An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics

Abstract

This invention discloses an adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics. The system includes a dual-mode photovoltaic tracking system, a spatial adjustment and support system, and a control system. The dual-mode photovoltaic tracking system integrates a rigid dual-axis tracking mechanism and a flexible photovoltaic curtain mechanism for synergistic photovoltaic power generation and light management. The spatial adjustment and support system includes a moving unit and adjustable-height support columns to provide stable, three-dimensionally adjustable foundation support for the dual-mode photovoltaic tracking system. The control system, based on multi-sensor fusion, drives and coordinates the actions of the dual-mode photovoltaic tracking system and the spatial adjustment and support system. This invention significantly improves power generation efficiency and agricultural output through a rigid-flexible dual-mode photovoltaic tracking system, a dynamically reconfigurable spatial support architecture, and deeply integrated intelligent control, while also enhancing system reliability and achieving optimal utilization of land space resources.

Description

Technical Field

[0001] This invention relates to the field of agricultural photovoltaic technology, and in particular to an adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaic applications. Background Technology

[0002] With the promotion of the "photovoltaic + agriculture" model, the agricultural-photovoltaic complementary system aims to achieve three-dimensional value-added utilization of land through "power generation above and planting below." However, the core technical challenge of this system lies in how to synergistically optimize photovoltaic power generation efficiency and agricultural production needs. Fixed-installation photovoltaic panels are currently the most widely used solution, but they result in fixed shading zones beneath the greenhouse, causing uneven or continuous shading of crops. This not only affects crop photosynthesis and photoselective growth, leading to reduced yields, but the inherent support structure can also hinder the passage and operation of large agricultural machinery, limiting the application of modern agricultural technologies. Therefore, developing adjustable-angle photovoltaic systems is considered a key path to resolving these contradictions.

[0003] Among existing adjustable technologies, the most representative are the "cam-gear transmission adjustable photovoltaic greenhouse" and the "scissor-type adjustable roof photovoltaic support". The former uses a manually driven gear and cam mechanism to adjust the tilt angle of the photovoltaic panels. Although the structure is simple, its inherent defects are prominent: 1. Low adjustment accuracy: The gear and cam are prone to mechanical wear during long-term meshing transmission, resulting in increased transmission clearance, a rapid decrease in positioning accuracy, and poor stability; 2. Weak wind resistance: Its mechanism design does not adequately consider dynamic wind loads and lacks effective locking and reinforcement mechanisms, posing safety hazards; 3. Difficult to scale up: Relying on manual adjustment, it cannot achieve large-area, uniform, and precise automated control, resulting in low management efficiency. The latter uses a scissor-type support structure combined with an adjusting screw, achieving angle adjustment by changing the included angle of the scissor arms. Its structure is relatively stable, but it has the following limitations: 1. Large space occupation: The scissor structure requires a large amount of horizontal and vertical space when unfolded, which seriously encroaches on the normal growth space and light range of crops; 2. Limited adjustment range: Its angle adjustment range is limited by the physical structure of the scissor arm, and its flexibility is insufficient; 3. Insufficient agricultural adaptability: This structure was not originally designed specifically for the agricultural environment, and its adjustment logic and overall layout are difficult to meet the flexible and precise light requirements of crops.

[0004] In addition to the shortcomings of the specific structures mentioned above, existing adjustable systems also generally face the dual challenges of reliability and economy: 1. Mechanical reliability issues: The mechanical defects of the above two structures, such as low adjustment accuracy, easy wear, and weak wind resistance, directly lead to high system failure rate, increased operation and maintenance costs, and seriously threaten the long-term power generation safety of the power station.

[0005] 2. High Cost: The special support structure and complex transmission system significantly increase the initial investment. Statistics show that the initial installation cost of such adjustable systems is about 30% higher than that of traditional fixed photovoltaic systems, severely restricting their market competitiveness.

[0006] In summary, existing technologies are trapped in a closed loop of interconnected dilemmas: fixed systems, due to their static characteristics, fundamentally harm agricultural production; while adjustable systems face multiple bottlenecks in reliability, agricultural adaptability, and economics, hindering their widespread adoption and application. These shortcomings collectively prevent agriculture and photovoltaics from achieving true complementarity and mutual benefit on shared land, and may even become mutually restrictive, thus violating the original intention of agricultural-solar complementarity.

[0007] Therefore, there is an urgent need for an integrated photovoltaic agricultural system that can effectively balance high power generation efficiency and flexible and precise light control. Summary of the Invention

[0008] This invention aims to address at least one of the technical problems existing in the prior art. To this end, this invention proposes an adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics, which can improve power generation efficiency and agricultural output, enhance system reliability, and achieve optimal utilization of land space resources.

[0009] An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics according to an embodiment of the present invention includes: The dual-mode photovoltaic tracking system integrates a rigid dual-axis tracking mechanism and a flexible photovoltaic curtain mechanism to work together to achieve photovoltaic power generation and light management. The spatial adjustment and support system includes a moving unit and an adjustable height support column, which provides stable, position-adjustable foundation support for the dual-mode photovoltaic tracking system in three-dimensional space. The control system, based on multi-sensor fusion, is used to drive and coordinate the operation of the dual-mode photovoltaic tracking system and the spatial adjustment and support system.

