Unmanned ship and layout method of wind turbine and photovoltaic panel thereof

Abstract

The application provides an unmanned ship and a layout method of a fan and a photovoltaic panel of the unmanned ship, and solves the endurance bottleneck of a traditional unmanned ship. The unmanned ship comprises a ship body, a solar power generation device, and a wind power generation device. The solar power generation device comprises at least one photovoltaic panel, the photovoltaic panel is arranged on the upper surface of the ship body through a support, and can move in the horizontal direction. The wind power generation device comprises a fan and is arranged on the upper surface of the ship body. The photovoltaic panel is configured to automatically adjust the horizontal position according to the prediction of the shadow position of the fan, so as to avoid the rotating shadow area of the fan blade.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vessel technology, specifically relating to an unmanned vessel and its layout method for wind turbines and photovoltaic panels. Background Technology

[0002] Unmanned surface vehicles (USVs), as intelligent operational platforms, are widely used in fields such as hydrological surveying, environmental monitoring, security patrols, and scientific exploration. Endurance is one of the key bottlenecks restricting their ability to perform long-duration, large-scale missions. Currently, the energy supply of USVs mainly relies on onboard batteries, which require them to return to base or be recharged or replaced by the mother ship during mission breaks, significantly impacting operational efficiency and continuity.

[0003] To extend their range, existing technologies include using solar panels or wind turbines to supplement the power of unmanned vessels. However, these solutions typically have the following drawbacks: The energy source is singular, relying solely on either solar or wind power; it is highly dependent on environmental factors, unable to effectively supplement energy in the absence of sunlight or wind, resulting in unstable power supply. Energy utilization is low, failing to effectively recover waste energy from the hull itself or the environment, and lacking a closed-loop "collection-storage" layout; power generation and energy storage devices are mostly independently arranged, resulting in a fragmented layout, low space utilization, and failure to leverage the structural advantages of the catamaran, potentially sacrificing structural stability or effective load space; the installation positions of photovoltaic panels and wind turbines are unreasonable, easily blocking sunlight from the photovoltaic panels when the turbine blades rotate, significantly reducing solar power generation efficiency and exacerbating the instability of energy supply; photovoltaic panels are mostly rigidly mounted on the hull, making it impossible to adjust their position, tilt, and azimuth in real time to avoid turbine projection and track the optimal angle of sunlight incidence, and also unable to adjust the windward area of ​​the photovoltaic panels to reduce wind resistance in strong winds; furthermore, the dispersed wind turbine-photovoltaic support structure lacks coupling, leading to additional weight increases. Summary of the Invention

[0004] This invention proposes a layout method for unmanned ships and their wind turbines and photovoltaic panels. By optimizing the installation layout and method of photovoltaic modules and wind turbines, the total energy harvesting within a limited space is maximized and the integration of the catamaran structure with wind, solar and energy storage equipment is achieved, thus solving the endurance bottleneck of traditional unmanned ships.

[0005] In a first aspect, the present invention proposes an unmanned vessel, comprising: a hull; a wind power generation device, including a wind turbine, disposed on the upper surface of the hull; a solar power generation device, including at least one photovoltaic panel and a support, wherein the photovoltaic panel is mounted on the upper surface of the hull via the support, and the support is capable of moving the photovoltaic panel in a horizontal plane; and a controller configured to: control the support to move the photovoltaic panel to avoid the shadow area of ​​the wind turbine based on a predicted shadow area of ​​the wind turbine.

[0006] In some examples, the hull is a catamaran hull, including a first hull and a second hull arranged in parallel and a connecting bridge connecting the two; the wind turbine is located in the middle of the connecting bridge, and the photovoltaic panel is located on the upper surface of the first hull, the second hull and the connecting bridge.

