Solar panel loose state monitoring system based on multi-mode sensing

Abstract

The invention provides a solar panel loosening state monitoring system based on multi-mode sensing, and relates to the technical field of monitoring equipment, and the system comprises a vibration detection circuit, a stress detection circuit, a stepping motor current feedback circuit, a satellite positioning navigation circuit, a six-axis attitude sensor circuit, a communication module circuit and an MCU controller. The vibration detection circuit comprises a plurality of triaxial accelerometers; the stress detection circuit comprises a detection circuit operational amplifier and a plurality of strain gauges, and each strain gauge is connected with the analog-to-digital converter through the detection circuit operational amplifier; the stepping motor current feedback circuit comprises a current sensor which is respectively connected with the stepping motor and a feedback circuit operational amplifier; the triaxial accelerometer, the analog-to-digital converter, the stepping motor, the feedback circuit operational amplifier, the satellite positioning navigation circuit, the six-axis attitude sensor circuit and the communication module circuit are all connected with the MCU controller. And loosening monitoring and automatic correction functions can be realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of monitoring equipment, in particular to a solar panel loosening state monitoring system based on multi-modal sensing. BACKGROUND

[0002] Solar panel loosening state monitoring refers to using sensor technology to monitor in real time whether the solar panel is loose or has other structural problems. Through various sensors installed on the solar panel, the system can detect whether the solar panel is affected by external forces or the connection part is loose. This technology can timely find the safety hazards of solar panels and avoid equipment damage or reduce efficiency.

[0003] The necessity of solar panel loosening state monitoring mainly lies in ensuring the long-term stable operation of the solar power generation system. Solar panels may be loose or displaced due to wind, earthquakes or other external factors after long-term exposure to harsh weather conditions. If these problems are not discovered in time, loose solar panels may cause power output to decrease, and even cause equipment damage and safety accidents. Therefore, timely monitoring of the loosening state of solar panels helps to prevent faults, reduce maintenance costs, and improve the efficiency and safety of the power generation system.

[0004] Existing solar panel loosening state monitoring systems rely on manual inspection, which has problems such as high inspection cost, delayed response, and inability to identify early micro-loosening. SUMMARY

[0005] In view of the above deficiencies of the prior art, the purpose of the embodiments of the present application is to provide a solar panel loosening state monitoring system based on multi-modal sensing, which can solve the technical problems of the prior art that the solar panel loosening state monitoring system relies on manual inspection, has high inspection cost, delayed response, and cannot identify early micro-loosening.

[0006] The first aspect of the embodiments of the present application proposes a solar panel loosening state monitoring system based on multi-modal sensing, which comprises a vibration detection circuit, a stress detection circuit, a stepper motor current feedback circuit, a satellite positioning and navigation circuit, a six-axis attitude sensor circuit, a communication module circuit and an MCU controller.

[0007] The vibration detection circuit comprises a plurality of three-axis accelerometers.

[0008] The stress detection circuit comprises a detection circuit operational amplifier and a plurality of strain gauges, each strain gauge being connected to an analog-to-digital converter through the detection circuit operational amplifier.

[0009] The stepper motor current feedback circuit comprises a current sensor connected to the stepper motor and a feedback circuit operational amplifier, respectively.

[0010] The triaxial accelerometer, the analog-digital converter, the stepping motor, the feedback circuit operational amplifier, the satellite positioning navigation circuit, the six-axis attitude sensor circuit and the communication module circuit are connected with the MCU controller.

[0011] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0012] In the embodiment of the application, the solar panel loosening state monitoring system based on multi-modal sensing provided by the present scheme adopts the fusion of multiple sensing technologies such as vibration detection, current feedback, strain monitoring and six-axis attitude sensor, and can monitor the state of the solar panel in different dimensions in real time. Through the vibration detection circuit, combined with the triaxial accelerometer array and the FFT spectrum analysis, the system can capture the loosening characteristic frequency band of 5-20 Hz, effectively identify the slight loosening problem. The stress detection circuit composed of the strain gauge and the analog-digital converter can monitor the deformation change caused by loosening, accurately judge whether the solar panel has structural problems through dynamic detection of strain change. The stepping motor current feedback circuit monitors the change of motor current in real time, detects mechanical resistance abnormalities through current mutation, realizes loosening monitoring, and realizes accurate positioning of the solar panel and optimization of dynamic response, avoiding over-tightening or thread damage in traditional mechanical adjustment. The satellite positioning and the six-axis attitude sensor circuit are used in cooperation, which can correct the positioning deviation caused by external factors, and ensure that the solar panel can maintain the correct installation attitude in any environment. BRIEF DESCRIPTION OF DRAWINGS

[0013] The accompanying drawings are included only for the purpose of illustrating the specific embodiments and are not to be considered as limiting the application. Throughout the drawings, the same reference numerals are used for the same components. Obviously, the accompanying drawings described below are only some embodiments described in the embodiments of the application, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0014] Figure 1 is a structural schematic diagram of a solar panel loosening state monitoring system based on multi-modal sensing provided by an embodiment of the application;

[0015] Figure 2 is a structural schematic diagram of a vibration detection circuit provided by an embodiment of the application;