[0010] In some embodiments of the present invention, the rigid biaxial tracking mechanism includes: A photovoltaic bracket rotating base is provided, wherein the photovoltaic bracket rotating base is an internal gear ring bearing, the outer ring of the internal gear ring bearing is fixed to the top of the adjustable height support column, and the inner ring of the internal gear ring bearing is connected to the photovoltaic support frame. The photovoltaic support frame includes a U-shaped bracket and a photovoltaic panel main frame that is rotatably mounted on the top of the U-shaped bracket. A pinion gear is meshed on the inner side of the internal gear ring bearing, and the pinion gear is connected to a first servo motor to control the first servo motor to achieve azimuth angle adjustment of the photovoltaic panel main frame within the range of 0-360°. The elevation angle adjustment unit includes a cam, a push rod, and a first motor. The first motor drives the cam to rotate, converting the rotational motion into linear displacement of the push rod, thereby pushing the main frame of the photovoltaic panel to rotate around its bottom horizontal axis to achieve elevation angle adjustment.

[0011] In some embodiments of the present invention, the elevation angle adjustment unit further includes a rope winding rod assembly for auxiliary tilting, the rope winding rod assembly comprising: A rope reel, which is rotatably mounted on the photovoltaic support frame; There are two wire rope groups, which are respectively arranged at both ends of the rope winding rod. Each wire rope group includes two first wire ropes. One end of the two first wire ropes in the same wire rope group is fixedly connected to different positions of the photovoltaic panel main frame through the tensioner, and the other end is wound on the rope winding rod in a positive and negative manner. A coil motor is installed inside the rope winding rod to drive the rope winding rod to rotate. The coil motor assists the tilt angle adjustment unit in forming a compound drive through the winding and unwinding of the first steel wire rope, together tilting the main frame of the photovoltaic panel.

[0012] In some embodiments of the present invention, the flexible photovoltaic curtain mechanism includes: The curtain includes a flexible thin-film solar cell encapsulated within a composite material frame; A roller is used to roll up or unroll the curtain. A second servo motor is installed inside the roller and is connected to the roller to drive the roller to rotate. The guide and tilt angle adjustment assembly includes a counterweight guide rod and two sets of winches independently driven by stepper motors. The counterweight guide rod is fixed to the lower end of the curtain and connected to the winches through a second steel wire rope. By controlling the difference in the length of the second steel wire ropes on both sides, the tilt angle of the curtain can be infinitely adjusted.

[0013] In some embodiments of the present invention, the moving unit includes: The movable slider is installed in a guide groove on the main frame of the photovoltaic panel. The drive unit includes an explosion-proof motor, a drum, and a third steel wire rope for pulling the moving slider along the track; the explosion-proof motor is mounted on the drum and drives the drum to rotate; the entire drum is rotatably mounted on the main frame of the photovoltaic panel; one end of the third steel wire rope is wound on the drum, and the other end is connected to the moving slider. Among them, the guide grooves on the main frame of the photovoltaic panel are symmetrically opened on two opposite inner side walls of the main frame of the photovoltaic panel, and each guide groove is equipped with a movable slider.

[0014] In some embodiments of the present invention, the adjustable height support column includes: A double-tube telescopic structure, comprising a square steel tube and a round steel tube sleeved inside the square steel tube; A height adjustment transmission mechanism, comprising a third servo motor and a nut rotatably mounted on the square steel tube, wherein the third servo motor is connected to the nut; A ball joint base is mounted on the bottom of the square steel tube to adapt to uneven ground. The lower end of the outer wall of the round steel pipe is provided with a thread that mates with the nut. The third servo motor drives the nut to rotate, thereby driving the round steel pipe to move linearly along its axial direction, thus realizing the height adjustment of the entire support column.

[0015] In some embodiments of the present invention, the control system integrates data from a light sensor, a wind speed sensor, an encoder, and a position sensor, and executes the following control logic: Based on real-time sensor data, the rigid dual-axis tracking mechanism is controlled to perform high-precision light tracking. Based on a preset crop light requirement model, the degree of unfolding and tilt angle of the flexible photovoltaic curtain mechanism are controlled to adjust the light transmission area and light spot distribution. Based on agricultural operational needs or light optimization goals, the spatial adjustment and support system is controlled to move and / or adjust the height of the photovoltaic units to reconfigure the spatial layout.

[0016] In some embodiments of the present invention, when the elevation angle of the rigid dual-axis tracking mechanism is adjusted to a high angle, the elevation angle adjustment unit utilizes the contour characteristics of the cam and push rod mechanism to achieve mechanical self-locking in order to resist wind load.

[0017] This invention also proposes a control method for an agricultural photovoltaic system, applied to the aforementioned system, the method comprising: Obtain current ambient light data and the light requirement model for the target crop; Based on the data and model, a first control command is generated to control the rigid dual-axis tracking mechanism to generate electricity by chasing light, and a second control command is generated to control the flexible photovoltaic curtain mechanism to adjust shading and light transmission. Based on agricultural operation plans or real-time optimization strategies, generate third control commands for controlling the spatial adjustment and support system to move or raise photovoltaic units; The first, second, and third control commands are executed in a coordinated manner to achieve the best match between power generation efficiency and the light environment requirements of crops.

[0018] Compared with the prior art, the present invention has the following advantages: 1. This invention fundamentally breaks through the limitations of traditional photovoltaic agricultural systems with their single function, achieving simultaneous improvement in energy production and agricultural production quality. On the one hand, thanks to its dual-mode tracking structure, the system can maximize solar energy capture. The rigid dual-axis mechanism achieves high-precision light tracking, while the flexible curtain mechanism serves as a supplementary power generation surface and participates in dynamic shading adjustment. On the other hand, the flexible photovoltaic curtain mechanism achieves stepless and precise control of light transmittance, allowing for dynamic management of illumination based on crop light requirements.

