Control method for automatically adjusting photovoltaic panel along with illumination change and mower

Abstract

The invention relates to a control method for automatically adjusting a photovoltaic panel along with illumination change and a mower with the control method. After the light following control program is started, the control panel collects the current voltage of the photovoltaic panel and takes the current voltage as the reference voltage; then, the photovoltaic panel is controlled to change the orientation or position, and then the real-time voltage of the photovoltaic panel is collected; comparing the reference voltage with the real-time voltage to obtain a voltage increment; based on the voltage increment, performing iterative adjustment on the movement of the photovoltaic panel in the corresponding axial direction until the voltage increment in the corresponding axial direction is zero; at the moment, the position of the photovoltaic panel in the corresponding axial direction is updated to the target position in the corresponding axial direction. According to the control method, the position and orientation of the photovoltaic panel can be automatically adjusted based on the illumination change without equipping a sensor with high cost, so that efficient solar energy is obtained.

Description

Technical Field

[0001] This invention relates to garden machinery suitable for automatic lawn mowing, and more particularly to a control method for automatically adjusting photovoltaic panels in response to changes in sunlight, and a lawn mower that executes the control method. Background Technology

[0002] Currently, solar-powered lawnmowers use fixed-installation photovoltaic panels, which means the angle at which the panels receive sunlight is fixed and cannot automatically adjust to the sun's movement.

[0003] CN115777328A discloses a lawnmower with an adjustable photovoltaic panel angle. While this lawnmower can adjust the photovoltaic panel angle to obtain the most efficient solar energy reception angle, this adjustment requires manual intervention and cannot achieve real-time automatic adjustment of the photovoltaic panel angle. When the sun's position changes, if manual adjustment is not made in time, the photovoltaic panel will find it difficult to maintain the optimal light-receiving angle, leading to a decrease in solar energy conversion efficiency. Especially in environments with variable lighting conditions, the lag in manual adjustment will significantly affect the lawnmower's endurance and working time. Furthermore, frequent manual intervention increases the user's operational burden, reduces the lawnmower's ease of use and intelligence, and prevents the full realization of the advantages of solar energy as a clean energy source.

[0004] CN112542989A discloses a photovoltaic panel device that automatically tracks the sun's position, capable of adjusting the panel's position according to changes in sunlight. However, this technical solution requires multiple sensors to detect whether the photovoltaic panel is in the optimal position for receiving sunlight, significantly increasing the cost. Summary of the Invention

[0005] Therefore, the present invention aims to solve the problem that the photovoltaic panels of lawnmowers in the prior art cannot automatically track changes in sunlight to adjust and obtain the optimal solar energy receiving position.

[0006] This invention provides a control method for automatically adjusting a photovoltaic panel to follow changes in sunlight. The method includes the following steps: S1: Start the tracking light control program; S2: Perform light-tracking adjustment on the photovoltaic panel in the X-axis and Y-axis directions respectively; the light-tracking adjustment includes the following steps: collect the current output voltage of the photovoltaic panel as the reference voltage, drive the photovoltaic panel to move a preset distance along the corresponding axis, collect the real-time output voltage of the photovoltaic panel, calculate the voltage increment between the reference voltage and the real-time output voltage, iteratively adjust the movement of the photovoltaic panel along the corresponding axis based on the voltage increment, until the voltage increment along the corresponding axis is zero, and update the position of the photovoltaic panel in the corresponding axis to the target position along the corresponding axis.

[0007] This control method is based on a closed-loop control approach with voltage feedback. It cleverly utilizes the photovoltaic panel itself as a "sensor," directly reflecting the light energy reception status through voltage changes. This eliminates the need for additional hardware such as photosensitive sensors or GPS positioning modules commonly used in traditional light-tracking systems, significantly reducing costs. At the same time, it improves the system's reliability and environmental adaptability, making it particularly suitable for outdoor mobile devices such as lawnmowers. This allows them to efficiently utilize solar energy for charging under complex lighting conditions, extending their battery life.