[0016] Figure 3 is a structural schematic diagram of a stress detection circuit provided by an embodiment of the application;

[0017] Figure 4 is a structural schematic diagram of a stepping motor current feedback circuit provided by an embodiment of the application;

[0018] Figure 5is a structural schematic diagram of a satellite positioning navigation circuit provided by an embodiment of the present application;

[0019] Figure 6 is a structural schematic diagram of a six-axis attitude sensor circuit provided by an embodiment of the present application;

[0020] Legend:

[0021] Figure 2 R1, first resistor; R2, second resistor; C2, second capacitor; C3, third capacitor; U1, three-axis acceleration sensor; VDDIO, first pin of three-axis acceleration sensor; GND2, second pin of three-axis acceleration sensor; GND4, fourth pin of three-axis acceleration sensor; GND5, fifth pin of three-axis acceleration sensor; SDO / ALT ADDRESS, twelfth pin of three-axis acceleration sensor; SDA / SDI / SDIO, thirteenth pin of three-axis acceleration sensor; SCL / SCLK, fourteenth pin of three-axis acceleration sensor; VCC1, first voltage source; VCC2, second voltage source;

[0022] Figure 3 R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; R7, seventh resistor; R8, eighth resistor; R9, ninth resistor; R10, tenth resistor; R11, eleventh resistor; R12, twelfth resistor; R13, thirteenth resistor; R14, fourteenth resistor; Y1, strain gauge; C4, fourth capacitor; C5, fifth capacitor; C6, sixth capacitor; VCC3, power supply of detection circuit system; U2, operational amplifier of detection circuit; OUTA, first pin of operational amplifier of detection circuit; INA-, second pin of operational amplifier of detection circuit; INA+, third pin of operational amplifier of detection circuit; -VS, fourth pin of operational amplifier of detection circuit; INB+, fifth pin of operational amplifier of detection circuit; INB-, sixth pin of operational amplifier of detection circuit; OUTB, seventh pin of operational amplifier of detection circuit; +VS, eighth pin of operational amplifier of detection circuit; VCC3, power supply of detection circuit system;

[0023] Figure 4 C7, seventh capacitor; C8, eighth capacitor; C9, ninth capacitor; U3, current sensor; VCC4, power supply of stepper motor current feedback circuit system; IP+1, first pin of current sensor; IP+2, second pin of current sensor; IP-1, third pin of current sensor; IP-2, fourth pin of current sensor; GND, fifth pin of current sensor; FILTER, sixth pin of current sensor; VIOUT, seventh pin of current sensor;

[0024] Figure 5In the figure: R15, fifteenth resistor; LED2, light emitting diode; D2, diode; BAT2, button cell; L2, inductor; RF1, antenna; U4, satellite positioning module; GND2, first pin of satellite positioning module; TXD, second pin of satellite positioning module; RXD, third pin of satellite positioning module; 1PPS, fourth pin of satellite positioning module; ON / PFF, fifth pin of satellite positioning module; VBAT, sixth pin of satellite positioning module; NC, seventh pin of satellite positioning module; VCC, eighth pin of satellite positioning module; NRESET, ninth pin of satellite positioning module; GND3, tenth pin of satellite positioning module; RF_IN, eleventh pin of satellite positioning module; GND4, twelfth pin of satellite positioning module; NC, thirteenth pin of satellite positioning module; VCC_RF, fourteenth pin of satellite positioning module; RESERVED, fifteenth pin of satellite positioning module; SDA, sixteenth pin of satellite positioning module; SCL, seventeenth pin of satellite positioning module; RESERVED, eighteenth pin of satellite positioning module; 3V3, main power supply;

[0025] Figure 6 In the figure: VCC5, power supply of six-axis attitude sensor circuit system; GND5, eighteenth pin of six-axis attitude sensor; R16, sixteenth resistor; R17, seventeenth resistor; R18, eighteenth resistor; C1, first capacitor; C11, eleventh capacitor; C12, twelfth capacitor; C13, thirteenth capacitor; U5, six-axis attitude sensor; CLKIN, first pin of six-axis attitude sensor; VLOGIC, eighth pin of six-axis attitude sensor; AD0, ninth pin of six-axis attitude sensor; REFOUT, tenth pin of six-axis attitude sensor; FSYNC, eleventh pin of six-axis attitude sensor; INT, twelfth pin of six-axis attitude sensor; VDD, thirteenth pin of six-axis attitude sensor; CPOUT, twentieth pin of six-axis attitude sensor; SCL, twenty-third pin of six-axis attitude sensor; SDA, twenty-fourth pin of six-axis attitude sensor. DETAILED DESCRIPTION

[0026] In order to make the personnel in the art better understand the technical solutions in the embodiments of the present application, the technical solutions of the present application will be described clearly and completely in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. It should be understood that these descriptions are only exemplary, and are not used to limit the scope of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0027] In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concepts disclosed in the present application.

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0029] Reference manual attached Figure 1 The diagram shows a structural schematic of a solar panel loosening status monitoring system based on multimodal sensing provided by an embodiment of the present invention.

[0030] Reference manual attached Figure 2 The diagram shows a structural schematic of a vibration detection circuit provided in an embodiment of the present invention.