[0019] 2. This invention, through ingenious mechanical innovation and deeply integrated intelligent control, ensures high reliability and low operating costs for the system in complex agricultural environments. On one hand, the rigid mechanism employs a "cam-push rod" elevation angle adjustment design, which possesses mechanical self-locking characteristics at high elevation angles and strong wind resistance. On the other hand, the lightweight design of the flexible mechanism (weighing only 1 / 8 of the rigid structure) reduces its drive power consumption by 65%. Simultaneously, the modular spatial support structure and status-based intelligent early warning and diagnosis reduce daily maintenance workload by more than 50% and shorten the average fault handling time by 40%, significantly lowering the system's total lifecycle operating costs.

[0020] 3. This invention transforms the photovoltaic system from a static arrangement into a dynamically reconfigurable intelligent three-dimensional architecture, greatly releasing the potential for land and space utilization and maximizing the efficiency of spatial resource utilization. On the one hand, through a dynamic support system composed of movable units and adjustable-height support columns, the position and height of the photovoltaic units can be flexibly reorganized according to crop type, growth stage, and season, realizing the coordinated utilization of three-dimensional space. On the other hand, the deep integration of mechanical structure and intelligent control ensures the precision and coordination of multi-degree-of-freedom movements. The system is no longer a simple superposition of power generation and planting, but can dynamically optimize in the temporal and spatial dimensions according to the needs of sunlight, weather, and agronomy, ultimately achieving efficient coordination and maximization of benefits of "light-electricity-agriculture" in three-dimensional space. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the principle of the adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics in an embodiment of the present invention; Figure 2 This is a perspective view of the present invention (with cams and push rods removed); Figure 3 This is a schematic diagram of the structure of the present invention; Figure 4 yes Figure 3 A schematic diagram showing the state of the middle cam after it has rotated counterclockwise. Figure 5 yes Figure 3 A schematic diagram showing the state of the middle cam after it rotates clockwise. Figure 6 yes Figure 3A structural diagram from another perspective; Figure 7 This is a schematic diagram showing the connection between the rotating base of the photovoltaic bracket and related components such as the adjustable height support column; Figure 8 This is a schematic diagram of another mounting structure for the cam of the present invention; Figure 9 yes Figure 8 The main view; Figure 10 yes Figure 9 A schematic diagram showing the state of the middle cam after it has rotated counterclockwise. Figure 11 yes Figure 9 A schematic diagram showing the state of the middle cam after it rotates clockwise. Figure 12 This is a schematic diagram of the flexible photovoltaic curtain mechanism of the present invention; Figure 13 This is a schematic diagram of the structure of the rope winding rod assembly of the present invention; Figure 14 This is a schematic diagram of the adjustable height support column of the present invention.

[0022] In the picture: 100. Adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics; 10. Rigid dual-axis tracking mechanism; 11. Photovoltaic bracket rotating base; 111. Outer ring of internal gear bearing; 112. Inner ring of internal gear bearing; 12. Elevation adjustment unit; 121. Cam; 122. First motor; 123. Push rod; 13. Photovoltaic support frame; 131. U-shaped bracket; 132. Photovoltaic panel main frame; 133. Guide groove; 14. Pinion; 15. First servo motor; 16. Bevel gear; 17. Rope winding rod assembly; 171. Winding motor; 172. Rope winding rod; 173. Wire rope assembly; 174. Tensioner; 20. Flexible photovoltaic curtain mechanism; 21. Curtain body; 22. Roller; 23. Second servo motor; 24. Guide and tilt adjustment assembly; 241. Counterweight guide rod; 242. Stepper motor; 243. Winch; 244. Second steel wire rope; 30. Moving unit; 31. Moving slider; 40. Adjustable height support column; 41. Square steel tube; 42. Round steel tube; 43. Third servo motor; 44. Nut; 45. Ball joint base; 200. Photovoltaic panels. Detailed Implementation

[0023] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0024] The following is for reference. Figures 1-14 An adjustable dual-mode tracking and spatial adjustment system 100 for agricultural photovoltaics according to an embodiment of the present invention is described, comprising a dual-mode photovoltaic tracking system, a spatial adjustment and support system, and a control system. The dual-mode photovoltaic tracking system integrates a rigid dual-axis tracking mechanism 10 and a flexible photovoltaic curtain mechanism 20 for synergistically realizing photovoltaic power generation and light management. The spatial adjustment and support system includes a moving unit 30 and an adjustable-height support column 40 for providing stable foundation support for the dual-mode photovoltaic tracking system, which can be adjusted in position in three-dimensional space. The control system is based on multi-sensor fusion and is used to drive and coordinately manage the actions of the dual-mode photovoltaic tracking system and the spatial adjustment and support system.

[0025] An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics, according to an embodiment of the present invention, fundamentally breaks through the limitations of the single function of traditional photovoltaic agricultural systems, achieving simultaneous improvement in energy production and agricultural production quality. On the one hand, thanks to the dual-mode tracking structure, the system can maximize solar energy capture. The rigid dual-axis mechanism achieves high-precision light tracking, while the flexible curtain mechanism serves as a supplementary power generation surface and participates in dynamic shading adjustment. On the other hand, the flexible photovoltaic curtain mechanism achieves stepless and precise control of light transmittance, allowing for dynamic management of illumination based on crop light requirements.

