Foldable tracking type portable photovoltaic support and intelligent regulation and control system thereof

Abstract

The invention relates to the technical field of photovoltaic systems, in particular to a foldable tracking type portable photovoltaic support and an intelligent regulation and control system thereof, and the system comprises a data collection module which is used for obtaining the angle of the photovoltaic support and the illumination intensity received by a photovoltaic panel in the moving process of a vehicle in real time; the photovoltaic processing module is used for determining the necessary degree of angle adjustment at each moment; and the photovoltaic regulation and control module is used for judging whether to regulate and control the angle of the photovoltaic bracket at the next moment and determine the angle regulation and control direction by comparing the angle regulation necessity and the regulation necessity threshold at the next moment and comparing the transverse regulation yield and the yield threshold. According to the invention, the interference of the vehicle attitude change and the complex driving environment on the angle adjustment of the photovoltaic support is solved, and the power generation efficiency of the tracking type portable photovoltaic panel is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of photovoltaic systems, in particular to a foldable tracking portable photovoltaic support and an intelligent control system thereof. BACKGROUND

[0002] The photovoltaic support is a structural assembly for supporting, fixing and adjusting the angle of the solar cell panel, and is an important component of the photovoltaic power generation system. The foldable tracking portable photovoltaic support is a photovoltaic support device integrating portability, rapid deployment and intelligent tracking functions. The support is designed with lightweight materials and foldable structure, which is convenient to install and use.

[0003] In some special purpose vehicles, such as low-speed inspection vehicles, unmanned transport vehicles, etc., since they need to run for a long time and cannot frequently stop to supplement energy, it is necessary to use photovoltaic supports to generate electricity during driving. Such vehicles usually have low driving speed and long working time, and have high demand for continuous power supply. By using solar power generation during driving, the endurance time can be prolonged and the dependence on external power supply can be reduced. However, during the driving of the vehicle, due to the continuous change of the direction of the vehicle, the terrain and the position of the sun, the continuous change of the attitude of the vehicle and the complex driving environment will greatly interfere with the adjustment of the photovoltaic angle, resulting in deviation in the adjustment of the photovoltaic angle, and thus the tracking portable photovoltaic panel has low power generation efficiency. SUMMARY

[0004] In order to solve the above technical problems, the purpose of the present application is to provide a foldable tracking portable photovoltaic support and an intelligent control system thereof, and the technical solution adopted is as follows:

[0005] The present application provides an intelligent control system of a foldable tracking portable photovoltaic support, which comprises:

[0006] A data acquisition module is used to acquire the angle of the photovoltaic support and the light intensity received by the photovoltaic panel in real time during the movement of the vehicle;

[0007] A photovoltaic processing module is used to determine the light intensity variation degree at each time, which is the difference between the light intensity at each time and the light intensity at the previous time, and determine the shading probability at each time in combination with the distribution of the light intensity at all times before each time. By analyzing the difference between the shading probability at any time within a preset time period before each time and the maximum shading probability between any time and each time, and the difference between the light intensity at any time and the light intensity at each time, the shading degree at each time is determined.

[0008] Based on the difference in light intensity between each moment and each moment within a preset period prior to each moment, and the degree of light intensity change, the angle adjustment index at each moment is determined, and combined with the degree of occlusion, the degree of angle adjustment necessity at each moment is determined.

[0009] The photovoltaic control module is used to adjust the angle of the photovoltaic support structure in real time, specifically as follows:

[0010] Based on the distribution of light intensity at all times within a preset time period before the start time of each angle adjustment of the photovoltaic bracket, and the light intensity at the time when each angle adjustment is completed, the horizontal adjustment rate and the vertical adjustment rate at the time when each angle adjustment is completed are determined respectively, so as to determine the horizontal and vertical boundary index at the time when each angle adjustment is completed.

[0011] Based on the current angle adjustment necessity, the horizontal adjustment rate of return, and the vertical-horizontal boundary index, the adjustment necessity threshold and the rate of return threshold for the next angle adjustment are determined respectively.

[0012] By comparing the necessity of angle adjustment and the threshold of adjustment necessity at the next moment, and comparing the horizontal adjustment rate of return and the rate of return threshold, it is determined whether to adjust the angle of the photovoltaic support at the next moment and to determine the direction of angle adjustment.

[0013] Preferably, the expression for the occlusion probability at each time point is: A a =B a ×(1-B′ a,max In the formula, A a B represents the occlusion probability at time a; a B′ represents the normalized value of the change in light intensity at time a; a,max This represents the maximum normalized value of the change in light intensity across all times from the start of vehicle movement to time a.

[0014] Preferably, the expression for the degree of occlusion at each time point is: In the formula, C a Indicates the degree of occlusion at time a; A a,b A′ a,b,max D represents the occlusion probability at time b within a preset time period before time a, and the maximum occlusion probability between time b and time a, respectively; a D a,b B represents the light intensity at time a and at time b within a preset time period before time a, respectively; a This represents the number of all times within a preset time period before time a; norm() represents the normalization function; exp() represents the exponential function with the natural constant as the base.

[0015] Preferably, the method for determining the angle adjustment index at each time point is as follows:

[0016] An exponential function value is calculated with the natural constant as the base and the inverse of the light intensity variation degree at each time point within the preset period before the time point as the argument;

[0017] The difference between the light intensity at each time point within the preset period before the time point and the light intensity at the time point is recorded as the light intensity difference at each time point within the preset period before the time point.