[0007] In some examples, the interior of the hull has an energy storage compartment for housing batteries. A thermoelectric generator is installed on the energy storage compartment, with the hot end of the thermoelectric generator facing the interior of the energy storage compartment and the cold end in contact with the inner wall of the energy storage compartment, forming an auxiliary power generation unit. The solar power generation device, the wind power generation device, and the thermoelectric generator are all electrically connected to the batteries, forming a closed loop of wind-solar-storage power supply.

[0008] In some examples, the coordinated power supply includes at least the following modes: when there is sufficient sunlight and wind, the photovoltaic panel and the wind turbine simultaneously supply power and charge the battery; when there is insufficient sunlight and wind, the wind turbine provides the main power supply, and the battery releases electrical energy to supplement the power supply; when there is sufficient sunlight and no wind, the photovoltaic panel provides the main power supply, and the battery stores excess electrical energy; when there is no sunlight and no wind, the battery releases electrical energy, and the thermoelectric generator recovers waste heat to assist in power supply.

[0009] In some examples, the spatial area formed by the rotation of the wind turbine blades does not overlap with the area where the photovoltaic panels are installed.

[0010] In some examples, the photovoltaic panel can be adjusted in tilt and azimuth angle via the bracket; when the wind force exceeds a preset threshold, the tilt angle of the photovoltaic panel is reduced to reduce wind resistance; before the wind turbine's shadow area is blocked, the photovoltaic panel can adjust its horizontal position in advance according to the sun's trajectory and the rotation position of the wind turbine blades.

[0011] Secondly, this invention proposes a layout method for wind turbines and photovoltaic panels based on the aforementioned unmanned vessel, comprising: determining a circular projection area of ​​the wind turbine's shadow on the mounting plane based on the solar direction vector, the rotation radius of the wind turbine blades, and the vertical distance between the wind turbine and the photovoltaic panel mounting plane, and determining whether the center of the photovoltaic panel falls within the circular projection area; discretizing time into multiple time steps, and for candidate horizontal positions of the photovoltaic panel, determining the circular projection area based on the power generation per unit area, the photovoltaic panel area, the time step size, and the determination results of whether the center of the photovoltaic panel falls within the circular projection area in the current time step and the next time step, respectively. Calculate the predicted power generation for the current time step and the next time step, and add the predicted power generation for the next time step (multiplied by a discount factor) to the predicted power generation for the current time step to obtain the total predicted power generation for the two-step forward look-ahead. Calculate the movement energy consumption by multiplying the Manhattan distance required for the photovoltaic panel to move from its current location to a candidate location by the movement energy consumption per unit distance. Calculate the net benefit for each candidate location in a preset set of candidate locations. The net benefit is equal to the total predicted power generation for the two steps minus the movement energy consumption. Select the candidate location with the largest net benefit as the target location, and control the support structure to move the photovoltaic panel to that target location.

[0012] In some examples, when there are multiple photovoltaic panels, each photovoltaic panel is restricted to move within a preset area. The movement boundary is defined by the available space of the hull, and the movement step size is executed according to a discrete step size to avoid collisions between the photovoltaic panels.

[0013] Significant advancements of this invention: The wind-solar hybrid collection system, with its unobstructed design and independent intelligent micro-adjustment of the photovoltaic panel tilt angle, maximizes power generation efficiency and avoids the constraints of the environment on a single energy source. The energy storage bin buffers the energy, and the thermoelectric generator fills the gaps, forming a "triple guarantee" for a stable energy supply. The catamaran's wide surface is suitable for photovoltaic panel installation, and the central connecting bridge is adapted for vertical axis wind turbine installation. The support rods and photovoltaic panel brackets are structurally integrated, sharing a base and reinforcing frame. The internal hollow structure integrates an energy storage compartment, with wind, solar, and energy storage equipment deeply integrated with the hull structure, without encroaching on mission payload space, resulting in highly efficient space utilization.