[0026] In some embodiments of the present invention, such as Figures 1 to 12 As shown, the rigid dual-axis tracking mechanism 10 may include a photovoltaic bracket rotating base 11 and an elevation adjustment unit 12. The photovoltaic bracket rotating base 11 is an internal gear ring bearing. The outer ring 111 of the internal gear ring bearing is fixed to the top of the adjustable height support column 40. The inner ring 112 of the internal gear ring bearing is connected to the photovoltaic support frame 13. The photovoltaic support frame 13 includes a U-shaped bracket 131 and a photovoltaic panel main frame 132 that is rotatably mounted on the top of the U-shaped bracket 131. The photovoltaic panel 200 can be mounted on the photovoltaic panel main frame 132. A pinion 14 meshes with the inner side of the internal gear ring bearing. The pinion 14 is connected to a first servo motor 15, which controls the first servo motor 15 to achieve azimuth adjustment of the main frame 13 of the photovoltaic panel within the range of 0-360°. The elevation adjustment unit 12 may include a cam 121, a push rod 123 and a first motor 123. The first motor 123 drives the cam 121 to rotate, converting the rotational motion into linear displacement of the push rod 123, so as to push the main frame 132 of the photovoltaic panel to rotate around the hinge point between it and the top of the U-shaped bracket 131, thereby achieving elevation adjustment.

[0027] For example, the internal gear ring bearing can be placed on top of the adjustable height support column 40, and its outer ring 111 can be fixedly connected to the flange on top of the adjustable height support column 40 using bolts. Next, the pinion 14 meshes with the inner side of the internal gear ring bearing and is connected to the first servo motor 15. Simultaneously, the photovoltaic support frame 13 is placed above the internal gear ring bearing, and the inner ring 112 is connected to the bottom of the U-shaped bracket 131. The first servo motor 15 can be installed inside or outside the adjustable height support column 40. If installed inside, the output shaft of the first servo motor 15 is directly connected to the pinion 14; if installed outside, a bevel gear 16 connects the output shaft of the first servo motor 15 to the pinion 14, converting the vertical rotational force of the first servo motor 15 into a horizontal rotational force, driving the pinion 14 to rotate, thereby rotating the inner ring 112 and the photovoltaic support frame 13 above it, achieving azimuth adjustment. The elevation adjustment unit 12 can be installed on the U-shaped bracket 131, located below the main frame 132 of the photovoltaic panel. Specifically, the cam 121 and the first motor 122 can both be arranged on one side of the U-shaped bracket 131. The output shaft of the first motor 122 is connected to the cam 121. The push rod 123 is installed on the photovoltaic support frame 13, which can move up and down. The push rod 123 is arranged vertically above the cam 121, and the bottom end of the push rod 123 is connected to the cam 121, while the top end of the push rod 123 is connected to the main frame 132 of the photovoltaic panel.

[0028] Understandably, when the azimuth angle of the photovoltaic panel 200 needs to be adjusted, the first servo motor 15 can be started. Driven by the first servo motor 15, the pinion 14 rotates, causing the inner ring and the photovoltaic support frame 13 above it to rotate accordingly. Once the desired position is reached, the first servo motor 15 is stopped to achieve the required azimuth angle adjustment. When the elevation angle of the photovoltaic panel 200 needs to be adjusted, the first motor 122 can be started. Driven by the first motor 122, the cam 121 rotates, as shown in Figures 1 to 2. Figure 7 As shown, when cam 121 rotates in the reverse direction, the bottom end of push rod 123 will be pushed upward, causing push rod 123 to move upward, which in turn causes one side of the photovoltaic panel main frame 132 connected to push rod 123 to move upward. The entire photovoltaic panel main frame 132 rotates counterclockwise around its hinge point, realizing the adjustment of its elevation angle. Conversely, when cam 122 rotates clockwise, the bottom end of push rod 123 will be pulled downward, push rod 123 will move downward, and photovoltaic panel main frame 132 will rotate clockwise, realizing the adjustment of its elevation angle in the opposite direction.

[0029] In some embodiments of the present invention, such as Figures 1 to 12As shown, the elevation adjustment unit 13 may further include a rope winding rod assembly 17 for auxiliary tilting. The rope winding rod assembly 17 may include a winding motor 171, a rope winding rod 172, a wire rope assembly 173, and a tensioner 174. The rope winding rod 172 is rotatably mounted on the photovoltaic support frame 13. There are two wire rope assemblies 173, which are respectively arranged at both ends of the rope winding rod 172. Each wire rope assembly includes two first wire ropes. One end of the two first wire ropes in the same wire rope assembly is fixedly connected to different positions of the photovoltaic panel main frame 13 through the tensioner 174, and the other end is wound on the rope winding rod 172 in a forward and reverse manner. The winding motor 171 is set inside the rope winding rod 172 and is used to drive the rope winding rod 172 to rotate. The winding and unwinding of the first wire ropes assists the elevation adjustment unit 13 to form a compound drive, jointly tilting the photovoltaic panel main frame 132.

[0030] For example, the rope winding rod 172 is rotatably mounted on the U-shaped bracket 131 via a bearing base. The winding motor 171 is coaxially arranged with the rope winding rod 172 and is fixedly connected to the rope winding rod 172 via a fixing pin. Two first steel wire ropes in the same steel wire rope group are wound on the rope winding rod 172 in a forward and reverse manner. The other ends of the two first steel wire ropes are respectively connected to the two ends of the photovoltaic panel main frame 13 via tensioners 174. The height position of the two ends of the photovoltaic panel main frame 13 can be controlled by winding and unwinding the two first steel wire ropes.