[0018] The product of the exponential function value normalized value at each time point within the preset period before the time point and the light intensity difference is calculated, and the cumulative sum of the products at all time points within the preset period before the time point is taken as the angle adjustment index at the time point.

[0019] Preferably, the expression of the angle adjustment necessity at each time point is as follows: a = norm [F a × (1-W a )] ; wherein, K a represents the angle adjustment necessity at time point a; F a represents the angle adjustment index at time point a; W a represents the normalized value of the occlusion degree at time point a; and norm[] represents a normalization function.

[0020] Preferably, the method for determining the lateral adjustment yield and the longitudinal adjustment yield at the time point when each angle adjustment is completed respectively comprises:

[0021] The angle of the photovoltaic support includes an azimuth angle and an elevation angle, each angle adjustment includes azimuth angle adjustment or elevation angle adjustment, and the expression of the lateral adjustment yield Lz i at the time point when the i th angle adjustment is completed is as follows: Lz i = norm [exp (k i -K i )] ; wherein, k i represents the light intensity at the time point when the azimuth angle adjustment is completed during the i th angle adjustment; K i represents the maximum value of the light intensity at all time points within the preset period before the starting time point of the i th angle adjustment; norm[] represents a normalization function; and exp() represents an exponential function with the natural constant as the base.

[0022] According to the method for obtaining the lateral adjustment yield, the longitudinal adjustment yield at the time point when each angle adjustment is completed is obtained for the elevation angle.

[0023] Preferably, the expression of the longitudinal-lateral demarcation index at the time point when each angle adjustment is completed is as follows: M i = max (Lz i , Lhi ; wherein, M i represents the longitudinal-lateral demarcation index at the time when the i-th angle adjustment is completed; Lz i , Lh i respectively represent the lateral adjustment yield and the longitudinal adjustment yield at the time when the i-th angle adjustment is completed; max() represents the maximum function.

[0024] Preferably, the method further comprises the steps of:

[0025] The expression of the adjustment necessity threshold N' of the adjacent next time to the current time is: N' = N - |N - F| x M; N represents the adjustment necessity threshold of the current time, wherein the initial adjustment necessity threshold is a preset first value; F represents the angle adjustment necessity degree at the current time; M represents the longitudinal-lateral demarcation index at the time when the most recent angle adjustment before the current time is completed;

[0026] The expression of the yield threshold P' of the next angle adjustment is: P' = P - |P - Q| x M; wherein, P represents the yield threshold at the time when the i-th angle adjustment is completed, wherein the initial yield threshold is a preset second value; Q represents the lateral adjustment yield at the time when the i-th angle adjustment is completed.

[0027] Preferably, the method further comprises the steps of:

[0028] If the angle adjustment necessity degree at the next time is greater than the adjustment necessity threshold, the angle of the photovoltaic support at the next time is adjusted, otherwise, the angle of the photovoltaic support at the next time is not adjusted, wherein the method for adjusting the angle of the photovoltaic support at the next time is:

[0029] If the lateral adjustment yield is greater than the yield threshold, the azimuth angle of the photovoltaic support at the next time is adjusted, otherwise, the elevation angle of the photovoltaic support at the next time is adjusted.

[0030] The application further provides a foldable tracking portable photovoltaic support comprising the intelligent control system of the foldable tracking portable photovoltaic support.

[0031] The application has the following beneficial effects:

[0032] The application firstly compares the historical significant shading signal with the current light state, effectively judges the possibility of the photovoltaic panel being shaded, avoids misjudgment, and helps to improve the accuracy of photovoltaic support control; further, the application combines the change of light intensity with the shading to judge the necessity of angle adjustment, and constructs the angle adjustment necessity, which not only can distinguish whether the light fluctuation is caused by vehicle posture change or shading, but also can judge the urgency of adjustment, so as to accurately and timely drive the photovoltaic support to make horizontal or vertical adjustment, effectively improve the power generation efficiency under complex moving environment; the application calculates the horizontal adjustment and vertical adjustment yield after each adjustment, and compares the two to determine the horizontal and vertical boundary index, which effectively evaluates the actual effect of different adjustment directions, which helps to dynamically optimize the subsequent adjustment strategy, and preferentially selects the direction that can bring greater light yield, so as to more intelligently improve the photovoltaic power generation efficiency; further, the application dynamically updates the adjustment necessity threshold and the yield threshold to intelligently guide the angle adjustment of the photovoltaic support under the moving environment, the adjustment necessity threshold determines whether adjustment is needed, and the yield threshold helps the system to judge whether horizontal or vertical adjustment is preferentially performed, this threshold dynamic adjustment mechanism based on real-time feedback can more flexibly and effectively adapt to the complex light and posture changes in vehicle driving, so as to optimize the power generation efficiency; further, the application dynamically judges whether the support needs to be adjusted and the direction of adjustment, effectively adapts to the complex environmental changes caused by vehicle movement, ensures that the photovoltaic panel is always as much as possible towards the best light receiving direction, and thus improves the power generation efficiency of the mobile photovoltaic system. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, and the advantages thereof, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor based on these drawings.