[0014] The integrated catamaran structure provides rigid support for the wind, solar and energy storage layout, ensuring the stability of the hull when the water surface is fluctuating, and optimizing the installation accuracy of the power generation unit and the energy storage tank. With the combined power supply of wind, solar and energy storage, the batteries do not need to be charged frequently, and the self-sufficiency of the unmanned vessel is significantly improved compared with the traditional solution, which can meet the needs of long-term and large-scale operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of an unmanned boat equipped with a wind turbine and photovoltaic panels according to one embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the initial horizontal position of the photovoltaic panel in one embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of the horizontal position of the photovoltaic panel numbered 1 at 9 o'clock in one embodiment of the present invention.

[0018] Figure 4 This is a schematic diagram of the horizontal position of photovoltaic panel No. 1 at 9:30 in one embodiment of the present invention. Detailed Implementation

[0019] This invention creatively integrates unmanned surface vessels (USVs) with a wind-solar-storage integrated layout, focusing on optimizing the installation layout of photovoltaic modules and wind turbines, and proposing a novel USV design. This design constructs a collaborative power supply closed loop of "wind-solar-storage" through the complementary arrangement of wind and solar power collection equipment in unobstructed space, combined with the integrated design of the energy storage compartment. This effectively improves the self-sufficiency and endurance of the USV without significantly increasing complexity or cost.

[0020] An unmanned vessel is equipped with a solar power generation device, a wind power generation device, and a controller. Under the control of the controller, the photovoltaic panels of the solar power generation device can automatically adjust their position to avoid the shadow of the wind turbine of the wind power generation device.

[0021] This invention does not limit the structure of the unmanned vessel hull; for example, it can adopt... Figure 1 The image shows a catamaran unmanned surface vessel (USV). The USV 10 includes a first hull and a second hull arranged in parallel, and a connecting bridge linking the two. The catamaran structure provides the basic space for a wind, solar, and energy storage layout.

[0022] The photovoltaic panels 11 are installed on the hull of the catamaran, utilizing its wide surface area. The panels are mounted on supports that can adjust their horizontal position and angle to ensure maximum and unobstructed sunlight reception. This invention does not limit the number of photovoltaic panels; for example, four panels can be installed. The photovoltaic panels can be made of flexible materials or be bifacial. Bifacial modules can receive both reflected and scattered light from the water surface, increasing the power generation per unit area.

[0023] Each photovoltaic panel is mounted on a support frame and its tilt and azimuth angles can be independently fine-tuned. By monitoring the rotation position of the wind turbine blades and the sun's trajectory, the photovoltaic panels are controlled to adjust their horizontal position when the wind turbine's projection is about to block sunlight, thus avoiding shadows and ensuring continuous sunlight reception. In strong winds, the tilt angle of the photovoltaic panels is automatically lowered to reduce wind resistance and works in conjunction with the wind turbine to reduce the overall structural load.

[0024] In one specific implementation, the support includes a base fixed to the hull, a horizontal slide, and an angle adjustment mechanism. The horizontal slide uses a combination of guide rails and lead screws (or synchronous belts), driven by a stepper motor, to move the photovoltaic panels in a two-dimensional plane. The angle adjustment mechanism uses an electric push rod or a rotary servo to independently adjust the tilt and azimuth angle of each photovoltaic panel. All of the above driving components are controlled by the shipboard controller according to a preset shadow avoidance algorithm. It should be noted that other mechanical structures known to those skilled in the art that can achieve horizontal movement and angle adjustment (such as gear and rack mechanisms, four-bar linkages, etc.) can be equivalently replaced, and will not be described in detail here.

[0025] The wind turbine 12 is vertically mounted in the middle of the hull surface. In conjunction with the movement of the photovoltaic panels, the maximum projection area of ​​the wind turbine blades during rotation does not fall into the photovoltaic panel installation area, achieving unobstructed complementary wind and solar power generation. The wind turbine's support structure and the photovoltaic panel brackets are made of lightweight, high-strength composite materials, achieving overall lightweighting and corrosion resistance, reducing manufacturing and maintenance costs.

