Solar support intelligent direction adjusting control system based on multi-sensor fusion

Abstract

The invention discloses a solar support intelligent direction adjusting control system based on multi-sensor fusion, and the system comprises an illumination sensor array which is used for monitoring the light intensity distribution in real time; the illumination sensor array is composed of photosensitive resistors installed in at least four directions of the solar support, the photosensitive resistors are distributed orthogonally or annularly, the photosensitive surface of each photosensitive resistor and the surface of the solar support form different inclination angles, and the photosensitive resistors in at least two directions are used for detecting the height angle of sunlight. The photoresistors in at least two directions are used for detecting the azimuth angle of sunlight; the voltage division circuit is connected to the photoresistor and outputs a voltage signal in proportion to the light intensity; the attitude monitoring module is used for monitoring the elevation angle and the azimuth angle of the solar bracket in real time; and the control module is used for calculating the azimuth angle and the elevation angle of the sunlight according to the output voltage signal of the photoresistor, and adjusting the elevation angle and the azimuth angle of the solar bracket in real time according to the calculated azimuth angle and the elevation angle of the sunlight.

Description

Technical Field

[0001] This invention relates to the field of solar photovoltaic power generation technology, and in particular to an intelligent orientation control system for solar brackets based on multi-sensor fusion. Background Technology

[0002] The power generation efficiency of solar photovoltaic (PV) modules largely depends on their efficiency in absorbing solar radiation. Although fixed solar panels have a simple structure, they cannot be adjusted in real time according to the sun's trajectory, causing the PV modules to be at a suboptimal angle most of the time, thus affecting the overall power generation.

[0003] Existing automatic solar tracking systems mostly rely on single sensors, such as photoresistor sensors or GPS positioning systems, which have the following shortcomings: The reliability of a single data source is poor; the light sensor will produce errors in cloudy, rainy, snowy, or dusty conditions. Control accuracy is insufficient; relying solely on angle sensors or time-based calculations may lead to accumulated errors, making accurate tracking impossible. Energy consumption and stability are also issues; some systems increase energy consumption during frequent adjustments and exhibit poor stability under wind loads.

[0004] Therefore, there is an urgent need for a solar support orientation control system that integrates information from multiple sensors and has intelligent judgment and adaptive capabilities to improve the light energy utilization efficiency of photovoltaic modules and the reliability of the system. Summary of the Invention

[0005] To address the aforementioned shortcomings, the present invention provides a smart orientation control system for solar power brackets based on multi-sensor fusion. By integrating data from multiple sources such as light sensors, gyroscopes, accelerometers, GPS, and wind speed sensors, the system achieves high-precision tracking of the sun's position while simultaneously considering energy consumption, stability, and anti-interference capabilities, thereby significantly improving photovoltaic power generation efficiency and system reliability.

[0006] The first aspect of this invention provides an intelligent orientation control system for a solar panel support based on multi-sensor fusion. The system includes: a light sensor array for real-time monitoring of light intensity distribution; the light sensor array consists of photoresistors installed in at least four directions on the solar panel support, the photoresistors being orthogonally or circularly distributed, and the photosensitive surface of each photoresistor forming a different tilt angle with the surface of the solar panel support; wherein at least two photoresistors are used to detect the altitude angle of sunlight, and at least two photoresistors are used to detect the azimuth angle of sunlight; a voltage divider circuit is connected to the photoresistors and outputs a voltage signal proportional to the light intensity; and an attitude monitoring module is used to monitor the altitude and azimuth angles of the solar panel support in real time.

[0007] The control module is used to calculate the azimuth and elevation angles of sunlight based on the output voltage signal of the photoresistor, and to adjust the elevation and azimuth angles of the solar support in real time based on the calculated azimuth and elevation angles of sunlight.

[0008] According to one embodiment of the present invention, the control module includes: a first calculation unit for normalizing the voltage output signal of the photoresistor; a second calculation unit for calculating the azimuth angle of sunlight based on the voltage difference between the photoresistors in at least two directions; a third calculation unit for calculating the altitude angle of sunlight based on the voltage difference between the photoresistors in at least two directions; and a fourth calculation unit for comparing the calculated azimuth and altitude angles of sunlight with the altitude and azimuth angles of the solar support monitored by the attitude monitoring module, and adjusting the altitude and azimuth angles of the solar support in real time.