[0034] Figure 1 A block diagram of an intelligent control system of a foldable tracking portable photovoltaic support provided by an embodiment of the present application;

[0035] Figure 2 A photovoltaic support angle control process flowchart provided by an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to further clarify the technical means and effects taken by the present application to achieve the predetermined inventive purpose, the specific implementation, structure, features and effects of the foldable tracking portable photovoltaic support and its intelligent control system according to the present application are described in detail as follows. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. In addition, the specific features, structures or characteristics in one or more embodiments can be combined in any suitable form.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0038] The specific scheme of the intelligent control system of the foldable tracking portable photovoltaic support provided by the present application is described in detail below in combination with the drawings.

[0039] Please refer to Figure 1 which shows the block diagram of the foldable tracking portable photovoltaic support and its intelligent control system provided by one embodiment of the present application. The system comprises a data acquisition module 101, a photovoltaic processing module 102 and a photovoltaic control module 103.

[0040] The data acquisition module 101 is used to acquire the angle of the photovoltaic support and the light intensity received by the photovoltaic panel in real time during the movement of the vehicle.

[0041] In this embodiment, a photosensitive sensor is installed on the photovoltaic panel side of the photovoltaic support on the vehicle, which is used to collect the light intensity received by the photovoltaic support in real time during the movement of the vehicle. An azimuth angle sensor is installed on the motor shaft driving the left and right rotation of the photovoltaic support, which is used to collect the azimuth angle of the photovoltaic support in real time during the movement of the vehicle. An elevation angle sensor is installed on the motor shaft driving the up and down inclination of the photovoltaic support, which is used to collect the elevation angle of the photovoltaic support in real time during the movement of the vehicle. The collection time of the light intensity, azimuth angle and elevation angle is synchronized, and the collection frequency is f. In this embodiment, the value of f is 1 Hz. In actual application, as other implementation manners, the implementer can set it himself according to the specific situation, which is not specially limited in this embodiment.

[0042] The photovoltaic processing module 102 is used to record the difference between the light intensity at each time and the light intensity at the previous time as the light intensity change degree at each time, and determine the shading possibility at each time in combination with the distribution of the light intensity at all times before each time; determine the shading degree at each time by analyzing the difference between the shading possibility at any time within a preset period before each time and the maximum shading possibility between any time and each time, and the difference between any time and the light intensity at each time; determine the angle adjustment index at each time based on the difference between each time within a preset period before each time and the light intensity at each time, and the light intensity change degree, and determine the angle adjustment necessity at each time in combination with the shading degree.

[0043] The efficiency of photovoltaic panel power generation is directly related to the solar radiation energy it receives. When the sunlight is vertically incident on the surface of the photovoltaic panel, the energy received per unit area is the largest, and the power generation efficiency is also the highest. However, as the sun moves and the vehicle itself moves, such as moving or climbing, the angle of sunlight incident on the photovoltaic panel will change constantly. At this time, if the photovoltaic support remains at a fixed angle, the photovoltaic panel will not be in the best vertical incidence state most of the time, resulting in a decrease in the effective light energy received and a decrease in the power generation. Therefore, the angle of the photovoltaic support needs to be adjusted to improve the photovoltaic power generation efficiency, and the specific process is as follows:

[0044] S1: record the difference between the light intensity at each time and the light intensity at the previous time as the light intensity change degree at each time, and determine the shading possibility at each time in combination with the distribution of the light intensity at all times before each time; determine the shading degree at each time by analyzing the difference between the shading possibility at any time within a preset period before each time and the maximum shading possibility between any time and each time, and the difference between any time and the light intensity at each time.

[0045] During the movement of the vehicle, there is a certain limitation in adjusting the angle of the photovoltaic support according to the position of the sun, because this method is based on the theoretical position of the sun and the CPS positioning data, and cannot actually reflect the influence of the change of the vehicle posture and the environment in which it is located on the light receiving conditions of the photovoltaic panel. Therefore, the embodiment adjusts the angle of the photovoltaic support by analyzing the light intensity.

[0046] However, when adjusting the angle of the photovoltaic (PV) support based on light intensity, the first concern is the reliability of the light intensity. During vehicle operation, PV panels are often shaded and blocked, preventing them from receiving sunlight. In such cases, the light intensity lacks reliability, and there's no need to adjust the PV support angle based on light intensity. Therefore, this embodiment uses the difference in light intensity between each moment and the previous moment as the light intensity variation at each moment. Combined with the distribution of light intensity at all moments prior to each moment, the shading probability at each moment is determined. By analyzing the difference between the shading probability at any moment within a preset time period prior to each moment and the maximum shading probability between any moment and all moments, as well as the difference in light intensity at any moment compared to all moments, the degree of shading at each moment is determined to judge whether the PV panel is blocked at each moment, thereby determining the reliability of the light intensity. Specifically:

[0047] First, in this embodiment, the difference in light intensity between each moment and the previous moment is recorded as the light intensity variation degree at each moment. When the photovoltaic panel is shaded, the light intensity will show a decreasing trend. Therefore, the corresponding light intensity variation degree is negative. At this time, the light intensity is not reliable, and the reliability of adjusting the angle of the photovoltaic support according to the light intensity is very low.

[0048] Furthermore, this embodiment determines the occlusion probability at each moment based on the light intensity variation at each time point and the distribution of light intensity at all previous times. Specifically:

[0049] As a specific implementation method, in this embodiment, the occlusion probability A at time a is... a The expression is: A a =B a ×(1-B′ a,max In the formula, B a B′ represents the normalized value of the change in light intensity at time a; a,max This represents the maximum normalized value of the change in light intensity across all times from the start of vehicle movement to time a.