[0031] Reference manual attached Figure 3 The diagram shows a structural schematic of a stress detection circuit provided in an embodiment of the present invention.

[0032] Reference manual attached Figure 4 The diagram shows a schematic of a stepper motor current feedback circuit provided in an embodiment of the present invention.

[0033] Reference manual attached Figure 5 The diagram shows a schematic representation of a satellite positioning and navigation circuit provided in an embodiment of the present invention.

[0034] Reference manual attached Figure 6 The diagram shows a schematic of a six-axis attitude sensor circuit provided in an embodiment of the present invention.

[0035] An embodiment of the present invention provides a structure for a solar panel loosening status monitoring system based on multimodal sensing, comprising:

[0036] Vibration detection circuit, stress detection circuit, stepper motor current feedback circuit, satellite positioning and navigation circuit, six-axis attitude sensor circuit, communication module circuit and MCU controller.

[0037] The vibration detection circuit includes multiple triaxial accelerometers.

[0038] The stress detection circuit includes a detection circuit operational amplifier and multiple strain gauges, each of which is connected to an analog-to-digital converter through the detection circuit operational amplifier.

[0039] The stepper motor current feedback circuit includes a current sensor connected to both the stepper motor and the operational amplifier of the feedback circuit.

[0040] The triaxial accelerometer, the analog-to-digital converter, the stepping motor, the feedback circuit, the satellite positioning and navigation circuit, the six-axis attitude sensor circuit and the communication module circuit are connected with the MCU controller.

[0041] The vibration detection circuit detects vibration through multiple triaxial accelerometers to capture the vibration signals of the solar panel and determine whether there is looseness. The stress detection circuit is connected with the detection circuit and the analog-to-digital converter through multiple strain gauges to monitor the stress of the solar panel in real time and detect the deformation and looseness of the structure. The stepping motor current feedback circuit monitors the current change of the stepping motor through the current sensor to feed back the running state of the motor in real time and ensure that the solar panel does not loosen during adjustment. The satellite positioning and navigation circuit accurately positions the solar panel through the satellite navigation system to ensure accurate identification of the geographical position of the solar panel during system monitoring. The six-axis attitude sensor circuit monitors the three-dimensional position state of the solar panel in real time, compensates for the positioning deviation caused by external factors and ensures that the solar panel maintains the correct attitude. The communication module circuit is connected with the MCU controller through the communication module and can transmit the monitoring data to the remote platform in real time to realize remote monitoring. The MCU controller serves as the brain of the whole system, is responsible for collecting, processing and analyzing the data of various sensors and makes decisions or alarms.

[0042] The monitoring system can comprehensively monitor the looseness of the solar panel through real-time data collection and processing of multiple modal sensors. When vibration, stress change or current anomaly is detected, the system can timely issue an alarm to help quickly find the looseness problem and keep the solar panel working stably through positioning and attitude correction. Compared with the traditional manual inspection method, the system has higher response speed and more accurate monitoring ability, can effectively reduce the maintenance cost and improve the reliability and safety of the system.

[0043] The technical scheme provided by the embodiment of the application has at least the following beneficial effects:

[0044] In the embodiment of the present application, the solar panel loosening state monitoring system based on multi-modal sensing proposed in the present solution adopts the fusion of various sensing technologies such as vibration detection, current feedback, strain monitoring, six-axis attitude sensor, etc., which can monitor the state of the solar panel in different dimensions in real time. Through the vibration detection circuit, combined with the three-axis accelerometer array and FFT spectrum analysis, the system can capture the loosening characteristic frequency band of 5-20Hz, effectively identify the slight loosening problem. The stress detection circuit composed of strain gauges and analog-to-digital converters can monitor the deformation changes caused by loosening. Through dynamic detection of strain changes, it can accurately judge whether the solar panel has structural problems. The stepping motor current feedback circuit monitors the change of motor current in real time, detects mechanical resistance abnormalities through current mutation, realizes loosening monitoring, and realizes accurate positioning and dynamic response optimization of the solar panel, avoiding over-tightening or thread damage in traditional mechanical adjustment. Satellite positioning and six-axis attitude sensor circuit are used in cooperation, which can correct the positioning deviation caused by external factors, and ensure that the solar panel can maintain the correct installation attitude in any environment.

[0045] In a possible implementation, the vibration detection circuit includes a first resistor, a second resistor, a second capacitor, a third capacitor, and a three-axis acceleration sensor.

[0046] The first pin of the three-axis acceleration sensor, the sixth pin of the three-axis acceleration sensor, and the seventh pin of the three-axis acceleration sensor are all connected with the first system power supply.

[0047] The second pin of the three-axis acceleration sensor, the fourth pin of the three-axis acceleration sensor, and the fifth pin of the three-axis acceleration sensor are all connected with the ground terminal.

[0048] The second capacitor and the third capacitor are connected in parallel between the first system power supply and the ground terminal.

[0049] The thirteenth pin of the three-axis acceleration sensor and the fourteenth pin of the three-axis acceleration sensor are both connected with the MCU controller.