[0031] It is understandable that the elevation angle of the photovoltaic panel main frame 132 can be adjusted by controlling the first motor 122 and the winding motor 171, thereby adjusting the elevation angle of the photovoltaic panel 200 mounted on the photovoltaic panel main frame 132. Specifically, assuming the photovoltaic panel main frame 13 is in the following position... Figure 2 The initial state is shown. When clockwise rotation is required (this clockwise rotation is based on...) Figure 2 (Defining the presented state) When adjusting its elevation angle, the output shaft of the first motor 122 can be controlled to rotate clockwise. The cam 121 rotates clockwise under the drive of the first motor 122, and the bottom end of the push rod 123 will be pulled downward. The push rod 123 moves downward, and the right side of the photovoltaic panel main frame 132 is pulled downward. At the same time, the output shaft of the control winding motor 171 also rotates clockwise, driving the winding rod 172 to rotate clockwise. The first steel wire rope on the right side of the winding rod 172 is wound around the winding rod 172, and the first steel wire rope on the left side of the winding rod 172 is released from the winding rod 172. During the winding process, the first steel wire rope on the right side will also generate a downward pull on the right end of the photovoltaic panel main frame 132, which in turn generates a downward push on the top of the push rod 123, assisting the push rod 123 to move downward. The two constitute a compound drive, jointly controlling the rotation of the photovoltaic panel main frame 132 clockwise, thereby realizing the adjustment of its elevation angle.

[0032] Conversely, when the elevation angle of the photovoltaic panel main frame 132 needs to be adjusted counterclockwise, the output shafts of the first motor 122 and the winding motor 171 can be controlled to rotate counterclockwise. On one hand, the cam 121 rotates counterclockwise under the drive of the first motor 122, and the bottom end of the push rod 123 will receive an upward thrust from the cam 121. The push rod 123 moves upward, and the right side of the photovoltaic panel main frame 132 receives an upward thrust. On the other hand, the winding rod 172 rotates counterclockwise under the control of the winding motor 171. The first wire rope on the left side of the winding rod 172 is wound around the winding rod 172, and the first wire rope on the right side of the winding rod 172 is released from the winding rod 172. During the winding process, the first wire rope on the left side will generate a downward pulling force on the left end of the photovoltaic panel main frame 132. The push rod 123 and the wire rope group form a compound drive, which jointly controls the photovoltaic panel main frame 132 to rotate counterclockwise, thereby realizing the adjustment of its elevation angle.

[0033] In view of this, in order to further improve the synchronization between the push rod 123 and the rope winding rod 172, the cam 121 can be directly mounted on the rope winding rod 172, such as... Figures 8 to 12 As shown. At this point, the first motor 122 can be omitted, that is, driven by the winding motor 171, the winding rod 172 and the cam 121 will rotate synchronously. The first steel wire ropes on both sides of the winding rod 172 will be wound on the winding rod 172 in a forward and reverse manner, and the first steel wire rope on the shorter side will generate a certain tension on the same side of the photovoltaic panel main frame 132; at the same time, the push rod 123 also moves up and down with the rotation of the cam 121, and can work together with the first steel wire rope to exert a force on the photovoltaic panel main frame 132, thereby realizing the adjustment of its elevation angle.

[0034] In some embodiments of the present invention, the flexible photovoltaic curtain mechanism 20 may include a curtain body 21, a roller 22, and a guide and tilt angle adjustment assembly 24. The curtain body 21 may be formed by encapsulating flexible thin-film solar cells within a composite material frame. The roller 22 is used to roll up or unroll the curtain body 21. A second servo motor 23 is installed inside the roller 22 and is connected to the roller 22 to drive the roller 22 to rotate. The guide and tilt angle adjustment assembly 24 includes a counterweight guide rod 241 and two sets of winches 243 independently driven by stepper motors 242. The counterweight guide rod 241 is fixed to the lower end of the curtain body 21 and is connected to the winches 243 through a second steel wire rope 244. By controlling the difference in the length of the second steel wire ropes 244 on both sides, the tilt angle of the curtain body 21 can be infinitely adjusted.

[0035] For example, the flexible photovoltaic curtain mechanism 20 can be installed on the top or end of the main frame 132 of the photovoltaic panel via a bracket. Taking the installation at the end of the main frame 132 of the photovoltaic panel as an example, specifically: a U-shaped mounting base 245 is installed at the end of the main frame 132 of the photovoltaic panel, and a roller 22 is rotatably mounted on the U-shaped mounting base 245. The upper end of the curtain body 21 is connected to the roller 22, and the lower end is connected to the counterweight guide rod 241. The second servo motor 23 is a bidirectional servo motor, located inside the roller 22, and drives the roller 22 to rotate. More preferably, the roller 22 and the second servo motor 23 can be driven by a 1:15 planetary reducer. Two winches 243 and two stepper motors 242 that drive the winches 243 are arranged correspondingly at the two ends below the roller 22 on the U-shaped mounting base 245. A second steel wire rope 244 is wound on each of the two winches 243, and the other end of the second steel wire rope 244 is connected to both ends of the counterweight guide rod 241.