[0050] According to the occlusion possibility at each time, it can be understood that the occlusion possibility reflects the possibility of the photovoltaic panel being occluded at each time. If the normalized value of the light intensity change degree at time a is larger, it means that the decline amplitude of the light intensity is very significant, and a large amplitude sudden decline is a typical feature of occlusion. Therefore, the larger the decline amplitude of the light intensity at time a, the more likely the occlusion at time a, and thus the larger the corresponding occlusion possibility. At the same time, if the maximum value of the normalized value of the light intensity change degree at all times between the vehicle movement start time and time a is smaller, it means that the decline amplitude of the light intensity is generally not large in the historical time period of the vehicle driving process. Even if the decline amplitude of the light intensity at time a is not particularly large, compared with the past relatively stable state, it can also be considered to be relatively prominent, and it is considered that the decline of the light intensity at this time is a time worth noting. Therefore, the occlusion possibility at time a is relatively increased.

[0051] On the contrary, if the maximum value of the normalized value of the light intensity change degree at all times between the vehicle movement start time and time a is larger, it means that there have been many times of relatively significant decline of the light intensity in the historical time period of the vehicle driving process. Even if the decline amplitude of the light intensity at time a is also relatively large, since there has been a larger decline in the past, the decline of the light intensity at time a is not so prominent compared with the historical maximum value. The photovoltaic support intelligent control system considers that this can be only a continuation of a previous significant occlusion event, or a less serious and repeated change, rather than a new occlusion start that needs special attention. Therefore, the occlusion possibility at time a is relatively small.

[0052] Further, the embodiment determines the occluded degree at each time by analyzing the difference between the occlusion possibility at any time in the preset time period before each time and the maximum occlusion possibility between any time and each time, and the difference between the light intensity at any time and the light intensity at each time. Specifically:

[0053] As a specific implementation, in the embodiment, the expression of the occluded degree C a at time a is: In the formula, A a,b and A' a,b,max respectively represent the occlusion possibility at time b in the preset time period before time a and the maximum occlusion possibility between time b and time a; D a and D a,b respectively represent the light intensity at time a and the light intensity at time b in the preset time period before time a; B a represents the number of all times in the preset time period before time a; norm() represents a normalization function; and exp() represents an exponential function with a natural constant as the base number.

[0054] It should be noted that the length of the preset period is artificially set, and in the embodiment, the length of the preset period is 20s, and in actual application, the implementer can also set it by himself according to the specific situation, and the embodiment does not have special limitation.

[0055] According to the degree of occlusion at each time, it can be understood that the degree of occlusion reflects the total probability that the vehicle actually handles the occluded state between the past and the current time; the greater the difference between the occlusion possibility at time b within the preset period before time a and the maximum occlusion possibility between time b and time a, the more likely it is that a significant occlusion actually occurred at time b, at this time, the smaller the difference between the illumination intensity at time a and the illumination intensity at time b within the preset period before time a, the greater the possibility of occlusion at time a, and therefore, the corresponding degree of occlusion is also larger;

[0056] On the contrary, if the occlusion possibility at time b within the preset period before time a is not significantly higher than the maximum value during the period from b to a, and the difference between the illumination intensity at time b and the illumination intensity at time a is large, it indicates that there is no particularly prominent occlusion signal that may indicate the beginning of continuous occlusion in the past period of time, or there is a clear recovery of the illumination intensity, therefore, it can be considered that the possibility of occlusion at time a is small, and the corresponding degree of occlusion is also small.

[0057] So far, by comparing the historical significant occlusion signal and the current illumination state, the embodiment effectively judges the possibility of the photovoltaic panel being occluded, avoids misjudgment, and helps the accuracy of photovoltaic support control.

[0058] S2: Based on the difference between each time within the preset period before each time and the illumination intensity at each time, and the light intensity variation degree, determine the angle adjustment index at each time, and determine the angle adjustment necessity at each time in combination with the degree of occlusion.

[0059] When the vehicle changes direction and the ground slope changes during driving, the direction of the photovoltaic support needs to be adjusted, so that the photovoltaic support is directed towards the sun, thereby improving the power generation efficiency. When the vehicle changes direction and the ground slope changes, the photovoltaic support needs to be adjusted in different ways. When the vehicle changes direction, it is equivalent to rotating the support as a whole in the horizontal plane, so that the orientation of the solar panel changes relative to the sun, so the angle of the photovoltaic support needs to be adjusted horizontally. When the ground slope changes, the ground slope change causes the overall change of the support angle, so the angle of the photovoltaic support needs to be adjusted vertically.

[0060] Therefore, based on the above analysis, the embodiment determines the angle adjustment index at each time based on the difference between the light intensity at each time in the preset period before each time and the light intensity at each time, and the light intensity variation degree, and determines the angle adjustment necessity at each time in combination with the occlusion degree, to determine whether the angle of the photovoltaic support needs to be adjusted, specifically as follows:

[0061] Firstly, the embodiment determines the angle adjustment index at each time based on the difference between the light intensity at each time in the preset period before each time and the light intensity at each time, and the light intensity variation degree, specifically as follows:

[0062] As a specific implementation, in the embodiment, the exponential function value with a natural constant as the base and the inverse of the light intensity variation degree at each time in the preset period before each time as the independent variable is calculated.

[0063] Further, the difference between the light intensity at each time in the preset period before each time and the light intensity at each time is recorded as the light intensity difference at each time in the preset period before each time.