[0050] The thirteenth pin of the three-axis acceleration sensor is connected with the second system power supply through the second resistor. The fourteenth pin of the three-axis acceleration sensor is connected with the second system power supply through the first resistor.

[0051] The twelfth pin of the three-axis acceleration sensor is connected with the ground terminal.

[0052] The remaining pins of the three-axis acceleration sensor are left hanging.

[0053] Specifically, this vibration detection circuit captures the vibration signal of the solar panel through a three-axis acceleration sensor. The first, sixth, and seventh pins of the sensor are connected to the system power supply to provide the necessary power. The second, fourth, and fifth pins are connected to the ground to ensure the stability of the circuit. The capacitor element is connected in parallel between the power supply and the ground to filter and ensure the stability of the power supply voltage. The thirteenth and fourteenth pins of the three-axis acceleration sensor are connected to the second system power supply through resistors to adjust the signal output and transmit it to the MCU controller for data processing. The design of this circuit can accurately detect the vibration signal from the solar panel and provide reliable data input for subsequent state monitoring.

[0054] In one possible implementation, the model of the three-axis acceleration sensor is specifically ADXL346BCZ-RL7.

[0055] It should be noted that ADXL346BCZ-RL7 is a three-axis acceleration sensor with high precision and low power consumption, which can accurately detect the acceleration change in three-dimensional space and is widely used in vibration monitoring and state detection. In this embodiment, it is used to capture the vibration signal of the solar panel in real time and provide reliable monitoring data for the system.

[0056] In one possible implementation, the stress detection circuit includes a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a strain gauge, a fourth capacitor, a fifth capacitor, a sixth capacitor, and a detection circuit amplifier in the form of a dual-channel operational amplifier.

[0057] The first pin of the detection circuit amplifier is connected to the excitation voltage source through the eighth resistor, the sixth resistor, and the third resistor in sequence.

[0058] The second pin of the detection circuit amplifier is connected between the sixth resistor and the eighth resistor.

[0059] The second pin of the detection circuit amplifier is connected to the excitation voltage source through the seventh resistor and the fourth resistor in sequence.

[0060] There is a fifth resistor connected between the fourth resistor and the seventh resistor, and a ninth resistor connected between the seventh resistor and the third pin of the detection circuit amplifier. The fifth resistor and the ninth resistor are connected to the strain gauge in parallel, and the strain gauge is connected to the excitation voltage source through the third resistor.

[0061] The strain gauge, the fifth resistor, the ninth resistor, and the fourth pin of the detection circuit amplifier are all grounded.

[0062] The fifth pin of the detection circuit amplifier is connected to the twelfth resistor and the thirteenth resistor respectively, the twelfth resistor is grounded, and the thirteenth resistor is connected to the excitation voltage source.

[0063] The sixth pin of the detection circuit operational amplifier is connected with the tenth resistor and the eleventh resistor respectively, and the tenth resistor is connected between the eighth resistor and the first pin of the detection circuit operational amplifier.

[0064] The seventh pin of the detection circuit operational amplifier is connected with the detection circuit output end and the sixth capacitor through the fourteenth resistor, and the sixth capacitor is grounded.

[0065] The eleventh resistor is connected between the seventh pin of the detection circuit operational amplifier and the fourteenth resistor.

[0066] The eighth pin of the detection circuit operational amplifier is connected with the fourth capacitor, the fifth capacitor and the system power supply of the detection circuit respectively, and the fourth capacitor and the fifth capacitor are connected in parallel and grounded.

[0067] It should be noted that the stress detection circuit realizes real-time monitoring of the stress change of the solar panel through the strain gauge and the dual-channel operational amplifier structure. The strain gauge, resistors and operational amplifier circuit together form a bridge circuit, which reflects the stress deformation of the solar panel by measuring the resistance change of the strain gauge. The connection of the pins of the operational amplifier with resistors and capacitors forms a precise signal processing network, effectively amplifying weak strain signals, and through appropriate resistance and capacitance filtering and stable voltage, the high sensitivity and anti-interference ability of the circuit are ensured. The design has high-precision stress detection capability, can timely capture small structural changes, ensures the stability of the solar panel, provides temperature compensation, avoids the influence of temperature change on stress measurement, and thus improves the accuracy and reliability of the monitoring.

[0068] In a possible implementation, the step motor current feedback circuit includes a seventh capacitor, an eighth capacitor, a ninth capacitor and a current sensor.

[0069] The first pin of the current sensor and the second pin of the current sensor are both connected with the input end of the step motor.

[0070] The third pin of the current sensor and the fourth pin of the current sensor are both connected with the output end of the step motor.

[0071] The fifth pin of the current sensor is grounded.

[0072] The sixth pin of the current sensor is connected with the ninth capacitor, and the ninth capacitor is grounded.

[0073] The seventh pin of the current sensor is a voltage output end, wherein the voltage output end is connected with the feedback circuit operational amplifier.

[0074] The eighth pin of the current sensor, the seventh capacitor and the eighth capacitor are all connected with the system power supply of the step motor current feedback circuit, wherein the seventh capacitor and the eighth capacitor are both grounded.