[0008] In one preferred embodiment, the specific process of adjusting the photovoltaic panel in the X-axis direction for light tracking in step S2 is as follows: the current output voltage of the photovoltaic panel is collected as the initial voltage, the X-axis drive unit of the photovoltaic panel is controlled to drive the photovoltaic panel to move along the X-axis direction by a first preset distance, and the output voltage of the photovoltaic panel after the movement is collected as the secondary voltage; the difference between the initial voltage and the secondary voltage is calculated to obtain the secondary incremental voltage, and the driving action of the X-axis drive unit is adjusted based on the secondary incremental voltage to drive the photovoltaic panel to move along the X-axis direction until the secondary incremental voltage is 0, and the X-axis position of the photovoltaic panel at this time is updated to the target position along the X-axis.

[0009] In one preferred embodiment, the specific process of adjusting the photovoltaic panel in the Y-axis direction for light tracking in step S2 is as follows: the output voltage of the current photovoltaic panel is collected as the initial voltage, the Y-axis drive unit of the photovoltaic panel is controlled to drive the photovoltaic panel to move along the Y-axis direction by a second preset distance, and the output voltage of the photovoltaic panel after the movement is collected as the third voltage; the difference between the initial voltage and the third voltage is calculated to obtain the third incremental voltage, and the driving action of the Y-axis drive unit is adjusted based on the third incremental voltage to drive the photovoltaic panel to move along the Y-axis direction until the third incremental voltage is 0, and the Y-axis position of the photovoltaic panel at this time is updated to the target position along the Y-axis.

[0010] In one preferred embodiment, the specific process of adjusting the X-axis drive unit based on the secondary incremental voltage is as follows: if the secondary incremental voltage is greater than 0, the X-axis drive unit is controlled to continue driving the photovoltaic panel to move a first preset distance along the current X-axis movement direction; if the secondary incremental voltage is less than 0, the X-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current X-axis movement direction.

[0011] In one preferred embodiment, the specific process of adjusting the driving action of the Y-axis drive unit based on three incremental voltages is as follows: if the three incremental voltages are greater than 0, the Y-axis drive unit is controlled to continue driving the photovoltaic panel to move a second preset distance along the current Y-axis movement direction; if the three incremental voltages are less than 0, the Y-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current Y-axis movement direction.

[0012] In one preferred embodiment, step S3 is further included: after completing the two-dimensional light tracking positioning, step S2 is repeated every preset period to realize the real-time tracking and adjustment of the photovoltaic panel to changes in light intensity.

[0013] On the other hand, embodiments of the present invention also provide a lawnmower that automatically adjusts a photovoltaic panel according to changes in sunlight. The lawnmower includes a body, casters located below the body, a photovoltaic panel mounted on the body and adjustable in position relative to the body, a battery, the photovoltaic panel absorbing solar energy and converting it into electrical energy to charge the battery, an X-axis rotation adjustment mechanism for adjusting the X-axis orientation of the photovoltaic panel, a Y-axis rotation adjustment mechanism for adjusting the Y-axis orientation of the photovoltaic panel, and a control board located within the body for controlling the lawnmower. The control board controls the movement of the X-axis rotation adjustment mechanism and / or the Y-axis rotation adjustment mechanism according to the aforementioned control method for automatically adjusting the photovoltaic panel according to changes in sunlight to adjust the orientation and position of the photovoltaic panel.

[0014] In one preferred embodiment, the Y-axis rotation adjustment mechanism includes a Y-axis base and a Y-axis rotation motor. The Y-axis base is cylindrical and disposed on the top surface of the machine body. The Y-axis rotation motor is disposed inside the Y-axis base and is used to drive the Y-axis base to rotate along the Y-axis direction.

[0015] In one preferred embodiment, the X-axis rotation adjustment mechanism includes an X-axis base and an X-axis rotation motor. The X-axis base is spherical and disposed on the top surface of the Y-axis base. The X-axis rotation motor is disposed inside the X-axis base and is used to drive the X-axis base to rotate along the X-axis direction. A connecting seat is provided on the bottom surface of the photovoltaic panel, and the X-axis base is fixedly connected to the connecting seat.