[0009] According to one embodiment of the present invention, the voltage output signal of the photoresistor is normalized, including: Calculate the first output voltage corresponding to the photoresistor for:

[0010] in, This is the power supply voltage. This represents the resistance value of the i-th photoresistor. This represents a fixed resistor; The output voltage Normalization, the formula is as follows:

[0011] and These are the first and second threshold values ​​for the output voltage of the photoresistor, respectively. This is the normalized voltage value.

[0012] According to one embodiment of the present invention, the calculation of the first azimuth angle value of sunlight based on the voltage difference of photoresistors in at least two directions is as follows:

[0013] in, These are the normalized voltage values ​​of the photoresistors in the two directions. This is the first calibration constant.

[0014] According to one embodiment of the present invention, the calculation of the first altitude angle value of sunlight based on the voltage difference of photoresistors in at least two directions is as follows:

[0015] in, These are the normalized voltage values ​​of the photoresistors in the two directions. This is the second calibration constant.

[0016] According to one embodiment of the present invention, the control module further includes a calibration unit for calibrating the solar altitude angle and azimuth angle values, including: Based on the obtained first azimuth angle and first elevation angle of the sunlight, and the azimuth and elevation angles of each photoresistor, the incident angle of sunlight illuminating each photoresistor is obtained. The formula is as follows:

[0017] in, Let represent the azimuth angle of the i-th photoresistor. This represents the elevation angle of the i-th photoresistor.

[0018] Based on the calculated angle of sunlight incident on each photoresistor Calculate the second output voltage value of each corresponding photoresistor. The formula is as follows:

[0019] Where k represents the third proportionality constant, Indicates the circuit bias voltage. This indicates the intensity of sunlight incident perpendicularly.

[0020] The first output voltage With the second output voltage value The difference between them is used to calibrate the first azimuth angle value, the first altitude angle value, the second azimuth angle value, and the second altitude angle value of the sunlight respectively through the gradient descent algorithm.

[0021] According to an embodiment of the present invention, the first calibration constant is adjusted periodically. Second calibration constant .

[0022] According to one embodiment of the present invention, the system further includes: a GPS module for acquiring geographical location and time information; and a time module for calculating the sun's position.

[0023] According to one embodiment of the present invention, the control module further includes: a detection unit, configured to detect whether the output voltage signal of the photoresistor is less than a first voltage threshold; if the output voltage signal of the photoresistor is less than the first voltage threshold, the azimuth and elevation angles of the sunlight are obtained according to the GPS module and the time module; if the output voltage signal of the photoresistor is not less than the first voltage threshold, the azimuth and elevation angles of the sunlight are calculated based on the output voltage signal of the photoresistor.

[0024] The second aspect of the present invention discloses an intelligent orientation control method for a solar panel support based on multi-sensor fusion, comprising: arranging an orthogonally distributed array of light sensors on the solar panel support, the array of light sensors including photoresistors in at least four directions, and each photoresistor having its photosensitive surface tilted at a different angle to the surface of the solar panel support, wherein at least two photoresistors are used to detect the altitude angle of sunlight, and at least two photoresistors are used to detect the azimuth angle of sunlight.

[0025] The photoresistor is connected to a voltage divider circuit, which outputs a voltage signal proportional to the intensity of sunlight.

[0026] The elevation and azimuth angles of the solar panel support are monitored in real time, and the azimuth and elevation angles of sunlight are calculated based on the voltage difference of the photoresistor. The elevation and azimuth angles of the solar panel support are then adjusted in real time based on the calculated azimuth and elevation angles of sunlight.

[0027] The beneficial effects provided by this invention are as follows: First, by using multi-sensor fusion, deviations caused by shadows, dust, or weather affecting a single sensor are avoided, achieving high tracking accuracy in both sunny and cloudy conditions. Threshold normalization eliminates the influence of factors such as ambient temperature, device discreteness, and differences in photoresistor sensitivity, improving the stability of sensor signals. Second, a preliminary estimate of the sun's position is directly obtained through the difference mapping formula, reducing complex optical modeling, enabling rapid response to changes in the sun's position, and maintaining high real-time performance. It not only calculates the sun's position but also compares it with the actual angle of the support frame, forming a closed-loop control to prevent the system from gradually deviating due to accumulated errors, ensuring that the solar panel support frame is always aligned with the sun and does not deviate due to hardware drift or calculation errors, reducing the frequency of manual maintenance. Furthermore, the introduction of GPS and a time module allows the system to obtain the sun's position through astronomical algorithms even in cloudy, foggy, or unevenly lit conditions, improving the system's reliability under complex weather conditions and preventing loss of function due to the failure of a single sensor. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0029] Figure 1 This is a block diagram of a smart orientation control system for solar panels based on multi-sensor fusion, as disclosed in an embodiment of the present invention. Figure 2 This is another block diagram of the intelligent orientation control system for solar brackets based on multi-sensor fusion disclosed in an embodiment of the present invention.