[0026] The energy storage compartment is located inside the hull, adjacent to the power generation unit, to shorten the power transmission path. Thermoelectric generators are attached to the inner wall of the energy storage compartment, with the hot end facing inwards and the cold end in contact with the inner wall. Serving as an auxiliary power generation unit in the wind-solar-storage layout, they recover waste heat from the storage compartment, compensating for the intermittency of wind and solar energy. The electricity collected by the solar power generation unit, wind power generation unit, and thermoelectric generators is stored in batteries, forming a self-sustaining closed-loop power supply system for the hull through the integrated wind-solar-storage layout.

[0027] This invention avoids the shadow of wind turbines by horizontally moving photovoltaic panels. Its core idea is based on short-term solar position prediction and adopts a two-step forward-looking net benefit assessment method to dynamically adjust the position of each photovoltaic panel. The specific steps are as follows.

[0028] Establish a Cartesian coordinate system on a plane parallel to the horizontal plane, with the center of the ship as the origin, and the positive x-axis pointing towards the bow. Four photovoltaic panels of equal size and weight are initially located in quadrants 1, 2, 3, and 4, respectively, and are designated as panels 1, 2, 3, and 4. All photovoltaic panels are of the same size and initially lie on the same horizontal plane. Figure 2 As shown.

[0029] (1) Occlusion judgment Let the shadow of the fan be simplified to a circle centered at ( , ), radius is A circle. For the center at... The photovoltaic panels, which are in constant motion The occlusion state is determined by the following formula:

[0030] The coordinates of the center of the shadow circle are calculated from the sun's direction vector:

[0031]

[0032] In the formula: This is a shading flag function; a value of 1 indicates that the photovoltaic panel is shaded by the wind turbine, and 0 indicates that it is unshaded. Let be the coordinates of the center of the photovoltaic panel in the horizontal coordinate system of the ship's hull; t For time; ( , )for t The coordinates of the center of the wind turbine's shadow on the photovoltaic panel mounting plane at any given time; Let be the radius of the shadow circle of the wind turbine; This is the vertical distance between the center of the wind turbine sphere and the mounting plane of the photovoltaic panel. Let be the unit vector of the sun's direction at time t, pointing from the ship's hull towards the sun. and For horizontal components, (t) represents the vertical component. The solar direction vector is calculated using shipborne GPS timing and positioning, combined with existing astronomical algorithms.

[0033] (2) Power generation forecast Suppose that time is discretized into a series of lengths. Time step, the first The center time of each time step is denoted as ( =0,1,2,…), and satisfying = + ,in This is the initial time.

[0034] For the center position of the photovoltaic panel In the next two time steps (current step) and the next step The predicted power generation is:

[0035] in: For the location of photovoltaic panels Forecasted power generation for the next two time steps; This refers to the area of ​​a single photovoltaic panel; The interval between two adjacent photovoltaic panel movement decisions is the time interval, i.e., the length of each time step; Let t be the power generation per unit area (W / m²) at time t. For time step The central moment; This is a discount factor (usually 0.5, representing the uncertainty of the next forecast). For the occlusion flag function, here Pick or .

[0036] (3) Energy consumption during mobile movement The coordinates of the center of the photovoltaic panel in the horizontal coordinate system of the ship are: Record the center position of the photovoltaic panel at the last decision-making moment as... .

[0037] From the previous position Move to new location The energy consumption is:

[0038] In the formula, For mobile energy consumption; The energy consumed for a photovoltaic panel to move a unit distance (1cm).

[0039] (4) Location decision At the moment of decision (corresponding to the center time) ), for the first i Solar panels, select feasible location sets The position with the highest net profit:

[0040] like With current location If they are the same, then remain unchanged.

[0041] feasible location set The following definitions apply: Each photovoltaic panel is restricted to moving within its initial quadrant (panel 1 is in quadrant 1, panel 2 is in quadrant 2, and so on) to avoid collisions between panels; the movement boundary satisfies ,in and The available space on the hull and its surface is determined by the hull. The movement step size is discretized as follows: what ,Right now , , where m and n are integers.