[0016] In one preferred embodiment, the control board coordinates the adjustment movement of the photovoltaic panel to track light in conjunction with the working status of the lawnmower.

[0017] The control method provided in this invention, after initiating the light-tracking control program, acquires the current voltage of the photovoltaic panel and uses it as a reference voltage; subsequently, it controls the photovoltaic panel to change its orientation or position, and then acquires the real-time voltage of the photovoltaic panel; by comparing the reference voltage and the real-time voltage, it obtains the voltage increment; based on this voltage increment, iteratively adjusts the movement of the photovoltaic panel along the corresponding axis until the voltage increment along the corresponding axis is zero; at this point, the position of the photovoltaic panel along the corresponding axis is updated to the target position along the corresponding axis. This method can automatically adjust the position and orientation of the photovoltaic panel based on changes in illumination without the need for expensive sensors, thereby achieving efficient solar energy acquisition. Attached Figure Description

[0018] Figure 1A schematic flowchart illustrating the control method for automatically adjusting photovoltaic panels in response to changes in sunlight, as provided in an embodiment of the present invention. Figure 2 for Figure 1 A flowchart illustrating the control method for X-axis light tracking adjustment of a photovoltaic panel in the embodiment shown. Figure 3 for Figure 1 The illustrated embodiment is a flowchart of a control method for adjusting the Y-axis direction of a photovoltaic panel for light tracking.

[0019] Figure 4 This is a schematic diagram of the structure of a lawnmower that can automatically adjust the photovoltaic panel according to changes in sunlight, as provided in an embodiment of the present invention. Detailed Implementation

[0020] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided below.

[0021] Ideally, the photovoltaic panel's solar energy reception efficiency is highest when its surface is approximately perpendicular to sunlight at a 90-degree angle. Since the angle of sunlight changes throughout the day, the angle of the photovoltaic panel must also be adjusted according to the sun's position. This application provides a lawnmower that, through a control algorithm and a photovoltaic panel adjustment mechanism, can adjust the orientation and position of the photovoltaic panel in real time based on changes in sunlight to obtain optimal light energy reception.

[0022] Specifically, at sunrise, the control system adjusts the mechanism to raise the front of the photovoltaic panel, ensuring it faces the eastern sunlight more precisely. As the sun rises higher and moves towards noon, the lifting mechanism is gradually adjusted to smoothly lower the panel's angle. In the afternoon, as the sun shifts westward and sets, the mechanism raises the rear of the panel or lowers the front to adapt to the changing sun position. Furthermore, when the lawnmower is operating outdoors, its orientation relative to the sun changes depending on the mower's path. The control system rotates the photovoltaic panel relative to the mower's body to ensure that regardless of the mower's movement, the panel always points towards the sunlight.

[0023] like Figure 1 As shown in the embodiment of the present invention, a control method for automatically adjusting a photovoltaic panel according to changes in sunlight is provided. In this embodiment, the control method for automatically adjusting a photovoltaic panel according to changes in sunlight includes two main steps, as detailed below: S1: Start the tracking light control program; S2: Perform light-tracking adjustment on the photovoltaic panel in the X-axis and Y-axis directions respectively; the light-tracking adjustment includes the following steps: collect the current output voltage of the photovoltaic panel as the reference voltage, drive the photovoltaic panel to move a preset distance along the corresponding axis, collect the real-time output voltage of the photovoltaic panel, calculate the voltage increment between the reference voltage and the real-time output voltage, iteratively adjust the movement of the photovoltaic panel along the corresponding axis based on the voltage increment, until the voltage increment along the corresponding axis is zero, and update the position of the photovoltaic panel in the corresponding axis to the target position along the corresponding axis.