[0064] Further, the product of the normalized value of the exponential function value at each time in the preset period before each time and the light intensity difference is calculated, and the cumulative sum of the products of all times in the preset period before each time is taken as the angle adjustment index at each time.

[0065] It should be noted that the length of the preset period is artificially set, and in the embodiment, the length of the preset period is 50s. In actual application, as other implementation manners, the implementer can also set it himself according to the specific circumstances, and the embodiment does not make special limitations.

[0066] It should be noted that there are many methods for measuring the difference between data. In the embodiment, the difference between the light intensity at each time in the preset period before each time and the light intensity at each time is taken as the difference between the light intensity at each time in the preset period before each time and the light intensity at each time. In actual application, as other implementation manners, the implementer can also use other methods for measuring the difference between data such as ratio, and the embodiment does not make special limitations on the selection of the method for measuring the difference between data.

[0067] According to the angle adjustment index at each time, it can be understood that the angle adjustment index reflects the deviation degree between the light intensity received by the photovoltaic support at each time and the more stable light state not long ago; the greater the angle adjustment index at the current time, the more intense the potential demand for adjusting the photovoltaic support at the current time, which reflects that in the recent period of time, the light intensity has decreased significantly, and this decrease does not seem to be caused by stable shading, but more likely due to the photovoltaic panel deviating from the sunlight incidence angle caused by the vehicle turning or the ground slope changing; on the contrary, the smaller the angle adjustment index at the current time, the weaker the potential demand for adjusting the angle of the photovoltaic support. This reflects that in the recent period of time, the light intensity has changed little, or the change is small enough to indicate that the support angle needs to be adjusted immediately to track the light to significantly improve the power generation efficiency, which may mean that the vehicle posture is relatively stable, or the light condition itself is changing in a relatively stable state, and the current angle of the photovoltaic panel still basically adapts to the sunlight incidence direction.

[0068] Further, the embodiment determines the angle adjustment necessity at each time based on the angle adjustment index at each time and in combination with the shading degree, specifically:

[0069] In the embodiment, the expression of the angle adjustment necessity K a at time a is: K a = norm[F a ×(1-W a )]; in the formula, F a represents the angle adjustment index at time a; W a represents the normalized value of the shading degree at time a; norm[] represents a normalization function.

[0070] According to the angle adjustment necessity at each time, it can be understood that the angle adjustment necessity reflects the actual urgency and rationality of adjusting the angle of the photovoltaic support at each time after excluding the shading interference; the greater the angle adjustment index at time a and the smaller the normalized value of the shading degree, the more intense the significant change of the light intensity under the condition of small shading degree, which indicates that the demand for adjusting the angle of the photovoltaic support is more urgent and clear, so the corresponding angle adjustment necessity is greater;

[0071] Conversely, if the angle adjustment index at time a is smaller, it indicates that the deviation between the current light intensity and the more stable state not long ago is not large, and the light received by the photovoltaic panel does not change significantly, so the urgency and necessity of adjustment are not high. At the same time, when the normalized value of the degree of shading is large, it indicates that the vehicle is experiencing or has just experienced obvious shading, and in this case, the change of light intensity is more caused by shading than the deviation of light angle caused by the change of sun position or vehicle attitude. In this case, even if the angle adjustment index is large, adjusting the angle of the support has limited effect on getting rid of the shading and improving the power generation efficiency, so whether it is because the light change itself is not significant or because the shading interference is dominant, it indicates that the actual urgency and rationality of angle adjustment are low, and the angle adjustment necessity will also decrease accordingly.

[0072] So far, the embodiment determines the necessity of angle adjustment by combining the change of light intensity and shading, and constructs the angle adjustment necessity, which not only distinguishes whether the change of light is caused by the change of vehicle attitude or shading, but also judges the urgency of adjustment, so as to accurately and timely drive the photovoltaic support to adjust horizontally or vertically, and effectively improve the power generation efficiency in complex mobile environment.

[0073] The photovoltaic regulation module 103 is configured to regulate the angle of the photovoltaic support in real time.

[0074] When the vehicle turns, the azimuth angle needs to be adjusted, that is, horizontal adjustment; when the slope of the ground changes, the pitch angle needs to be adjusted, that is, vertical adjustment. The change of vehicle attitude and the change of vehicle driving environment correspond to different adjustment modes of the angle of the photovoltaic support, so it is necessary to distinguish between the two.

[0075] When the vehicle turns, the orientation of the solar panel deviates from the sun in the horizontal direction, causing the angle of direct sunlight to change rapidly, resulting in a significant decrease in light intensity and a large change range, which leads to a relatively large adjustment necessity. The change of ground slope only affects the elevation angle of the panel, and the change of the angle with the sun is relatively small, resulting in a relatively small change in light intensity and a relatively small adjustment necessity. Therefore, the influence of the directional deviation on the light intensity is much greater than that of the elevation angle deviation. According to the adjustment necessity, the two adjustment modes are distinguished to regulate the angle of the photovoltaic support in real time, and the specific process is as follows:

[0076] S3: Based on the distribution of light intensity at all times within a preset time period before the starting time of each angle adjustment of the photovoltaic support, and the light intensity at the completion time of each angle adjustment, the horizontal adjustment yield and the vertical adjustment yield at the completion time of each angle adjustment are determined respectively to determine the vertical-horizontal boundary index at the completion time of each angle adjustment.

