safety threshold, the protection mechanism is triggered to control the bracket drive device to stop.

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