[0024] This control method is based on a closed-loop control approach with voltage feedback. It cleverly utilizes the photovoltaic panel itself as a "sensor," directly reflecting the light energy reception status through voltage changes. This eliminates the need for additional hardware such as photosensitive sensors or GPS positioning modules commonly used in traditional light-tracking systems, significantly reducing costs. At the same time, it improves the system's reliability and environmental adaptability, making it particularly suitable for outdoor mobile devices such as lawnmowers. This allows them to efficiently utilize solar energy for charging under complex lighting conditions, extending their battery life.

[0025] like Figure 2 As shown, the specific process of the control method for adjusting the X-axis direction of the photovoltaic panel in this embodiment includes: S201: Collect the current output voltage of the photovoltaic panel as the initial voltage; S202: The X-axis drive unit of the control photovoltaic panel drives the photovoltaic panel to move along the X-axis direction a first preset distance, and collects the output voltage of the photovoltaic panel after the movement as the secondary voltage; S203: The difference between the initial voltage and the secondary voltage is used to obtain the secondary incremental voltage. Based on the secondary incremental voltage, the driving action of the X-axis driving unit is adjusted to drive the photovoltaic panel to move along the X-axis until the secondary incremental voltage is 0. The X-axis position of the photovoltaic panel at this time is updated to the target position along the X-axis.

[0026] In one preferred embodiment, the specific process of "adjusting the driving action of the X-axis drive unit based on the secondary incremental voltage" in step S203 is as follows: if the secondary incremental voltage is greater than 0, the X-axis drive unit is controlled to continue driving the photovoltaic panel to move a first preset distance along the current X-axis movement direction; if the secondary incremental voltage is less than 0, the X-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current X-axis movement direction.

[0027] In the X-axis tracking adjustment, the X-axis drive unit drives the photovoltaic panel to rotate around the X-axis (i.e., the horizontal axis) to adjust the pitch angle of the photovoltaic panel 30 to adapt to changes in the azimuth angle of the sun. Specifically, the first preset distance can be set to a rotation angle of 0.5° to 2°. After the X-axis drive unit drives the photovoltaic panel to rotate slightly around the X-axis (i.e., the horizontal axis), the real-time output voltage is immediately acquired through the voltage acquisition module. For example, if the initial reference voltage is 18V, after driving the photovoltaic panel to rotate 1° in the positive direction of the X-axis, the real-time voltage becomes 18.5V, with a voltage increment of 0.5V. At this point, this direction is determined to be the direction of voltage increase, and the drive mechanism is controlled to continue rotating along this direction for a preset distance, and the voltage increment is acquired and calculated again. If the voltage increment becomes 0.3V after the next rotation, it means that it is still approaching the maximum power point and continues to iterate; when the voltage increment is -0.1V after a certain rotation, that is, the real-time voltage is lower than the reference voltage, the drive mechanism is controlled to rotate in the opposite direction by half a preset distance. This fine-tuning is repeated until the voltage increment is within ±0.02V, which means that the target position has been reached in the X-axis direction.

[0028] like Figure 3 As shown, the specific process of the control method for adjusting the Y-axis light tracking of the photovoltaic panel in this embodiment includes: S211: Collect the current output voltage of the photovoltaic panel as the initial voltage; S212: Control the Y-axis drive unit of the photovoltaic panel to drive the photovoltaic panel to move along the Y-axis direction a second preset distance, and collect the output voltage of the photovoltaic panel after the movement as the third voltage; S213: The difference between the initial voltage and the third voltage is used to obtain the third incremental voltage. Based on the third incremental voltage, the driving action of the Y-axis driving unit is adjusted to drive the photovoltaic panel to move along the Y-axis until the third incremental voltage is 0. At this time, the Y-axis position of the photovoltaic panel is updated to the target position along the Y-axis.

[0029] In one preferred embodiment, the specific process of "adjusting the driving action of the Y-axis drive unit based on three incremental voltages" in step S213 is as follows: if the three incremental voltages are greater than 0, the Y-axis drive unit is controlled to continue driving the photovoltaic panel to move a second preset distance along the current Y-axis movement direction; if the three incremental voltages are less than 0, the Y-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current Y-axis movement direction.