[0075] Specifically, the stepper motor current feedback circuit monitors the current change of the stepper motor through the current sensor, thereby achieving precise control of the motor operating state. The current sensor is connected to the input and output terminals of the stepper motor, detects the current signal in real time, and transmits the signal to the feedback circuit operational amplifier for processing through the voltage output terminal. The configuration of the capacitor helps to smooth the current signal, reduce noise, and improve the accuracy of the current signal. By monitoring the current in real time, the system can adjust the motor operating state according to the current change, avoiding damage to the equipment caused by overload or over-tightening. In addition, this circuit has high-precision current feedback function, which can improve the dynamic response and stability of the stepper motor, optimize the performance of the control system, and enhance the anti-interference ability and stability of the system.

[0076] In one possible implementation, the model of the current sensor is specifically ACS712ELCTR-05B-T.

[0077] ACS712ELCTR-05B-T is a Hall effect current sensor that can accurately measure direct current and alternating current. It converts the current signal into a voltage output proportional to the current through the Hall effect principle, has high sensitivity, low power consumption and anti-interference ability, and is very suitable for use in the stepper motor current feedback circuit to monitor the current change in real time, ensuring the stability and safety of the motor operation.

[0078] In one possible implementation, the satellite positioning and navigation circuit includes a fifteenth resistor, a light-emitting diode, a diode, a button cell, an inductor, an antenna, and a satellite positioning module.

[0079] The first pin of the satellite positioning module is grounded.

[0080] The second pin and the third pin of the satellite positioning module are respectively the TXD pin and the RXD pin.

[0081] The fourth pin of the satellite positioning module is connected to the light-emitting diode through the fifteenth resistor.

[0082] The sixth pin of the satellite positioning module is connected to the diode.

[0083] The light-emitting diode, the diode, and the fifth pin of the satellite positioning module are all connected to the main power supply with a specification of 3V3.

[0084] They are respectively connected to the main power supply and the tenth capacitor.

[0085] The backup battery is externally connected between the diode and the sixth pin of the satellite positioning module, and the backup battery and the tenth capacitor are both grounded.

[0086] The tenth pin and the twelfth pin of the satellite positioning module are grounded.

[0087] The eleventh pin of the satellite positioning module is connected in turn through the antenna and the fourteenth pin of the satellite positioning module.

[0088] The remaining pins of the satellite positioning module are left dangling.

[0089] It should be noted that the satellite positioning and navigation circuit realizes the precise positioning function by using the satellite positioning module. The satellite positioning module receives signals from multiple satellites through connection with the antenna, providing accurate position information. In the circuit, the light-emitting diode and the diode serve as status indicators, helping to display the positioning status in real time. The backup battery provides necessary power support for the satellite positioning module, ensuring normal operation when the main power is off. The fifteenth resistor regulates the current, ensuring stable operation of the circuit. Through accurate positioning signals, the circuit can provide accurate geographic position data for the solar panel loosening monitoring system, facilitating remote monitoring and fault positioning. The circuit has the advantages of low power consumption, high reliability, etc., ensuring stable operation of the solar panel in harsh environments.

[0090] In one possible implementation, the six-axis attitude sensor circuit includes a six-axis attitude sensor of model MPU-6050, a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a first capacitor, an eleventh capacitor, a twelfth capacitor, and a thirteenth capacitor.

[0091] The first pin of the six-axis attitude sensor is grounded.

[0092] The eighth pin of the six-axis attitude sensor is connected to the main power supply with a specification of 3V3.

[0093] The tenth pin of the six-axis attitude sensor is connected to the eleventh capacitor. The eleventh capacitor, the ninth pin of the six-axis attitude sensor, and the eleventh pin of the six-axis attitude sensor are all grounded.

[0094] The twelfth pin of the six-axis attitude sensor is connected to the interrupt input pin through the eighteenth resistor.

[0095] The thirteenth pin of the six-axis attitude sensor is connected to the main power supply with a specification of 3V3.

[0096] The twelfth capacitor and the thirteenth capacitor are both externally connected between the thirteenth pin of the six-axis attitude sensor and the main power supply, and both are grounded.

[0097] The twentieth pin of the six-axis attitude sensor is connected to the first capacitor. The first capacitor and the eighteenth pin of the six-axis attitude sensor are both grounded.

[0098] The twenty-third pin and the twenty-fourth pin of the six-axis attitude sensor are respectively connected to a serial clock line and a serial data line. The serial clock line is externally connected to the seventeenth resistor, and the serial data line is externally connected to the sixteenth resistor.

[0099] The sixteenth resistor and the seventeenth resistor are connected with the power supply of the six-axis attitude sensor circuit system.

[0100] It is worth noting that the six-axis attitude sensor circuit is based on the MPU-6050 sensor, which integrates an accelerometer and a gyroscope, capable of detecting the three-dimensional position and angular changes of the solar panel. The circuit optimizes the signal processing and stability of the sensor through a combination of resistors and capacitors, ensuring accurate attitude data output. The clock and data lines of the sensor are connected with resistors respectively, stabilizing signal transmission and avoiding interference. This circuit can monitor the attitude changes of the solar panel in real time, compensate for positioning deviations caused by external factors by fusing with other sensor data, and improve the overall accuracy and reliability of the system, especially in dynamic environments, providing stable positioning support to ensure the correct installation angle and position of the solar panel.

