Optical detection and mechanical light path system and signal processing system thereof

Abstract

Optical detection and mechanical light path system and its signal processing system, including shell, at least three light transmission windows are arranged on the shell, the central projection opaque light shielding column is arranged in the geometric center of the area surrounded by the light transmission window, the light shielding column is arranged along the shell axis and is located in the center of the four detection channels, the bottom of the light shielding column is arranged on the main plate, the photosensitive diode is arranged on the main plate, and the photosensitive diode is arranged correspondingly with the light transmission window.The present application has the following beneficial effects: the system can measure four-way light signals with high linearity and high resolution in a wide range of light intensity, and calculate the relative direction deviation of the light source according to the difference of the four-way signals, output the correction amount to drive the actuator to realize closed-loop alignment; at the same time, the system can also be used for other light source, light signal intensity and offset measurement application in the response wave band range.

Description

Technical Field

[0001] This invention relates to an optical detection and mechanical optical path system and its signal processing system. Background Technology

[0002] In fields such as industrial inspection, environmental monitoring, optical communication, and solar energy utilization, the objects being measured are often the light signal itself or physical quantities characterized by the light signal (such as solar radiation, incident light intensity, and marker light spots). Non-contact measurement is typically achieved using optical or photoelectric methods. As long as the light signal being measured falls within the spectral response range of the corresponding sensor, functions such as solar irradiance monitoring, solar tracking-related measurements, industrial target identification, optical alignment, and various light signal detection and control can be achieved by detecting the light intensity and its changes.

[0003] In existing technologies, commonly used optical sensing elements include photoresistors, photodiodes, and phototransistors, among others. These elements can convert incident light into changes in electrical quantities (such as changes in resistance, current, or voltage), and are selected based on application requirements in terms of response speed, sensitivity, dark current, spectral response range, and packaging. Various optical measurement devices typically use these optical sensing elements in conjunction with conventional analog signal conditioning circuits, analog-to-digital converters, and main control processing circuits to convert optical signals into electrical signals that can be processed by a host system, enabling the measurement of light intensity or irradiance. These devices are widely used in solar radiation measurement instruments, high-speed optical sensors, optical instruments, and remote control and measurement control modules.

[0004] With the development of electronic measurement technology, various optical signal measurement devices based on optical sensors have been widely used in industrial inspection, environmental monitoring, and solar radiation measurement. However, traditional solutions based on conventional optical sensors combined with analog circuits and main control processing circuits still have the following two main drawbacks: 1. It is difficult to meet the high-precision measurement requirements within a wide range of lighting conditions. Existing devices are typically optimized for a specific application or a particular lighting range, such as focusing only on detection sensitivity in low light or anti-saturation capability under strong light conditions. Because the output signal of optical sensors has a limited amplitude, and after passing through relatively traditional single-supply, single-stage, or simple cascaded amplification circuits, when the ambient light changes significantly from low light and diffused light to strong direct light, either output saturation and a narrowing of the linear range occur under strong light conditions, or the output variation amplitude is too small and resolution is insufficient under low light conditions. For applications requiring high-precision measurement of light intensity or irradiance while maintaining good linearity and repeatability over a wide lighting range, existing solutions often fail to meet these requirements simultaneously.

[0005] 2. Insufficient system integration and ease of engineering application. In traditional solutions, optical sensors, analog amplifier circuits, analog-to-digital converter circuits, and communication interfaces with host computers or main control boards are often scattered. The sensor front-end typically transmits analog voltage or current over long distances to the main control board for acquisition and processing. This architecture has several drawbacks. First, it places high demands on wiring, grounding, and shielding. Analog signals are easily interfered with in complex electromagnetic environments and under long cable conditions, affecting measurement stability and consistency. Second, the lack of a highly integrated, unified interface front-end measurement unit hinders modular deployment and standardized promotion across different devices and application scenarios, and also increases the complexity of system design and maintenance. Summary of the Invention

[0006] The technical problem to be solved by this invention is: in view of the problems that existing optical measurement and light-finding devices are susceptible to stray light interference in complex environments, the linear range of the front-end analog link is insufficient, and the integration of the sensor and the main control system is not high. This invention proposes a closed-loop optical sensor system based on "four-window projection light-blocking structure + dual-power high-linearity analog front-end and high-precision digital acquisition and bus output".