[0042] During the energy harvesting and power generation process, the integrated wind, solar, and energy storage layout of the unmanned vessel achieves dynamic coordination, and the wind turbines and photovoltaic panels work together without obstruction. 1. When there is sufficient sunshine and wind, four photovoltaic panels collect solar energy, and the tilt angle and azimuth angle of each photovoltaic panel are independently and finely adjusted according to the wind turbine position, the angle of sunlight incidence and the wind speed. The vertical axis wind turbine captures wind energy, and the power from both is simultaneously transmitted through wires to the lithium-ion battery in the energy storage compartment for storage, realizing dual-path replenishment of main energy.

[0043] 2. When there is insufficient sunlight but wind, the wind turbine serves as the main power supply unit, continuously generating electricity and charging the battery. The photovoltaic panels automatically lower their tilt angle to fit the hull surface to reduce wind resistance, and the energy storage compartment releases the previously stored solar energy to ensure a stable power supply.

[0044] 3. When there is sufficient sunshine but no wind, the photovoltaic panels are the main energy supply unit, the wind turbines stop working, and the energy storage warehouse stores excess solar power.

[0045] 4. When there is no sunlight and no wind, the energy storage compartment releases the stored wind and solar energy, and the thermoelectric generator recovers the waste heat generated by the charging and discharging of the battery and the operation of the navigation module to power the battery.

[0046] For example, the overall dimensions (width × length × height) of the catamaran unmanned surface vessel are 2304mm*1656mm*1200mm, and the overall weight of the hull is 625kg. It is equipped with dual-power drive, with a minimum speed of no less than 0.5m / s. The unmanned surface vessel has a one-piece molded design and is made of aluminum alloy to ensure that the unmanned surface vessel remains stable when traveling in waters with undulating surfaces and does not capsize.

[0047] The solar power generation device consists of four flexible photovoltaic panels, which are respectively laid on supports on the non-wind turbine projection areas on both sides of the connecting bridge and on parts of the upper surface of the first and second hulls. The wind power generation device is a small vertical axis wind turbine, which is installed in the center of the connecting bridge by a support member of about 0.5m in length to obtain relatively stable wind power.

[0048] The following is an example of how to avoid the shadow of a wind turbine by moving the photovoltaic panels horizontally: Let the radius of the fan shadow be... The vertical distance between the center of the wind turbine and the mounting plane of the photovoltaic panel H =40cm, single board side length 60cm, area The interval between two moves Movement step size and Energy consumption per unit distance (1cm) for movement (all within 5cm) =2W.

[0049] To simplify the calculation, consider the decision-making process of photovoltaic panel 1 at three time steps. Assume the power generation per unit area... The location of the center of the shadow circle is as follows:

[0050] (1) Start time step 1 (6:00) The shadow's center is far away, and all feasible locations are unobstructed. Current location's power generation. Any movement will introduce positive energy consumption while the amount of electricity generated remains unchanged. Stay still.

[0051] (2) Time step 2 begins (9:00) Current location ,like Figure 3 As shown, its position is within the shaded area (22.36cm from the center of the circle < 30), therefore... .

[0052] Evaluate candidate locations: Pick : Determine the distance from the center of the circle by occlusion Unobstructed.

[0053] , , Net income .

[0054] The net profit at other positions is less than this (e.g., the net profit at (45,30)). Therefore, move plate 1 to (40, 30), as follows Figure 4 As shown.

[0055] (3) Time step 3 begins (12:00) Current position (40,30), distance from the center of the shadow circle Unobstructed .

[0056] If we remain stationary, the moving cost is 0, and the net gain is 180 Wh. If we move to another unobstructed location, the moving cost will be positive while the power generation will remain the same, resulting in a decrease in net gain. Therefore, we will remain stationary.

[0057] (4) Sunset return Move plate 1 from (40,30) back to (30,30), consuming... .