[0030] The adjustment process in the Y-axis direction is similar to that in the X-axis direction, except that it rotates around the Y-axis (i.e., the vertical axis) to adapt to changes in the sun's azimuth angle. Similarly, the direction and amplitude of rotation are iteratively adjusted through positive and negative feedback of voltage increments, so that the photovoltaic panel is at the angle of maximum voltage output in both axes, thereby achieving precise tracking of sunlight.

[0031] Specifically, in the Y-axis tracking adjustment, the second preset distance can also be set as a rotation angle of 0.5° to 2°. After the Y-axis drive unit drives the photovoltaic panel to rotate slightly around the Y-axis (i.e., the vertical axis), the real-time output voltage is immediately acquired through the voltage acquisition module. For example, if the initial reference voltage is 20V, after driving the photovoltaic panel to rotate 1° in the positive direction of the Y-axis, the real-time voltage becomes 20.5V, with a voltage increment of 0.5V. At this point, this direction is determined to be the direction of voltage increase, and the drive mechanism is controlled to continue rotating in this direction for a preset distance, and the voltage increment is acquired and calculated again. If the voltage increment becomes 0.3V after the next rotation, it indicates that it is still approaching the maximum power point, and the iteration continues. When the voltage increment is -0.1V after a certain rotation, that is, the real-time voltage is lower than the reference voltage, the drive mechanism is controlled to rotate in the opposite direction by half a preset distance. This fine-tuning is repeated until the voltage increment is within the range of ±0.02V, at which point the target position in the Y-axis direction is considered to have been reached.

[0032] It should be noted that, in the control method of this invention, the order of adjustment in the X-axis direction and the Y-axis direction is not limited. The X-axis direction can be adjusted first and then the Y-axis direction can be adjusted, or the Y-axis direction can be adjusted first and then the X-axis direction can be adjusted.

[0033] In one preferred embodiment, such as Figure 1 As shown, the control method also includes step S3: after completing the two-dimensional light tracking positioning, step S2 is repeated every preset period to realize the real-time tracking and adjustment of the photovoltaic panel to changes in light intensity.

[0034] Specifically, the preset cycle can be flexibly set according to the characteristics of light changes in the actual application scenario. For example, in environments with relatively stable light conditions and when the lawnmower is stationary or moving in a relatively straight line, the cycle can be set to a longer 30 minutes; while in scenarios with more frequent light changes, such as cloudy weather, or when the lawnmower is moving, the cycle can be shortened to 5 minutes or even less. Through this periodic dynamic tracking mechanism, the angle of the photovoltaic panel can be effectively prevented from deviating from the optimal light-receiving position due to factors such as the slow movement of the sun, cloud cover, or positional changes caused by the movement of the lawnmower itself, thus ensuring that the photovoltaic panel maintains high power generation efficiency for most of the day. At the same time, the introduction of the preset cycle can also reduce the system's energy consumption to a certain extent, avoiding unnecessary energy waste caused by continuous high-frequency adjustments, and achieving a balance between tracking accuracy and energy consumption control.

[0035] like Figure 4As shown, this embodiment of the invention also provides a lawnmower that automatically adjusts its photovoltaic panel according to changes in sunlight. The lawnmower 100 includes a body 10, casters 20 located below the body 10, a photovoltaic panel 30 mounted on the body 10 and capable of positional adjustment relative to the body 10, and a battery 40. The photovoltaic panel 30 absorbs solar energy and converts it into electrical energy to charge the battery 40. The lawnmower 100 also includes an X-axis rotation adjustment mechanism for adjusting the photovoltaic panel 30 in the X-axis direction, a Y-axis rotation adjustment mechanism for adjusting the photovoltaic panel 30 in the Y-axis direction, and a control board 70 disposed within the body 10 for controlling the lawnmower 100. The control board 70 controls the movement of the X-axis rotation adjustment mechanism and / or the Y-axis rotation adjustment mechanism according to the aforementioned control method for automatically adjusting the photovoltaic panel according to changes in sunlight to adjust the orientation and position of the photovoltaic panel 30.