[0101] In a possible implementation, the analog-to-digital converter is specifically a HX711 model converter.

[0102] HX711 is a high-precision analog-to-digital converter (ADC) commonly used in strain gauges and weighing sensors, which can convert analog signals to digital signals. It has low noise, high precision and low power consumption, suitable for stress detection circuits to convert the small resistance changes of strain gauges into processable digital signals, ensuring high precision and stability of stress monitoring.

[0103] In a possible implementation, the communication module circuit includes an ATGM336H positioning module.

[0104] ATGM336H is a high-precision satellite positioning module that supports GPS, Beidou and other satellite navigation systems. It can provide accurate positioning data and is suitable for real-time monitoring and positioning systems. In this embodiment, it is used to provide accurate position data of the solar panel to help the system identify and correct the geographical position of the device, ensuring the accuracy and efficiency of the monitoring system.

[0105] In actual application, the system includes a vibration detection circuit, a stress detection circuit, a stepper motor feedback circuit, a satellite positioning and navigation circuit, a six-axis attitude sensor circuit, a communication module circuit and an MCU controller. The specific connection mode is as shown in Figure 1 the system architecture diagram.

[0106] Among them, the resistor R1, the resistor R2, the capacitor C2, the capacitor C3, and the three-axis accelerometer U1 form a vibration detection circuit, and the principle diagram is as shown in Figure 2 , which is used to collect and process vibration signals of the solar panel to realize device fault diagnosis and state monitoring.

[0107] Specifically, the vibration detection adopts ADXL345 three-axis accelerometer array (3-5 per board) combined with FFT spectrum analysis to capture the 5-20 Hz loose characteristic frequency band. The strain monitoring is realized by the dynamic stress monitoring network composed of BF350-3AA strain gauge group and 24-bit high-precision analog-to-digital converter HX711, and the sensitivity reaches ±1.5% strain. Technical effect: compared with single structure monitoring, the false alarm rate is reduced by 62%.

[0108] More specifically, the fusion formula of the plurality of three-axis acceleration sensors is specifically:

[0109]

[0110] wherein F vib represents the vibration fusion value, E i represents the vibration value detected by the i-th three-axis acceleration sensor, i=1,2,…,N, N represents the total number of three-axis acceleration sensors, w i represents the weight of the i-th three-axis acceleration sensor.

[0111] wherein the resistance R3, the resistance R4, the resistance R5, the resistance R6, the resistance R7, the resistance R8, the resistance R9, the resistance R10, the resistance R11, the resistance R12, the resistance R13, the resistance R14, the single strain gauge Y1, the capacitor C4, the capacitor C5, the capacitor C6, and the two-way operational amplifier U2 constitute a stress detection circuit, the schematic diagram of which is shown in Figure 3 , which is used to convert the deformation caused by the loosening of the solar panel into resistance change, so as to realize stress analysis and structure health monitoring, and has high sensitivity and temperature self-compensation characteristics.

[0112] The derivation process of the stress change rate is specifically that the strain difference between adjacent time points is first calculated, then the sum of the squares of all difference values is calculated, and then the square root of the average square difference is calculated. The calculation formula of the stress change rate is specifically:

[0113]

[0114] wherein ∈ t and ∈ t+1 respectively represent the stress value at time t and the stress value at time t+1, represents the stress change rate at time t, T represents the time window size of the change rate calculation, and k represents the current time.

[0115] The vibration fusion value and the stress change rate calculated are weighted and fused to obtain a vibration risk value. The vibration risk value calculation formula is specifically:

[0116]

[0117] Wherein, RiskScore represents the vibration risk value, a represents the vibration fusion value weight, and beta represents the stress change rate weight. Optionally, a = 0.7, and beta = 0.3.

[0118] For the calculated vibration risk value, two threshold values Th1 and Th2 are defined, and different responses are triggered according to the risk score. The specific discrimination formula is:

[0119]

[0120] Then the mechanical compensation device is carried out. Specifically, a 28BYJ-48 stepping motor is driven by an L298N, and an ACS712 current feedback (accuracy ±1.5%) is used. The screw tightening torque control range is 0.5-5 N·m, which can adapt to M6-M12 specification bolts. Compared with the general maintenance device, the maintenance efficiency is improved by 40%.

[0121] Wherein, the capacitor C7, the capacitor C8, the capacitor C9 and the current sensor U3 constitute a stepping motor current feedback circuit, the schematic diagram of which is as shown in Figure 4 By monitoring the motor current change in real time, accurate positioning control, dynamic response optimization and anti-interference ability improvement are realized. At the same time, the system stability is enhanced through closed-loop regulation, and an overload protection mechanism is triggered to avoid thread damage caused by over-tightening.

[0122] Wherein, the resistor R15, the light emitting diode LED2, the diode D2, the button cell BAT2, the inductor L2, the antenna RF1 and the satellite positioning module U4 constitute a satellite positioning navigation circuit, the schematic diagram of which is as shown in Figure 5 The module supports multiple satellite navigation systems and can simultaneously receive GNSS signals of six satellite navigation systems and realize joint positioning, navigation and timing.