[0030] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0031] 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 numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0032] In this embodiment, as Figure 1 As shown, the solar panel mounting orientation control system based on multi-sensor fusion includes: a photoresistor sensor array, using at least four photoresistors, mounted on the solar panel mounting bracket or a dedicated fixed platform, arranged orthogonally or in a ring. Each photoresistor's photosensitive surface has a specific tilt angle relative to the bracket surface to produce a differentiated response to the direction of sunlight incidence. Specifically, LDR1 and LDR2 are symmetrically tilted along an east-west axis for detecting the azimuth angle. The LDR3 and LDR4 are tilted symmetrically along the north-south axis to detect the elevation angle. Variations. The tilt angle ranges from 15° to 45°, with the specific angle optimized based on the application scenario.

[0033] The photoresistors are arranged in an asymmetrical design to ensure that unique intensity response modes are generated under different incident angles of sunlight, thus avoiding ambiguity in angle calculations.

[0034] Each photoresistor is connected in series with a fixed resistor in a voltage divider circuit, outputting a voltage signal proportional to the light intensity. The output voltage of the voltage divider circuit... for:

[0035] in, This is the power supply voltage. This represents the resistance value of the i-th photoresistor, in relation to the light intensity. Inversely proportional. This indicates a fixed resistor, used to optimize the voltage output range.

[0036] The light intensity received by the photoresistor Following the law of cosines, and the angle of incidence of sunlight The relevant formulas are as follows:

[0037] in, Indicates the maximum intensity of sunlight; This represents the angle between the direction of sunlight and the normal to the surface of the i-th photoresistor.

[0038] The azimuth and elevation angles of sunlight are calculated by comparing the voltage difference between photoresistors. The specific steps are as follows: An operational amplifier is used to amplify the voltage signal output by the photoresistor to improve resolution in low light intensity, especially in cloudy conditions.

[0039] To eliminate the influence of absolute light intensity, the voltage signal is normalized, and the normalized signal of the i-th photoresistor is calculated:

[0040] in, To obtain the original voltage signal, and To obtain the maximum and minimum values ​​of the output voltage of the photoresistor, It is the normalized voltage value, which is limited to the range of 0 to 1.

[0041] This method allows you to convert the voltage output of a photoresistor into a standardized signal, facilitating subsequent processing or comparison with signals from other sensors.

[0042] Assume LDR1 is an east-facing photoresistor and LDR2 is a west-facing photoresistor. The voltage difference between them is:

[0043] Azimuth It can be approximated as:

[0044] in, The calibration constant, determined experimentally or through geometric analysis, depends on the tilt angle of the LDR. Normalized difference Eliminate the influence of absolute light intensity and highlight angular differences.

[0045] LDR3 is a north-facing photoresistor, and LDR4 is a south-facing photoresistor used for elevation angle detection. The voltage difference is: Altitude angle The calculation is as follows:

[0046] in, This represents the north-south calibration constant.

[0047] To improve accuracy, a more complex cosine model is used, taking into account the incident angle of each LDR. :

[0048] in, This represents the azimuth angle of the i-th LDR. This represents the elevation angle of the i-th LDR.

[0049] Voltage Proportional to light intensity:

[0050] Where k represents the proportionality constant, This indicates the circuit bias voltage.

[0051] By measuring the voltage of all LDRs as described above Construct a system of equations and solve it using numerical optimization. and :

[0052] Optimize using gradient descent algorithm and To minimize the error.

[0053] Through iterative updates and , so that the objective function The value gradually decreases, and the update rule is: ,

[0054] Where A is the learning rate. , Let be the partial derivatives of the objective function with respect to the azimuth and elevation angles, respectively, representing the changes of the error function, which is the objective function, in these parameter directions.

[0055] Under conditions of cloud cover or diffused light, the difference in light intensity decreases. The system can be configured to set a threshold to detect low-contrast situations and estimate light intensity by combining historical solar trajectory data. and .

[0056] Regularly use the known sun position for calibration and adjustment. and To adapt to the aging of LDRs or environmental changes.