[0036] In this embodiment, with the fuselage 10 as the reference, the X-axis is the vertical direction along the height of the fuselage 10, and the Y-axis is the horizontal direction along the width of the fuselage 10.

[0037] Specifically, the Y-axis rotation adjustment mechanism includes a Y-axis base 61 and a Y-axis rotary motor (not shown in the figure). The Y-axis base 61 is cylindrical and located on the top surface of the body 10. The Y-axis rotary motor is located inside the Y-axis base 61 and is used to drive the Y-axis base 61 to rotate along the Y-axis (i.e., the vertical longitudinal axis). The Y-axis rotary motor controls the Y-axis base 61 to rotate along the Y-axis (i.e., the vertical longitudinal axis) according to the control method described above, so as to adapt to the change of the sun's azimuth angle.

[0038] Specifically, the X-axis rotation adjustment mechanism includes an X-axis base 51 and an X-axis rotary motor (not shown in the figure). The X-axis base 51 is spherical and is located on the top surface of the Y-axis base 61. The X-axis rotary motor is located inside the X-axis base 51 and is used to drive the X-axis base 51 to rotate along the X-axis direction (i.e., the horizontal axis). The X-axis rotary motor controls the X-axis base 51 to rotate along the X-axis (i.e., the horizontal axis) direction according to the control method described above, so as to adjust the height of the photovoltaic panel 30. A connecting seat 31 is provided on the bottom surface of the photovoltaic panel 30, and the X-axis base 51 is fixedly connected to the connecting seat 31, so that the movement of the X-axis base 51 and the Y-axis base 61 causes the photovoltaic panel 30 to change its orientation and position through the connecting seat 31.

[0039] In a preferred embodiment, the control board 70 also coordinates with the operating status of the lawnmower 100 for control. For example, when the lawnmower turns or traverses obstacles, it temporarily pauses the solar tracking adjustment to avoid mechanical conflicts. The adjustment is restarted once the mower regains stability, ensuring the safety and continuity of the solar tracking process. Through this closed-loop feedback control mechanism, the lawnmower can dynamically and accurately track the sun's trajectory, maximizing the power generation efficiency of the photovoltaic panels and thus extending the lawnmower's runtime.

[0040] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A control method for automatically adjusting a photovoltaic panel according to changes in sunlight, characterized in that, Includes the following steps: S1: Start the follow-light control program; S2: Perform light-tracking adjustment on the photovoltaic panel in the X-axis and Y-axis directions respectively; the light-tracking adjustment includes the following steps: collect the current output voltage of the photovoltaic panel as the reference voltage, drive the photovoltaic panel to move a preset distance along the corresponding axis, collect the real-time output voltage of the photovoltaic panel, calculate the voltage increment between the reference voltage and the real-time output voltage, iteratively adjust the movement of the photovoltaic panel along the corresponding axis based on the voltage increment, until the voltage increment along the corresponding axis is zero, and update the position of the photovoltaic panel in the corresponding axis to the target position along the corresponding axis.

2. The control method for automatically adjusting a photovoltaic panel according to changes in sunlight as described in claim 1, characterized in that, The specific process of adjusting the photovoltaic panel in the X-axis direction for light tracking in step S2 is as follows: the current output voltage of the photovoltaic panel is collected as the initial voltage, the X-axis drive unit of the photovoltaic panel is controlled to drive the photovoltaic panel to move along the X-axis direction by a first preset distance, and the output voltage of the photovoltaic panel after the movement is collected as the secondary voltage; the difference between the initial voltage and the secondary voltage is calculated to obtain the secondary incremental voltage, and the driving action of the X-axis drive unit is adjusted based on the secondary incremental voltage to drive the photovoltaic panel to move along the X-axis direction until the secondary incremental voltage is 0, and the X-axis position of the photovoltaic panel at this time is updated to the target position along the X-axis.