[0036] Understandably, by controlling the second servo motor 23, the rotation and direction of the roller 22 can be controlled, thereby controlling the winding of the curtain 21. For example, when it is necessary to increase the shading or power generation area, the second servo motor 23 can be controlled to release the curtain 21, which naturally droops under the action of gravity and the counterweight guide rod 241. When winding, the second servo motor 23 reverses to wind the curtain 21 back onto the winding shaft. More preferably, a set of spiral spring tension balancing devices can be installed inside each end of the roller 22 to ensure uniform lateral tension of the curtain 21 during unfolding, ensuring the curtain is flat and avoiding jamming. When the curtain 21 is unfolded to the required size, the differential operation of the stepper motors 242 on both sides can be controlled, and the second steel wire rope 244 on one side can be tightened or loosened by the winch 243, causing one end of the counterweight guide rod 241 to rise or fall, thereby achieving stepless adjustment of the curtain 21's tilt angle and precisely controlling the light transmission area and light spot distribution.

[0037] In some embodiments of the present invention, the moving unit 30 includes a moving slider 31 and a driving unit. The moving slider 31 is installed in a guide groove 133 on the main frame 132 of the photovoltaic panel. The driving unit includes an explosion-proof motor, a drum, and a third steel wire rope for pulling the moving slider 31 along a track. The explosion-proof motor is mounted on the drum and drives the drum to rotate. The entire drum is rotatably mounted on the main frame 132 of the photovoltaic panel. One end of the third steel wire rope is wound on the drum, and the other end is connected to the moving slider 31. The guide grooves 133 on the main frame 132 of the photovoltaic panel are symmetrically opened on two opposite inner sidewalls of the main frame 132 of the photovoltaic panel, and each guide groove 133 is provided with a moving slider 31. A photovoltaic panel 200 is installed above the two opposite moving sliders 31.

[0038] For example, the guide groove 133 can be a T-shaped guide groove with reinforcing ribs spaced 500mm apart inside. The movable slider 31 can adopt a double V-shaped roller structure, made of MC nylon, with embedded double-row deep groove ball bearings. The movable slider 31 can be connected to the photovoltaic panel main frame 132 via a quick-release pin.

[0039] Understandably, the explosion-proof motor drives the drum to rotate, and the third steel wire rope pulls the movable slider 31 and the photovoltaic panel 200 mounted on the movable slider 31 to slide on the guide groove 133. The position of the photovoltaic panel 200 can be adjusted by adjusting the position of the movable slider 31, thereby controlling the light transmission area and light spot distribution. Of course, the position of the movable slider 31 can also be adjusted to install photovoltaic panels 200 of different sizes, thus broadening the range of applications.

[0040] In view of this, the guide chute 133 can be provided with two or more movable sliders 31. The movable slider 31 closest to the drum is connected to the drum via a third steel wire rope. Any two adjacent movable sliders 31 are equidistant and are fixed by a connecting rod. This allows multiple photovoltaic panels 200 of the same size to be installed as needed. For example, multiple photovoltaic panels 200 can be installed at intervals on the movable sliders 31. By adjusting the movable slider 31 closest to the drum, the position of all photovoltaic panels 200 can be adjusted to accommodate plants arranged at equal intervals. This allows for the realization of light energy without affecting plant photosynthesis, thus improving agricultural adaptability.

[0041] In some embodiments of the present invention, the adjustable height support column 40 may include a double-tube telescopic structure, a height adjustment transmission mechanism, and a ball joint base 45: the double-tube telescopic structure includes a square steel tube 41 and a round steel tube 42 sleeved inside the square steel tube 41; the height adjustment transmission mechanism includes a third servo motor 43 and a nut 44 rotatably mounted on the square steel tube 41, the third servo motor 43 being connected to the nut 44; the ball joint base 45 is mounted on the bottom of the square steel tube 41 to adapt to ground unevenness; wherein, the lower end of the outer wall of the round steel tube 42 is provided with a thread that mates with the nut 44, the third servo motor 43 drives the nut 44 to rotate, thereby driving the round steel tube 42 to move linearly along its axial direction, realizing the height adjustment of the entire support column.

[0042] In some embodiments of the present invention, the control system integrates data from a light sensor, a wind speed sensor, an encoder, and a position sensor, and executes the following control logic: Based on real-time sensor data, a rigid dual-axis tracking mechanism is controlled to perform high-precision light tracking. Based on a preset crop light requirement model, the degree of unfolding and tilt angle of the flexible photovoltaic curtain mechanism 20 are controlled to adjust the light transmission area and light spot distribution. Based on agricultural operational needs or light optimization goals, control the spatial adjustment and support system, move and / or adjust the height of photovoltaic units to reconfigure the spatial layout.

[0043] Specifically, the light sensor can be installed in the non-shaded area (such as the top frame) of the photovoltaic panel main frame 132 to provide information on the sun's position, light intensity, and irradiance, and to directly measure the effective irradiance received by the module plane. Usually, more than two sensors need to be installed, arranged diagonally or at the four corners, to help determine whether the light is blocked by nearby objects or the structure itself, which is beneficial for optimized tracking in cloudy weather.

[0044] The wind speed sensor can be installed in the system area, away from interference from the photovoltaic modules and building wakes. The optimal location is the top of a standalone meteorological mast, higher than the highest point of the photovoltaic array. It is typically required to be installed upwind of the array, at least 10 meters from the array edge.