[0058] Total net energy contribution of plate 1 (considering only these three time steps):

[0059] The energy storage compartment is a sealed, insulated chamber housing a 105AH lithium-ion battery. An array of thermoelectric generators is tightly attached to the metal inner wall of the compartment. These thermoelectric generators are installed with their hot ends (heat-generating surfaces) facing the interior space to collect heat generated during battery charging and discharging, as well as during the operation of electronic devices; their cold ends (heat-dissipating surfaces) are in contact with the metal wall via thermally conductive adhesive, utilizing the external water temperature for heat dissipation, thus creating a temperature difference between the inside and outside of the compartment and generating electricity.

[0060] The propulsion system consists of two small propellers driven by brushless motors, installed at the stern of the first and second hulls respectively, achieving steering through differential speed. The navigation and control module integrates a GPS positioning unit, millimeter-wave radar, and binocular vision cameras (together forming the environmental perception module), as well as decision-making, planning, and speed control software.

[0061] The battery serves as the ship's energy storage module, providing power to the propulsion system, navigation and control modules, and other mission payloads.

[0062] In terms of energy harvesting, the unmanned surface vessel (USV) continuously operates its photovoltaic panels, wind turbines, and thermoelectric generators, whether it is sailing or docked. Solar and wind energy are directly converted into electricity, and waste heat inside the vessel is also partially recovered as electricity through the thermoelectric generators. All the electricity is used to charge the batteries via connected cables.

[0063] While the unmanned surface vessel (USV) is executing a preset route, the environmental perception component of the navigation and control module continues to operate. Millimeter-wave radar and cameras detect floating obstacles such as objects in front and around the vessel in real time, and then process the information. Based on the acquired real-time environmental information, the decision-making and planning module performs a collision risk assessment. If a collision risk is determined to exist, the module immediately replans a local obstacle avoidance path.

[0064] The speed control module calculates the required thrust based on mission requirements or generated obstacle avoidance commands, and sends adjustment signals to the propulsion system's motor controller. The propulsion system responds accordingly, driving the propeller to ensure the vessel follows a safe path and maintains or adjusts to the predetermined speed.

[0065] The aforementioned tasks of energy harvesting, environmental sensing, and speed control are performed cyclically. When the battery's state of charge is different, the battery will have different charging and discharging states, and the harvested energy will flow to the battery or directly supply power to external loads accordingly.

[0066] This embodiment also includes a software operating platform, comprising: a motion monitoring module for controlling the movement direction of the unmanned surface vessel (USV); a video monitoring module for remotely monitoring video from the USV's cameras; an equipment display module for displaying the status data of all vessels; and a task management module for customizing tasks, planning route nodes, executing tasks, and displaying task completion progress. Operators can log in to the software operating platform to view the USV's operating status, battery level, and whether the control system is operating normally. After confirming that the above information is correct, the operator enters the task information into the control software and uploads it to the USV's controller. After receiving the task, the USV's positioning unit plans the USV's route and activates real-time positioning. With the assistance of the positioning system and obstacle avoidance system, the USV begins to execute the task.

Claims

1. An unmanned surface vessel, characterized in that, include: hull; A wind power generation device, including a wind turbine, is disposed on the upper surface of the hull; A solar power generation device includes at least one photovoltaic panel and a support frame. The photovoltaic panel is mounted on the upper surface of the hull via the support frame, and the support frame is capable of moving the photovoltaic panel in a horizontal plane. The controller is configured to move the bracket to avoid the shaded area of ​​the wind turbine, based on the predicted shaded area of ​​the wind turbine.

2. The unmanned vessel according to claim 1, characterized in that, The hull is a catamaran, comprising a first hull and a second hull arranged in parallel and a connecting bridge connecting the two; the wind turbine is located in the middle of the connecting bridge, and the photovoltaic panel is located on the upper surface of the first hull, the second hull, and the connecting bridge.