[0123] Wherein, the resistor R16, the resistor R17, the resistor R18, the capacitor C1, the capacitor C11, the capacitor C12, the capacitor C13 and the six-axis attitude sensor U5 constitute a six-axis attitude sensor circuit, the schematic diagram of which is as shown in Figure 6 It is used for real-time monitoring of the three-dimensional position state of the solar panel, so as to compensate for the positioning offset.

[0124] For example, step 1: install 3 sets of ADXL345 sensors on the edge of the board, and set the sampling rate to 100Hz. Step 2: Perform FFT transform through Hanning window, extract 5-20Hz frequency band energy value. Step 3: When the energy of 3 consecutive sampling periods exceeds the threshold value (0.5g RMS), trigger the strain gauge group calibration. Step 4: Receive the strain mutation signal (>15% / min) from the analog-digital converter HX711. Step 5: Start the 4G positioning module ATGM336H, combined with the six-axis attitude sensor MPU6050 data to compensate the positioning offset. Step 6: Control the 28BYJ-48 motor speed through PWM (200 steps / turn), real-time monitor the ACS712 current curve. Step 7: When the current reaches the preset threshold value (corresponding to the target torque), enter the holding mode.

[0125] It should be noted that the solar panel loosening state monitoring system based on multi-modal sensing combines vibration detection, stress monitoring, stepper motor current feedback, satellite positioning, six-axis attitude sensor and other sensor technologies, which can comprehensively and real-time monitor the working state of the solar panel. Through the vibration detection circuit, the system can capture the slight vibration changes of the solar panel and identify the loosening problem in time. The stress detection circuit can monitor the stress on the panel and judge whether structural deformation occurs. The stepper motor current feedback circuit can accurately adjust the positioning of the solar panel by real-time monitoring the motor current, avoiding over-tightening or damage. The satellite positioning and six-axis attitude sensor ensure the accurate positioning and stable attitude of the solar panel. The system can quickly respond and real-time warning, greatly reducing the high cost and hysteresis of manual inspection, improving the monitoring accuracy and reliability, and ensuring the long-term stability and safety of the solar power generation system.

[0126] The present application encompasses any substitutions, modifications, equivalent methods and solutions made on the essence and scope of the present application. In order to make the public have a thorough understanding of the present application, specific details are described in the preferred embodiments of the present application, and the present application can be fully understood without these details by those skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the present application, well-known methods, processes, procedures, elements and circuits, etc. are not described in detail.

[0127] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered within the protection scope of the present application.

Claims

1. A multi-modal sensor based loose condition monitoring system for solar panels, characterized in that, The vibration detection circuit, the stress detection circuit, the stepping motor current feedback circuit, the satellite positioning navigation circuit, the six-axis attitude sensor circuit, the communication module circuit and the MCU controller are included. The vibration detection circuit includes multiple three-axis accelerometers. The stress detection circuit includes a detection circuit operational amplifier and multiple strain gauges, each of which is connected with an analog-to-digital converter through the detection circuit operational amplifier. The stepping motor current feedback circuit includes a current sensor connected with a stepping motor and a feedback circuit operational amplifier respectively. The three-axis accelerometer, the analog-to-digital converter, the stepping motor, the feedback circuit operational amplifier, the satellite positioning navigation circuit, the six-axis attitude sensor circuit and the communication module circuit are connected with the MCU controller. The vibration detection circuit includes a first resistor, a second resistor, a second capacitor, a third capacitor and a three-axis acceleration sensor.

2. The multi-modal sensor based loose status monitoring system of solar panels as claimed in claim 1 wherein, The first pin, the sixth pin and the seventh pin of the three-axis acceleration sensor are connected with a first system power supply. The second pin, the fourth pin and the fifth pin of the three-axis acceleration sensor are connected with a ground terminal. The second capacitor and the third capacitor are connected in parallel between the first system power supply and the ground terminal. The thirteenth pin and the fourteenth pin of the three-axis acceleration sensor are connected with the MCU controller. The thirteenth pin of the three-axis acceleration sensor is connected with a second system power supply through the second resistor, and the fourteenth pin of the three-axis acceleration sensor is connected with the second system power supply through the first resistor. The twelfth pin of the three-axis acceleration sensor is connected with the ground terminal. The remaining pins of the three-axis acceleration sensor are left unconnected. The model of the three-axis acceleration sensor is ADXL346BCZ-RL7.

3. The multi-modal sensor based loose status monitoring system of solar panels as claimed in claim 2 wherein, The stress detection circuit includes a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor, an eleventh resistor, a twelfth resistor, a thirteenth resistor, a fourteenth resistor, a strain gauge, a fourth capacitor, a fifth capacitor, a sixth capacitor and a detection circuit operational amplifier in the form of a dual-channel operational amplifier.