[0045] The encoders are rotary encoders, multiple of which can be installed in the rigid dual-axis tracking mechanism 10 and the flexible photovoltaic curtain mechanism 20, respectively, as follows: One encoder is installed at the rear end of the first servo motor 15 to provide real-time feedback on the rotation angle of the pinion 14, which is then converted into the azimuth angle of the photovoltaic panel main frame 132 through the transmission ratio. Another encoder is installed at the rear end of the first motor 122 within the elevation adjustment unit 13 to detect step loss and provide absolute position feedback, ensuring accurate rotation of the cam 121. A third encoder is installed inside the winding motor 171 of the rope winding rod 172 or on its output shaft to provide feedback on the winding and unwinding length of the first steel wire rope, thereby accurately calculating and controlling the elevation angle of the photovoltaic panel main frame 132. A fourth encoder is installed in the second servo motor 23 of the flexible photovoltaic curtain mechanism 20 to provide feedback on the number of rotations of the winding shaft 22, accurately controlling the unfolding / winding length of the curtain. Finally, a fifth encoder is installed on the stepper motor 242 of the flexible curtain tilt adjustment winch to provide feedback on the rotation angle of the winch 243, accurately calculating the length difference of the second steel wire ropes 244 on both sides, thereby determining the tilt angle of the curtain 21.

[0046] Position sensors may include absolute encoders, tilt sensors, and limit switches. Specifically: a dual-axis tilt sensor is installed on the main beam of the rigid photovoltaic support to directly measure the actual elevation and roll angles (levelness) of the photovoltaic panels 200°, used to calibrate the angles calculated by the encoder and detect deviations caused by structural deformation or wind load. An absolute multi-turn encoder is installed near the internal gear ring bearing to directly read the absolute rotation angle of the slewing bearing, serving as the origin calibration for the azimuth angle and a backup for power-off memory. Additionally, mechanical limit switches or proximity switches can be installed at the azimuth rotation limit, elevation adjustment limit, and curtain retraction limit as final hardware protection against overtravel.

[0047] The control system integrates data from various sensors, executes preset control logic, controls the rigid dual-axis tracking mechanism for high-precision light tracking, controls the unfolding degree and tilt angle of the flexible photovoltaic curtain mechanism 20 to adjust the light transmission area and light spot distribution, controls the spatial adjustment and support system, and moves and / or adjusts the height of the photovoltaic units to reconstruct the spatial layout.

[0048] In some embodiments of the present invention, when the elevation angle of the rigid dual-axis tracking mechanism is adjusted to a high angle, the elevation angle adjustment unit utilizes the contour characteristics of the cam and push rod mechanism to achieve mechanical self-locking in order to resist wind load.

[0049] This invention also proposes a control method for an agricultural photovoltaic system, applied to the aforementioned system, the method comprising: Obtain current ambient light data and the light requirement model for the target crop; Based on data and models, a first control command is generated to control the rigid dual-axis tracking mechanism for solar power generation, and a second control command is generated to control the flexible photovoltaic curtain mechanism for shading and light transmission adjustment. Based on agricultural operation plans or real-time optimization strategies, generate third control commands for controlling the spatial adjustment and support system to move or raise photovoltaic units; The system coordinates the execution of the first, second, and third control commands to achieve the optimal match between power generation efficiency and the light environment requirements of crops.

[0050] In summary, this invention, through the above technical solution, creatively integrates high-precision photovoltaic tracking, dynamic spatial structure, and intelligent agricultural light management, achieving a comprehensive improvement from mechanical design and system control to final benefits, specifically reflected in the following three aspects: 1. This invention fundamentally breaks through the limitations of traditional photovoltaic agricultural systems with their single function, achieving simultaneous improvement in energy production and agricultural production quality. On the one hand, thanks to its dual-mode tracking structure, the system can maximize solar energy capture. The rigid dual-axis mechanism achieves high-precision light tracking, while the flexible curtain mechanism serves as a supplementary power generation surface and participates in dynamic shading adjustment. Actual measurement data shows that the system's total power generation is 30.5% higher than a fixed-tilt system and 18.2% higher than a single-axis tracking system, significantly improving power generation efficiency. On the other hand, the flexible photovoltaic curtain mechanism achieves stepless and precise control of light transmittance, dynamically managing illumination according to crop light requirements. Application results show that the uniformity of illumination below the system is improved by 40%, effectively avoiding localized crop scorching and excessive vegetative growth. Ultimately, crop yield increases by 15-20% year-on-year, and marketable indicators such as leaf morphology and color are significantly optimized, achieving a leap from "ensuring yield" to "superior yield."

[0051] 2. This invention, through ingenious mechanical innovation and deeply integrated intelligent control, ensures high reliability and low operating costs for the system in complex agricultural environments. On one hand, the rigid mechanism employs a "cam-push rod" elevation angle adjustment design, which possesses mechanical self-locking characteristics at high elevation angles, resulting in strong wind resistance. Tests show that under level 8 wind conditions, its structural sway is reduced by 60% compared to traditional electric push rod systems. When encountering level 10 strong winds, the system can automatically execute safety strategies, entering a wind-resistant posture to effectively protect structural safety and demonstrate outstanding wind resistance stability. On the other hand, the lightweight design of the flexible mechanism (weighing only 1 / 8 of the rigid structure) reduces its drive power consumption by 65%. Simultaneously, the modular spatial support structure and status-based intelligent early warning and diagnosis reduce daily maintenance workload by more than 50% and shorten the average fault handling time by 40%, significantly reducing the system's total lifecycle operating costs.

[0052] 3. This invention transforms the photovoltaic system from a static arrangement into a dynamically reconfigurable intelligent three-dimensional architecture, greatly releasing the potential for land and space utilization and maximizing the efficiency of spatial resource utilization. On the one hand, through a dynamic support system composed of movable units and adjustable-height support columns, the position and height of the photovoltaic units can be flexibly reorganized according to crop type, growth stage, and season, realizing the coordinated utilization of three-dimensional space. This allows the same plot to efficiently adapt to the rotation or intercropping of tall and short crops, increasing the comprehensive land utilization rate by more than 25%. On the other hand, the deep integration of mechanical structure and intelligent control ensures the precision and coordination of multi-degree-of-freedom movements. The system is no longer a simple superposition of power generation and planting, but can dynamically optimize in the temporal and spatial dimensions according to the needs of sunlight, weather, and agronomy, ultimately achieving efficient coordination and maximization of benefits of "light-electricity-agriculture" in three-dimensional space.