3. The control method for automatically adjusting a photovoltaic panel according to changes in sunlight as described in claim 1, characterized in that, The specific process of adjusting the photovoltaic panel in the Y-axis direction for light tracking in step S2 is as follows: the output voltage of the photovoltaic panel is collected as the initial voltage, the Y-axis drive unit of the photovoltaic panel is controlled to drive the photovoltaic panel to move along the Y-axis direction by a second preset distance, and the output voltage of the photovoltaic panel after the movement is collected as the third voltage; the difference between the initial voltage and the third voltage is calculated to obtain the third incremental voltage, and the driving action of the Y-axis drive unit is adjusted based on the third incremental voltage to drive the photovoltaic panel to move along the Y-axis direction until the third incremental voltage is 0, and the Y-axis position of the photovoltaic panel at this time is updated to the target position along the Y-axis.

4. The control method for automatically adjusting a photovoltaic panel according to changes in sunlight as described in claim 2, characterized in that, The specific process of adjusting the X-axis drive unit based on the secondary incremental voltage is as follows: if the secondary incremental voltage is greater than 0, the X-axis drive unit is controlled to continue driving the photovoltaic panel to move a first preset distance along the current X-axis movement direction; if the secondary incremental voltage is less than 0, the X-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current X-axis movement direction.

5. The control method for automatically adjusting a photovoltaic panel according to changes in sunlight as described in claim 3, characterized in that, The specific process of adjusting the Y-axis drive unit based on three incremental voltages is as follows: if the three incremental voltages are greater than 0, the Y-axis drive unit is controlled to continue driving the photovoltaic panel to move a second preset distance along the current Y-axis movement direction; if the three incremental voltages are less than 0, the Y-axis drive unit is controlled to drive the photovoltaic panel to move a corresponding distance in the opposite direction of the current Y-axis movement direction.

6. The control method for automatically adjusting a photovoltaic panel according to changes in sunlight as described in claim 1, characterized in that, It also includes step S3: After completing the two-dimensional light tracking positioning, step S2 is repeated every preset period to realize the real-time tracking and adjustment of the photovoltaic panel to changes in light.

7. A lawnmower that automatically adjusts its photovoltaic panels according to changes in sunlight, characterized in that, The lawnmower includes a body, casters located below the body, a photovoltaic panel mounted on the body and adjustable in position relative to the body, a battery, the photovoltaic panel absorbing solar energy and converting it into electrical energy to charge the battery, an X-axis rotation adjustment mechanism for adjusting the X-axis orientation of the photovoltaic panel, a Y-axis rotation adjustment mechanism for adjusting the Y-axis orientation of the photovoltaic panel, and a control board located inside the body for controlling the lawnmower. The control board controls the movement of the X-axis rotation adjustment mechanism and / or the Y-axis rotation adjustment mechanism to adjust the orientation and position of the photovoltaic panel according to the control method of any one of claims 1 to 6 that automatically adjusts the photovoltaic panel following changes in light intensity.

8. The lawnmower with automatically adjusting photovoltaic panels according to changes in sunlight as described in claim 7, characterized in that, The Y-axis rotation adjustment mechanism includes a Y-axis base and a Y-axis rotation motor. The Y-axis base is cylindrical and located on the top surface of the machine body. The Y-axis rotation motor is located inside the Y-axis base and is used to drive the Y-axis base to rotate along the Y-axis direction.

9. The lawnmower with automatically adjusting photovoltaic panels according to changes in sunlight as described in claim 8, characterized in that, The X-axis rotation adjustment mechanism includes an X-axis base and an X-axis rotation motor. The X-axis base is spherical and is disposed on the top surface of the Y-axis base. The X-axis rotation motor is disposed inside the X-axis base and is used to drive the X-axis base to rotate along the X-axis direction. A connecting seat is provided on the bottom surface of the photovoltaic panel, and the X-axis base is fixedly connected to the connecting seat.

10. The lawnmower that automatically adjusts the photovoltaic panel according to changes in sunlight as described in claim 8 or 9, characterized in that, The control board coordinates the adjustment of the photovoltaic panel's tracking motion with the working status of the lawnmower.

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