[0007] To solve the above problems, the present invention is achieved through the following technical solution: An optical detection and mechanical optical path system includes a housing with at least three light-transmitting windows. An opaque light-shielding column with a central projection is set at the geometric center of the area enclosed by the light-transmitting windows. The light-shielding column is arranged along the axial direction of the housing and is located at the center of four detection channels. The bottom of the light-shielding column is set on a main board. A photodiode is set on the main board, and the photodiode is set in correspondence with the light-transmitting windows.

[0008] The light-transmitting window is made of matte black transparent glass, and the rest of the outer casing is coated with light-blocking paint except for the light-transmitting window.

[0009] An anti-light structure is built between the light-transmitting component and the circuit board. The built-in anti-light structure has light-transmitting areas only at the corresponding positions of the four photodiodes, and the remaining areas are light-absorbing structures. It is fixed to the housing and circuit board by fasteners.

[0010] An optical detection and mechanical optical path signal processing system is disclosed. An external light source enters the optical detection and mechanical optical path system. The optical signal output by the optical detection and mechanical optical path system enters an analog signal conditioning system. The electrical signal output by the analog signal conditioning system enters a four-channel high-precision analog-to-digital converter. The four-channel high-precision analog-to-digital converter outputs four optical voltage values, which enter an MCU (Microcontroller Unit) for computation and control. The output of the MCU is connected to an asynchronous serial communication interface and then to an action execution unit. The analog signal conditioning system, the four-channel high-precision analog-to-digital converter, and the MCU are all connected to a power management system.

[0011] The analog signal conditioning system is positioned between the photodiode and the subsequent high-precision acquisition circuit. The analog signal conditioning system uses a dual operational amplifier chip to achieve two-stage processing: the first stage uses a T-network transimpedance gain and a filter network in conjunction with an inverting operational amplifier to complete the current-to-voltage conversion; the second stage uses another operational amplifier unit of the same chip to perform gain redistribution and filtering shaping, so that the output voltage is constrained within the range of 0 to +3.3V to match the analog-to-digital converter input.

[0012] The MCU operation and controller control method includes the following steps: Step 1: After the microcontroller is powered on, it first completes the initialization of the clock and basic peripherals, and establishes the I²C communication timing. Step 2: Then, the digital-to-analog converter is configured via I²C registers to enable it to enter continuous conversion mode and perform voltage sampling according to the preset range and sampling rate; Step 3: The microcontroller obtains the 16-bit digital sampling results of each channel by periodically reading the AD conversion register, and switches the input multiplexing channel through the configuration register after each reading to complete the four-channel polling acquisition, thereby forming four digital photovoltage values ​​that correspond one-to-one with the four symmetrical "up, down, left, and right" directions. Step 4: After the microcontroller caches the acquired four voltage data and performs necessary data validity checks, it enters the error calculation step. By performing differential normalization calculation on the four optical voltages, it obtains the X-axis error value Ex and Y-axis error value Ey indicating the direction and amplitude of the light spot offset. Ex reflects the deviation trend in the left and right directions, and Ey reflects the deviation trend in the up and down directions. Furthermore, the normalization process decouples the error amount from the change in the absolute value of the light intensity. Step 5: After obtaining the X-axis error value Ex and the Y-axis error value Ey, the microcontroller determines the axis that needs to be corrected first based on the error sign and amplitude, and maps the error to the control quantity of the motion execution unit. It then sends the azimuth and elevation angle adjustment commands to the execution unit so that the gimbal can step or correct its position in the corresponding direction. Step 6: During the action, the action execution unit outputs real-time attitude angle feedback information. The microcontroller periodically obtains the actual values ​​of the current azimuth and elevation angles through the communication interface and forms an attitude buffer. In the next control cycle, the attitude feedback and the latest photovoltage error calculation result are used together to generate a new target angle, thus forming a closed-loop control loop of "error calculation - command issuance - attitude feedback - recalculation". This enables the system to quickly converge to the dead zone range and maintain stable alignment during the iterative process of continuous sampling and correction, and finally achieves high-precision automatic tracking of the solar azimuth and elevation angles.