4. The multi-modal sensor based solar panel loosening condition monitoring system as claimed in claim 1, wherein, The first pin of the detection circuit operational amplifier is connected with an excitation voltage source through the eighth resistor, the sixth resistor and the third resistor in sequence. The second pin of the detection circuit operational amplifier is connected between the sixth resistor and the eighth resistor. The second pin of the detection circuit operational amplifier is connected with the excitation voltage source through the seventh resistor and the fourth resistor in sequence. A fifth resistor is connected between the fourth resistor and the seventh resistor, and a ninth resistor is connected between the seventh resistor and the third pin of the detection circuit operational amplifier, the fifth resistor and the ninth resistor are connected with the strain gauge in parallel, and the strain gauge is connected with the excitation voltage source through the third resistor. The strain gauge, the fifth resistor, the ninth resistor and the fourth pin of the detection circuit operational amplifier are grounded. ​ The sixth pin of the detection circuit operational amplifier is connected with the tenth resistor and the eleventh resistor respectively, the tenth resistor is connected between the eighth resistor and the first pin of the detection circuit operational amplifier; The seventh pin of the detection circuit operational amplifier is connected with the detection circuit output end and the sixth capacitor through the fourteenth resistor, and the sixth capacitor is grounded; The eleventh resistor is connected between the seventh pin of the detection circuit operational amplifier and the fourteenth resistor; The eighth pin of the detection circuit operational amplifier is connected with the fourth capacitor, the fifth capacitor and the system power supply of the detection circuit respectively, and the fourth capacitor and the fifth capacitor are connected in parallel and grounded. The step motor current feedback circuit comprises a seventh capacitor, an eighth capacitor, a ninth capacitor and a current sensor; 5. The multi-modal sensor based solar panel loosening condition monitoring system as claimed in claim 1, wherein, The first pin and the second pin of the current sensor are connected with the input end of the step motor; The third pin and the fourth pin of the current sensor are connected with the output end of the step motor; The fifth pin of the current sensor is grounded; The sixth pin of the current sensor is connected with the ninth capacitor, and the ninth capacitor is grounded; The seventh pin of the current sensor is a voltage output end, wherein the voltage output end is connected with the feedback circuit operational amplifier; The eighth pin of the current sensor, the seventh capacitor and the eighth capacitor are connected with the system power supply of the step motor current feedback circuit, wherein the seventh capacitor and the eighth capacitor are grounded. The model of the current sensor is ACS712ELCTR-05B-T.

6. The multi-modal sensor based loose status monitoring system of solar panels as claimed in claim 5, wherein, The satellite positioning navigation circuit comprises a fifteenth resistor, a light emitting diode, a diode, a button cell, an inductor, an antenna and a satellite positioning module; 7. The multi-modal sensor based solar panel loosening condition monitoring system as claimed in claim 1, wherein, The first pin of the satellite positioning module is grounded; The second pin and the third pin of the satellite positioning module are TXD pin and RXD pin respectively; The fourth pin of the satellite positioning module is connected with the light emitting diode through the fifteenth resistor; The sixth pin of the satellite positioning module is connected with the diode; The light emitting diode, the diode and the fifth pin of the satellite positioning module are connected with the main power supply with a specification of 3V3; The main power supply and the tenth capacitor are connected respectively; The backup battery is connected between the diode and the sixth pin of the satellite positioning module, and the backup battery and the tenth capacitor are grounded; The tenth pin and the twelfth pin of the satellite positioning module are grounded; The eleventh pin of the satellite positioning module is connected in sequence through the antenna and the fourteenth pin of the satellite positioning module; The remaining pins of the satellite positioning module are left unconnected. The six-axis attitude sensor circuit comprises a sixteenth resistor, a seventeenth resistor, an eighteenth resistor, a first capacitor, an eleventh capacitor, a twelfth capacitor, a thirteenth capacitor and a six-axis attitude sensor with a model of MPU-6050; 8. The multi-modal sensor based solar panel loosening condition monitoring system of claim 1, wherein, The first pin of the six-axis attitude sensor is grounded; The eighth pin of the six-axis attitude sensor is connected with the main power supply with a specification of 3V3. ​ The tenth pin of the six-axis attitude sensor is connected with an eleventh capacitor; the eleventh capacitor, the ninth pin of the six-axis attitude sensor and the eleventh pin of the six-axis attitude sensor are all grounded; The twelfth pin of the six-axis attitude sensor is connected with an interrupt input pin through the eighteenth resistor; The thirteenth pin of the six-axis attitude sensor is connected with the main power supply with a specification of 3V3; The twelfth capacitor and the thirteenth capacitor are both externally connected between the thirteenth pin of the six-axis attitude sensor and the main power supply, and both are grounded; The twentieth pin of the six-axis attitude sensor is connected with the first capacitor; the first capacitor and the eighteenth pin of the six-axis attitude sensor are both grounded; The twenty-third pin of the six-axis attitude sensor and the twenty-fourth pin of the six-axis attitude sensor are respectively connected with a serial clock line and a serial data line, wherein the seventeenth resistor is externally connected on the serial clock line, and the sixteenth resistor is externally connected on the serial data line; The sixteenth resistor and the seventeenth resistor are both connected with a power supply of the six-axis attitude sensor circuit system.

9. The multi-modal sensor based solar panel loosening condition monitoring system as claimed in claim 1, wherein, The analog-to-digital converter is specifically a mode converter of HX711 type.

10. The multi-modal sensor based solar panel loosening condition monitoring system of claim 1, wherein, The communication module circuit comprises an ATGM336H positioning module.

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