3. The unmanned vessel according to claim 1, characterized in that, The ship's interior has an energy storage compartment for housing batteries. A thermoelectric generator is installed on the energy storage compartment, with the hot end of the thermoelectric generator facing the interior of the energy storage compartment and the cold end in contact with the inner wall of the energy storage compartment, forming an auxiliary power generation unit. The solar power generation device, the wind power generation device, and the thermoelectric generator are all electrically connected to the batteries, forming a closed-loop power supply system that integrates wind, solar, and energy storage.

4. The unmanned vessel according to claim 3, characterized in that, The coordinated power supply includes at least the following modes: When there is sufficient sunshine and wind, the photovoltaic panel and the wind turbine simultaneously supply power and charge the battery. When there is insufficient sunlight and wind, the fan is powered by the main power supply, and the battery releases electrical energy to supplement the power supply. When there is sufficient sunshine and no wind, the photovoltaic panel provides the main power supply, and the battery stores excess electrical energy. When there is no sunlight and no wind, the battery releases electrical energy, and the thermoelectric generator recovers waste heat to assist in power supply.

5. The unmanned surface vessel according to claim 1, characterized in that, The spatial area formed by the rotation of the wind turbine blades does not overlap with the area where the photovoltaic panels are installed.

6. The unmanned vessel according to claim 1, characterized in that, The photovoltaic panel can be adjusted in tilt and azimuth angle via the bracket; when the wind force exceeds a preset threshold, the tilt angle of the photovoltaic panel is reduced to reduce wind resistance; before the wind turbine's shadow area is blocked, the photovoltaic panel can adjust its horizontal position in advance according to the sun's trajectory and the rotation position of the wind turbine blades.

7. A method for arranging wind turbines and photovoltaic panels on an unmanned vessel based on any one of claims 1 to 6, characterized in that, include: Based on the solar direction vector, the rotation radius of the wind turbine blades, and the vertical distance between the wind turbine and the photovoltaic panel mounting plane, the circular projection area of ​​the wind turbine's shadow on the mounting plane is determined, and it is determined whether the center of the photovoltaic panel falls within the circular projection area. The time is discretized into multiple time steps. For the candidate horizontal position of the photovoltaic panel, the predicted power generation for the current time step and the next time step is calculated based on the power generation per unit area, the area of ​​the photovoltaic panel, the time step length, and the judgment results of whether the center of the photovoltaic panel falls within the circular projection area in the current time step and the next time step. The predicted power generation for the next time step is multiplied by a discount factor and then added to the predicted power generation for the current time step to obtain the total predicted power generation for the two-step look-ahead. Calculate the movement energy consumption by multiplying the Manhattan distance required to move the photovoltaic panel from its current location to a candidate location by the movement energy consumption per unit distance. In a preset set of candidate locations, the net revenue for each candidate location is calculated, and the net revenue is equal to the total power generation predicted in the two-step forward forecast minus the mobile energy consumption. Select the candidate position with the highest net profit as the target position, and control the bracket to move the photovoltaic panel to the target position.

8. The method according to claim 7, characterized in that, The coordinates of the center of the shadow circle of the wind turbine are determined by the following formula: In the formula: ( , )for t The coordinates of the center of the wind turbine's shadow on the photovoltaic panel mounting plane at any given time; This is the vertical distance between the center of the wind turbine sphere and the mounting plane of the photovoltaic panel. Let t be the unit vector of the sun's direction at time t.

9. The method according to claim 7, characterized in that, The predicted power generation is calculated using the following formula: in: For the location of photovoltaic panels Forecasted power generation for the next two time steps; This refers to the area of ​​a single photovoltaic panel; The interval between two adjacent photovoltaic panel movement decisions is the time interval, i.e., the length of each time step; Let t be the power generation per unit area (W / m²) at time t. For time steps The central moment; Discount factor; For the occlusion flag function, here Pick or .

10. The method according to claim 7, characterized in that, When there are multiple photovoltaic panels, each photovoltaic panel is restricted to move within a preset area. The movement boundary is defined by the available space of the hull, and the movement step is executed according to a discrete step size to avoid collisions between photovoltaic panels.

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