[0057] By optimizing the LDR tilt angle and calibration, the system achieves a phase angle accuracy of ±1°, suitable for most solar tracking needs. The asymmetric LDR array design, combined with light intensity difference calculation, is lower in cost and simpler in structure compared to traditional photodiode or CCD camera systems, and requires no complex optical or GPS assistance. An environmental correction module and adaptive algorithms ensure stable operation under complex lighting conditions.

[0058] A microcontroller processes the signals, calculates the phase angle, and generates adjustment commands. These commands drive a dual-axis motor to align the solar panel with the direction of sunlight.

[0059] like Figure 2 As shown, the system also includes: a GPS module for acquiring geographical location and time information; and a time module for calculating the sun's position.

[0060] The control module further includes: a detection unit, used to detect whether the output voltage signal of the photoresistor is less than a first voltage threshold; if the output voltage signal of the photoresistor is less than the first voltage threshold, the azimuth and elevation angles of the sunlight are obtained according to the GPS module and the time module; if the output voltage signal of the photoresistor is not less than the first voltage threshold, the azimuth and elevation angles of the sunlight are calculated based on the output voltage signal of the photoresistor.

[0061] The second aspect of the present invention discloses an intelligent orientation control method for a solar panel support based on multi-sensor fusion, comprising: arranging an orthogonally distributed array of light sensors on the solar panel support, the array of light sensors including photoresistors in at least four directions, and each photoresistor having its photosensitive surface tilted at a different angle to the surface of the solar panel support, wherein at least two photoresistors are used to detect the altitude angle of sunlight, and at least two photoresistors are used to detect the azimuth angle of sunlight.

[0062] The photoresistor is connected to a voltage divider circuit, which outputs a voltage signal proportional to the intensity of sunlight.

[0063] The elevation and azimuth angles of the solar panel support are monitored in real time, and the azimuth and elevation angles of sunlight are calculated based on the voltage difference of the photoresistor. The elevation and azimuth angles of the solar panel support are then adjusted in real time based on the calculated azimuth and elevation angles of sunlight.

[0064] The beneficial effects provided by this invention are as follows: First, by using multi-sensor fusion, deviations caused by shadows, dust, or weather affecting a single sensor are avoided, achieving high tracking accuracy in both sunny and cloudy conditions. Threshold normalization eliminates the influence of factors such as ambient temperature, device discreteness, and differences in photoresistor sensitivity, improving the stability of sensor signals. Second, a preliminary estimate of the sun's position is directly obtained through the difference mapping formula, reducing complex optical modeling, enabling rapid response to changes in the sun's position, and maintaining high real-time performance. It not only calculates the sun's position but also compares it with the actual angle of the support frame, forming a closed-loop control to prevent the system from gradually deviating due to accumulated errors, ensuring that the solar panel support frame is always aligned with the sun and does not deviate due to hardware drift or calculation errors, reducing the frequency of manual maintenance. Furthermore, the introduction of GPS and a time module allows the system to obtain the sun's position through astronomical algorithms even in cloudy, foggy, or unevenly lit conditions, improving the system's reliability under complex weather conditions and preventing loss of function due to the failure of a single sensor. Obviously, the above specific implementation examples are merely illustrative of the application of this method and not intended to limit the implementation. Those skilled in the art can make other variations and modifications based on the above description to study other related issues. Therefore, the scope of protection of this invention should be limited to the scope of the claims.

[0065] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0066] The electronic devices and other embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0067] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device to execute the methods described in the various embodiments or some parts of the embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

[0069] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0070] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A solar support intelligent orientation control system based on multi-sensor fusion, characterized in that, The system comprises: a light sensor array for monitoring light intensity distribution in real time; the light sensor array is a photosensitive resistor installed in at least four directions of a solar support, the photosensitive resistor adopts an orthogonal or ring-shaped distribution, and the light-sensitive surface of each photosensitive resistor is inclined at different angles with the surface of the solar support, wherein at least two directions of the photosensitive resistor are used to detect the altitude angle of sunlight, and at least two directions of the photosensitive resistor are used to detect the azimuth angle of sunlight; a voltage dividing circuit connected to the photosensitive resistor and outputting a voltage signal proportional to the light intensity; a posture monitoring module for monitoring the altitude angle and the azimuth angle of the solar support in real time; a control module for calculating the azimuth angle and the altitude angle of the sunlight according to the voltage signal output by the photosensitive resistor, and adjusting the altitude angle and the azimuth angle of the solar support in real time according to the calculated azimuth angle and the altitude angle of the sunlight.