[0077] As a specific embodiment, in the embodiment, since the angle of the photovoltaic support includes an azimuth angle and an elevation angle, each angle adjustment includes an azimuth angle adjustment or an elevation angle adjustment, therefore, the lateral adjustment yield and the longitudinal adjustment yield at the time when each angle adjustment is completed are determined respectively, specifically:

[0078] The lateral adjustment yield Lz at the time when the i-th angle adjustment is completed i The expression of Lz is as follows: i = norm[exp(k i -K i )]; in the expression, k i represents the illumination intensity at the time when the azimuth angle adjustment is completed during the i-th angle adjustment; K i represents the maximum value of the illumination intensity at all times within the preset time period before the starting time of the i-th angle adjustment; norm[] represents a normalization function; exp() represents an exponential function with a natural constant as the base number.

[0079] According to the manner of obtaining the lateral adjustment yield, the longitudinal adjustment yield at the time when each angle adjustment is completed is obtained for the elevation angle.

[0080] It should be noted that the value of the preset time period is artificially set, and in the embodiment, the value of the preset time period is 1 min, and in actual application, as another embodiment, the implementer can set it according to the specific situation, and the embodiment does not have special limitations.

[0081] It should be further noted that the starting time of the angle adjustment is as follows: if the angle adjustment necessity at the current time is greater than the adjustment necessity threshold in S4, the current time is the starting time of the angle adjustment, wherein the adjustment necessity threshold is updated in real time, and the initial adjustment necessity threshold is 0.6; the completion time of the angle adjustment is as follows: if the difference between the illumination intensity at the current time and the illumination intensity at the previous time is greater than 0, and the difference between the illumination intensity at the current time and the illumination intensity at the next time is less than 0, it is considered that the current time is the completion time of the angle adjustment.

[0082] According to the lateral adjustment yield at the time when each angle adjustment is completed, it can be understood that the lateral adjustment yield reflects the closeness between the actual obtained illumination intensity after the adjustment of the azimuth angle of the photovoltaic support and the best illumination intensity that can be reached in the period before the adjustment; if the difference between the illumination intensity at the time when the azimuth angle adjustment is completed during the i-th angle adjustment and the maximum value of the illumination intensity at all times within the preset time period before the starting time of the i-th angle adjustment is less than 0 and smaller, it indicates that the actual illumination intensity after the lateral adjustment is very different from the best illumination intensity in the recent period before the adjustment, and the smaller the lateral adjustment yield is, the less effective the adjustment of the azimuth angle is in recovering to the best illumination level that can be reached before the adjustment, and the adjustment effect is poor, therefore, the corresponding lateral adjustment yield is smaller.

[0083] Conversely, if the difference between the light intensity at the azimuth angle adjustment completion time in the i-th angle adjustment process and the maximum light intensity within the preset time period before the i-th angle adjustment starting time is greater than or equal to 0 and the greater, it indicates that the actual light intensity after adjusting the azimuth angle of the photovoltaic support is effectively restored to or even exceeds the best light level that can be reached before, and the adjustment effect is good, so the corresponding transverse adjustment yield is relatively large.

[0084] Further, the embodiment determines the vertical-horizontal boundary index at the angle adjustment completion time of each angle adjustment based on the transverse adjustment yield and the longitudinal adjustment yield at the angle adjustment completion time of each angle adjustment, specifically:

[0085] The expression of the vertical-horizontal boundary index M i at the angle adjustment completion time of the i-th angle adjustment is: M i = max(Lz i , Lh i ); in the formula, M i indicates the vertical-horizontal boundary index at the angle adjustment completion time of the i-th angle adjustment; Lz i , Lh i indicate the transverse adjustment yield and the longitudinal adjustment yield at the angle adjustment completion time of the i-th angle adjustment, respectively; max() indicates the maximum value function.

[0086] According to the vertical-horizontal boundary index at the angle adjustment completion time of each angle adjustment, it can be understood that the vertical-horizontal boundary index is an auxiliary index for dynamically adjusting the angle adjustment judgment standard, and reflects the relative effectiveness between the azimuth angle adjustment and the pitch angle adjustment; if the transverse adjustment yield is greater than the longitudinal adjustment yield, it indicates that adjusting the azimuth angle brings greater benefits to the light intensity enhancement than adjusting the pitch angle, which indicates that the vehicle attitude change or the sun azimuth change has a more significant impact on the light intensity than the vehicle slope change or the sun elevation angle change; conversely, if the longitudinal adjustment yield is greater than the transverse adjustment yield, it indicates that adjusting the pitch angle brings greater benefits to the light intensity than adjusting the azimuth angle, which indicates that the vehicle slope change or the sun elevation angle change is the main factor affecting the light intensity at present. The introduction of the vertical-horizontal boundary index helps to dynamically optimize the subsequent angle adjustment strategy according to the actual effect, and preferentially selects the adjustment direction with higher benefits.

[0087] So far, the embodiment calculates the transverse adjustment yield and the longitudinal adjustment yield after each adjustment, and compares the two to determine the vertical-horizontal boundary index, which effectively evaluates the actual effect of different adjustment directions, which helps to dynamically optimize the subsequent adjustment strategy, preferentially selects the direction that can bring greater light benefits, and thus more intelligently improves the photovoltaic power generation efficiency.

[0088] S4: Based on the angle adjustment necessity of the current moment, the lateral adjustment yield and the longitudinal and lateral boundary index, respectively determine the adjustment necessity threshold of the next moment and the yield threshold of the next angle adjustment.