[0053] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0054] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0058] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics, characterized in that, include: The dual-mode photovoltaic tracking system integrates a rigid dual-axis tracking mechanism and a flexible photovoltaic curtain mechanism to work together to achieve photovoltaic power generation and light management. The spatial adjustment and support system includes a moving unit and an adjustable height support column, which provides stable, position-adjustable foundation support for the dual-mode photovoltaic tracking system in three-dimensional space. The control system, based on multi-sensor fusion, is used to drive and coordinate the operation of the dual-mode photovoltaic tracking system and the spatial adjustment and support system. The rigid dual-axis tracking mechanism includes: A photovoltaic bracket rotating base is provided, wherein the photovoltaic bracket rotating base is an internal gear ring bearing, the outer ring of the internal gear ring bearing is fixed to the top of the adjustable height support column, and the inner ring of the internal gear ring bearing is connected to the photovoltaic support frame. The photovoltaic support frame includes a U-shaped bracket and a photovoltaic panel main frame that is rotatably mounted on the top of the U-shaped bracket. A pinion gear is meshed on the inner side of the internal gear ring bearing, and the pinion gear is connected to a first servo motor to control the first servo motor to achieve azimuth angle adjustment of the photovoltaic panel main frame within the range of 0-360°. The elevation angle adjustment unit includes a cam, a push rod, and a first motor. The first motor drives the cam to rotate, converting the rotational motion into linear displacement of the push rod, thereby pushing the main frame of the photovoltaic panel to rotate around its bottom horizontal axis to achieve elevation angle adjustment. The flexible photovoltaic curtain mechanism includes: The curtain includes a flexible thin-film solar cell encapsulated within a composite material frame; A roller is used to roll up or unroll the curtain. A second servo motor is installed inside the roller and is connected to the roller to drive the roller to rotate. The guide and tilt angle adjustment assembly includes a counterweight guide rod and two sets of winches independently driven by stepper motors. The counterweight guide rod is fixed to the lower end of the curtain and connected to the winches through a second steel wire rope. By controlling the difference in the length of the second steel wire ropes on both sides, the tilt angle of the curtain can be infinitely adjusted. The mobile unit includes: The movable slider is installed in a guide groove on the main frame of the photovoltaic panel. The drive unit includes an explosion-proof motor, a drum, and a third steel wire rope for pulling the moving slider along the track; the explosion-proof motor is mounted on the drum and drives the drum to rotate; the entire drum is rotatably mounted on the main frame of the photovoltaic panel; one end of the third steel wire rope is wound on the drum, and the other end is connected to the moving slider. Among them, the guide grooves on the main frame of the photovoltaic panel are symmetrically opened on two opposite inner side walls of the main frame of the photovoltaic panel, and each guide groove is equipped with a movable slider. The adjustable height support column includes: A double-tube telescopic structure, comprising a square steel tube and a round steel tube sleeved inside the square steel tube; A height adjustment transmission mechanism, comprising a third servo motor and a nut rotatably mounted on the square steel tube, wherein the third servo motor is connected to the nut; A ball joint base is mounted on the bottom of the square steel tube to adapt to uneven ground. The lower end of the outer wall of the round steel pipe is provided with a thread that mates with the nut. The third servo motor drives the nut to rotate, thereby driving the round steel pipe to move linearly along its axial direction, thus realizing the height adjustment of the entire support column.

2. The adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics according to claim 1, characterized in that, The elevation adjustment unit also includes a rope winding rod assembly for auxiliary tilting, the rope winding rod assembly comprising: A rope reel, which is rotatably mounted on the photovoltaic support frame; There are two wire rope groups, which are respectively arranged at both ends of the rope winding rod. Each wire rope group includes two first wire ropes. One end of the two first wire ropes in the same wire rope group is fixedly connected to different positions of the main frame of the photovoltaic panel by a tensioner, and the other end is wound around the rope winding rod in a positive and negative manner. A coil motor is installed inside the rope winding rod to drive the rope winding rod to rotate. The coil motor assists the tilt angle adjustment unit in forming a compound drive through the winding and unwinding of the first steel wire rope, together tilting the main frame of the photovoltaic panel.

3. An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics according to claim 1 or 2, characterized in that, The control system integrates data from light sensors, wind speed sensors, encoders, and position sensors, and executes the following control logic: Based on real-time sensor data, the rigid dual-axis tracking mechanism is controlled to perform high-precision light tracking. Based on a preset crop light requirement model, the degree of unfolding and tilt angle of the flexible photovoltaic curtain mechanism are controlled to adjust the light transmission area and light spot distribution. Based on agricultural operational needs or light optimization goals, the spatial adjustment and support system is controlled to move and / or adjust the height of the photovoltaic units to reconfigure the spatial layout.

4. An adjustable dual-mode tracking and spatial adjustment system for agricultural photovoltaics according to claim 1 or 2, characterized in that, When the elevation angle of the rigid dual-axis tracking mechanism is adjusted to a high angle, the elevation angle adjustment unit utilizes the contour characteristics of the cam and push rod mechanism to achieve mechanical self-locking in order to resist wind load.

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