2. The solar rack smart pointing control system of claim 1, wherein, The control module comprises: a first calculation unit for normalizing the voltage output signal of the photosensitive resistor; a second calculation unit for calculating the azimuth angle of the sunlight according to the voltage difference of the photosensitive resistor in at least two directions; a third calculation unit for calculating the altitude angle of the sunlight according to the voltage difference of the photosensitive resistor in at least two directions; a fourth calculation unit for comparing the calculated azimuth angle and the altitude angle of the sunlight with the altitude angle and the azimuth angle of the solar support monitored by the posture monitoring module, and adjusting the altitude angle and the azimuth angle of the solar support in real time.

3. The system of claim 2, wherein, The voltage output signal of the photosensitive resistor is normalized, which comprises: Computing a first output voltage corresponding to the photoresistor is: ; wherein, is a power supply voltage, represents the resistance value of the ith photoresistor, represents a fixed resistance; normalizing the output voltage normalized, as follows: ; and are a first threshold value and a second threshold value, respectively, for the light-dependent resistance output voltage, is the normalized voltage value.

4. The solar rack smart redirect control system of claim 3, wherein, the first azimuth angle of the sunlight is calculated according to the voltage difference of the photosensitive resistor in at least two directions, and the formula is as follows: ; wherein, are the normalized voltage values of the two directional photoresistors, respectively, is a first calibration constant.

5. The solar rack smart redirect control system of claim 4, wherein, the first altitude angle of the sunlight is calculated according to the voltage difference of the photosensitive resistor in at least two directions, and the formula is as follows: ; wherein, are the normalized voltage values of the two directions of the photoresistor, respectively, is a second calibration constant.

6. The solar rack smart redirect control system of claim 5, wherein, The control module further comprises a calibration unit for calibrating the altitude angle and the azimuth angle of the sunlight, which comprises: Based on the obtained first azimuth value and first altitude value of the sunlight and the azimuth and altitude of each photosensitive resistor, the incident angle of the sunlight on each photosensitive resistor is obtained The formula is as follows: ; wherein, denotes the azimuth angle of the i-th photoresistor, denotes the elevation angle of the i-th photoresistor; The second output voltage value of each photoresistor is calculated in accordance with the calculated angle of incidence of sunlight on each photoresistor The second output voltage value of each photoresistor is calculated in accordance with the calculated angle of incidence of sunlight on each photoresistor The second output voltage value of each photoresistor is calculated in accordance with the calculated angle of incidence of sunlight on each photoresistor ; wherein k represents a third proportional constant, represents a circuit bias voltage, represents the intensity of the normally incident sunlight; a difference between the first output voltage and the second output voltage value is calibrated by a gradient descent algorithm respectively to the first azimuth value, the first elevation value, the second azimuth value, and the second elevation value of the sunlight.

7. The solar rack smart reorientation control system of claim 6, wherein, timing adjustment of the first calibration constant and the second calibration constant .

8. The solar rack smart redirect control system of claim 1, wherein, The system further comprises a GPS module for obtaining geographical position and time information, and a time module for calculating the position of the sun.

9. The solar rack smart redirect control system of claim 1, wherein, The control module further comprises a detection unit for detecting whether the output voltage signal of the photosensitive resistor is less than a first voltage threshold value, if the output voltage signal of the photosensitive resistor is less than the first voltage threshold value, the azimuth angle and the altitude angle of the sunlight are obtained according to the GPS module and the time module, and if the output voltage signal of the photosensitive resistor is not less than the first voltage threshold value, the output voltage signal of the photosensitive resistor is used to calculate the azimuth angle and the altitude angle of the sunlight.

10. A solar support intelligent orientation control method based on multi-sensor fusion, applied to the solar support intelligent orientation control system based on multi-sensor fusion in any of claims 1-9, characterized in that, The method comprises: arranging a light sensor array in an orthogonal distribution on the solar support, the light sensor array comprising at least four directions of a photosensitive resistor, and the light-sensitive surface of each photosensitive resistor being inclined at different angles with the surface of the solar support, wherein at least two directions of the photosensitive resistor are used to detect the altitude angle of sunlight, and at least two directions of the photosensitive resistor are used to detect the azimuth angle of sunlight; the photosensitive resistor is connected to a voltage dividing circuit, and outputs a voltage signal proportional to the sunlight intensity; Real-time monitoring of the height angle and azimuth angle of the solar support, calculating the azimuth angle and height angle of the sunlight according to the voltage difference of the photoresistor; real-time adjusting the height angle and azimuth angle of the solar support according to the calculated azimuth angle and height angle of the sunlight.

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