[0089] As a specific embodiment, in the embodiment, the expression of the adjustment necessity threshold N' of the current moment adjacent to the next moment is: N' = N - |N - F| x M; N represents the adjustment necessity threshold of the current moment, wherein the initial adjustment necessity threshold is a preset first value; F represents the angle adjustment necessity of the current moment; and M represents the longitudinal and lateral boundary index at the moment when the last angle adjustment is completed before the current moment.

[0090] The adjustment necessity threshold is used to determine whether the angle of the photovoltaic support at each moment is adjusted, and the value of the preset first value is artificially set. In the embodiment, the value of the initial adjustment necessity threshold, that is, the preset first value, is 0.6. In the actual application process, the implementer can also set it by himself according to the specific circumstances, and the embodiment does not make special limitations.

[0091] The expression of the yield threshold P' of the next angle adjustment is: P' = P - |P - Q| x M; in the formula, P represents the yield threshold at the moment when the current angle adjustment is completed, wherein the initial yield threshold is a preset second value; and Q represents the lateral adjustment yield at the moment when the current angle adjustment is completed.

[0092] The yield threshold is used to determine whether the azimuth angle of the photovoltaic support is adjusted or the pitch angle is adjusted, and at the same time, the value of the preset second value is artificially set. In the embodiment, the value of the initial yield threshold, that is, the preset second value, is 0.8. In the actual application process, as another embodiment, the implementer can also set it by himself according to the specific circumstances, and the embodiment does not make special limitations.

[0093] So far, the embodiment intelligently guides the angle adjustment of the photovoltaic support in the mobile environment by dynamically updating the adjustment necessity threshold and the yield threshold. The adjustment necessity threshold determines whether adjustment is needed, and the yield threshold helps the system to determine whether to preferentially perform lateral adjustment or longitudinal adjustment. This threshold dynamic adjustment mechanism based on real-time feedback can more flexibly and effectively adapt to the complex light and posture changes in the vehicle driving, thereby optimizing the power generation efficiency.

[0094] S5: By comparing the angle adjustment necessity of the next moment and the adjustment necessity threshold, and comparing the lateral adjustment yield and the yield threshold, it is judged whether the angle of the photovoltaic support at the next moment is adjusted and the angle adjustment direction is determined.

[0095] Based on the adjustment necessity threshold and the yield threshold obtained by S4, and combined with the angle adjustment necessity and the lateral adjustment yield threshold, it is judged whether the angle of the photovoltaic support at the next moment is adjusted and the angle adjustment direction is determined, specifically as follows:

[0096] In the embodiment, if the angle adjustment necessity at the next moment is greater than the adjustment necessity threshold, the angle of the photovoltaic support at the next moment is adjusted, otherwise, the angle of the photovoltaic support at the next moment is not adjusted, wherein the method for adjusting the angle of the photovoltaic support at the next moment is as follows:

[0097] If the lateral adjustment yield is greater than the yield threshold, the azimuth angle of the photovoltaic support at the next moment is adjusted, otherwise, the elevation angle of the photovoltaic support at the next moment is adjusted.

[0098] Preferably, the photovoltaic support angle adjustment process flowchart provided by the embodiment is as shown in Figure 2 .

[0099] In particular, if the azimuth angle and the elevation angle of the photovoltaic support are not adjusted within the preset time period, the azimuth angle is adjusted by 1.5° and the elevation angle is adjusted by 0.5°; when only the azimuth angle is not adjusted within the preset time period, only the azimuth angle is adjusted by 0.5°; when only the elevation angle is not adjusted within the preset time period, only the elevation angle is adjusted by 0.5°.

[0100] So far, the embodiment realizes real-time monitoring of light and support angle, analyzes light changes, shielding conditions and adjustment effects by combining complex algorithms, dynamically judges whether the support needs to be adjusted and the adjustment direction, effectively adapts to the complex environmental changes caused by vehicle movement, ensures that the photovoltaic panel is always directed to the best light receiving direction as much as possible, and significantly improves the power generation efficiency of the mobile photovoltaic system.

[0101] Based on the same inventive concept as the above system, the present application also provides a foldable tracking portable photovoltaic support, which comprises the intelligent control system of the foldable tracking portable photovoltaic support.

[0102] It should be noted that the above-mentioned embodiment sequence of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0103] Each embodiment in the specification is described in a progressive manner, and the same or similar parts between each embodiment can be referred to each other, and each embodiment mainly describes the difference from other embodiments.

[0104] The above merely describes preferred embodiments of the present application, and is not used to limit the present application, any modification, equivalent replacement, improvement, etc. made within the principle of the present application shall be included in the protection scope of the present application.

Claims

1. A foldable tracking portable photovoltaic support intelligent control system, characterized in that, The system comprises: a data acquisition module, configured to acquire the angle of the photovoltaic support and the light intensity received by the photovoltaic panel in real time during the movement of the vehicle; a photovoltaic processing module, configured to: take the difference between the light intensity at each time and the light intensity at the previous time as the light intensity variation degree at each time, and determine the occlusion possibility at each time in combination with the distribution of the light intensity at all times before each time; determine the occlusion degree at each time by analyzing the difference between the occlusion possibility at any time within a preset time period before each time and the maximum occlusion possibility between any time and each time, and the difference between the light intensity at any time and the light intensity at each time; determine the angle adjustment index at each time based on the difference between the light intensity at each time within a preset time period before each time and the light intensity at each time, and the light intensity variation degree, and determine the angle adjustment necessity at each time in combination with the occlusion degree; a photovoltaic regulation module, configured to regulate the angle of the photovoltaic support in real time, specifically: determine the horizontal adjustment yield and the vertical adjustment yield at the time when each angle adjustment is completed based on the distribution of the light intensity at all times within a preset time length before the starting time of each angle adjustment of the photovoltaic support and the light intensity at the time when each angle adjustment is completed, to determine the vertical-horizontal boundary index at the time when each angle adjustment is completed; determine the adjustment necessity threshold for the next time and the yield threshold of the next angle adjustment based on the angle adjustment necessity at the current time, the horizontal adjustment yield and the vertical-horizontal boundary index; determine whether to regulate the angle of the photovoltaic support at the next time and determine the regulation direction by comparing the angle adjustment necessity at the next time with the adjustment necessity threshold and comparing the horizontal adjustment yield with the yield threshold.

2. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The expression of the occlusion possibility at each time is A a = B a × (1-B' a,max ); wherein A a represents the occlusion possibility at time a; B a represents the normalized value of the light intensity variation degree at time a; B' a,max represents the maximum value of the normalized value of the light intensity variation degree at all times between the time when the vehicle starts moving and time a.

3. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The expression of the degree of occlusion at each time is: In the formula, C a represents the degree of occlusion at time a; A a,b , A′ a,b,max respectively represent the occlusion possibility at time b within the preset time period before time a, and the maximum occlusion possibility between time b and time a; D a , D a,b respectively represent the illumination intensity at time a, and the illumination intensity at time b within the preset time period before time a; B a represents the number of all times within the preset time period before time a; norm() represents a normalization function; and exp() represents an exponential function with a natural constant as a base number.

4. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The determination method of the angle adjustment index at each time comprises: calculating the exponential function value with the natural constant as the base and the inverse of the light intensity variation degree at each time within a preset time period before each time as the independent variable; taking the difference between the light intensity at each time within a preset time period before each time and the light intensity at each time as the light intensity difference at each time within a preset time period before each time; calculating the product of the normalized value of the exponential function value at each time within a preset time period before each time and the light intensity difference, and taking the cumulative sum of the products of all times within a preset time period before each time as the angle adjustment index at each time.

5. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The expression of the angle adjustment necessity at each time is K a = norm [F a × (1 - W a )] ; where K a represents the angle adjustment necessity at time a; F a represents the angle adjustment index at time a; W a represents the normalized value of the degree of occlusion at time a; and norm [] represents a normalization function.

6. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The determination of the horizontal adjustment yield and the vertical adjustment yield at the time when each angle adjustment is completed comprises: The angles of the photovoltaic support include an azimuth angle and an elevation angle, each angle adjustment includes an azimuth angle adjustment or an elevation angle adjustment, and the lateral adjustment yield Lz at the time when the ith angle adjustment is completed i The expression of the lateral adjustment yield Lz is as follows: i norm[exp(k i -K i )]; wherein k i represents the light intensity at the time when the azimuth angle adjustment is completed during the ith angle adjustment; K i represents the maximum value of the light intensity at all times within a preset time period before the starting time of the ith angle adjustment; norm[] represents a normalization function; and exp() represents an exponential function with a natural constant as the base number. obtaining the vertical adjustment yield at the time when each angle adjustment is completed according to the obtaining method of the horizontal adjustment yield.

7. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The expression of the longitudinal and horizontal demarcation index at the moment of completing each angle adjustment is: M i = max(Lz i , Lh i ); wherein, M i represents the longitudinal and horizontal demarcation index at the moment of completing the i-th angle adjustment; Lz i , Lh i respectively represent the horizontal adjustment yield and the longitudinal adjustment yield at the moment of completing the i-th angle adjustment; max() represents the maximum function.

8. The smart control system of a foldable tracking portable photovoltaic support according to claim 1, characterized in that, The determination of the adjustment necessity threshold for the next time and the yield threshold of the next angle adjustment comprises: Necessity threshold of adjustment of current time adjacent to next time ′ The expression is: N ′ = N - |N - F| x M; N represents the necessity threshold of adjustment of current time, wherein the initial necessity threshold of adjustment is a preset first value; F represents the necessity degree of angle adjustment at current time; M represents the vertical and horizontal boundary index at the time of the most recent angle adjustment before current time; The profit rate threshold P of the next angle adjustment ′ The expression is: P ′ = P - |P - Q| × M; in the formula, P represents the profit rate threshold at the completion time of the current angle adjustment, wherein the initial profit rate threshold is a preset second value; Q represents the lateral adjustment profit rate at the completion time of the current angle adjustment.

9. The smart control system of a foldable tracking portable photovoltaic support according to claim 6, characterized in that, The determination of whether to regulate the angle of the photovoltaic support at the next time and the determination of the regulation direction comprise: if the angle adjustment necessity at the next time is greater than the adjustment necessity threshold, adjusting the angle of the photovoltaic support at the next time, otherwise, not adjusting the angle of the photovoltaic support at the next time, wherein the method for adjusting the angle of the photovoltaic support at the next time comprises: If the transverse adjustment yield is greater than the yield threshold, the azimuth angle of the photovoltaic support at the next moment is adjusted, otherwise, the pitch angle of the photovoltaic support at the next moment is adjusted.

10. A foldable tracking portable photovoltaic support, characterized in that, The smart control system comprises a foldable tracking portable photovoltaic support as claimed in any one of claims 1-9.

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