[0013] Compared with the prior art, the present invention has the following advantages: the system can perform high linearity and high resolution measurement of four optical signals within a wide range of light intensity, calculate the relative directional deviation of the light source based on the differences of the four signals, and output the correction amount to drive the actuator to achieve closed-loop alignment; at the same time, the system can also be used for other light source, optical signal intensity and offset measurement applications within the response band range. Attached Figure Description

[0014] Figure 1 This is a block diagram of a closed-loop optical sensor system. Figure 2 This is a front view of the optical detection and mechanical optical path system. Figure 3 A top view of an optical detection and mechanical optical path system; Figure 4 This is a schematic diagram of a four-channel analog signal conditioning system. Figure 5 This is a block diagram of a four-channel high-precision analog-to-digital converter, MCU operation and control system; Figure 6 Block diagram of the photovoltage signal acquisition and four-channel polling conversion control software; Figure 7 This is a block diagram of a distributed analog isolated power supply system for an optical sensor. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0017] like Figure 1 As shown, the signal processing system for optical detection and mechanical optical path consists of an optical detection and mechanical optical path system, an analog signal conditioning system, a four-channel high-precision analog-to-digital converter, an MCU control system, a communication interface system, an action execution unit, and a power management subsystem. The various parts cooperate with each other to realize the detection of external light sources and closed-loop correction control.

[0018] The system integrates an external light source with an optical detection and mechanical optical path system. The optical signal output from this system enters an analog signal conditioning system. The electrical signal output from the conditioning system enters a four-channel high-precision analog-to-digital converter (ADC). The ADC outputs four photovoltage values, which are then fed into an MCU (Microcontroller Unit) for computation and control. The MCU's output is connected to an asynchronous serial communication interface, which in turn connects to the action execution unit. All of these components—the analog signal conditioning system, the four-channel ADC, and the MCU—are connected to a power management system.

[0019] 1) Optical detection and mechanical optical path system: The optical detection and mechanical optical path system is used to protect against external incident light, limit the field of view and suppress stray light, and provide stable and consistent incident conditions for the four photosensitive detection channels, thereby improving the stability of direction discrimination and light intensity measurement.

[0020] Optical detection and mechanical optical path systems preferably employ a multi-layered structure to form multiple optical path screening and isolation. For example... Figure 2 As shown, the optical detection and mechanical optical path system includes a housing 1. The housing 1 adopts an integrated housing structure and is used to achieve environmental protection such as insulation, dustproof, and waterproof, meeting the IP67 protection requirements.

[0021] At least three light-transmitting windows 2 (four are shown in the figure) are provided on the outer shell 1. An opaque light-shielding column 3 with a central projection is provided at the geometric center of the area enclosed by the four light-transmitting windows 2. The light-shielding column 3 is arranged along the axial direction of the outer shell 1 and is located in the center of the four detection channels. The bottom of the light-shielding column 3 is provided on the main board 4. A photodiode is provided on the main board 4, and the photodiode is provided in correspondence with the light-transmitting window 2.

[0022] It should be noted that the light-transmitting window 2 is the light-transmitting component in the sensor. The light-transmitting window 2 is made of matte black light-transmitting glass. It has independent light-transmitting areas (four windows) only at the corresponding positions of the four photodiodes. The remaining areas are treated to be opaque. That is, the remaining areas of the outer shell 1 except for the light-transmitting window are coated with light-blocking paint. The light-blocking paint serves as the first light-limiting filter.

[0023] Ideally, an anti-light-absorbing structure is built into the space between the light-transmitting component and the circuit board. This structure has light-transmitting areas only at the locations corresponding to the four photodiodes, with the remaining areas being light-absorbing structures. It is then fixed to the housing and circuit board using fasteners. The light-absorbing structure is an opaque black structure, such as a black epoxy resin-coated encapsulation structure, used to prevent excess light from entering the photodiode area. Additionally, the inner surface of the housing is also preferably treated with light-absorbing and anti-light-absorbing properties to reduce stray light interference caused by cavity reflections. This forms a second light-limiting filter, which, together with the first light-limiting filter, defines the effective field of view of each detection channel, reducing the impact of side light, reflected light, and inter-channel crosstalk on the measurement. It also provides secondary protection and isolation for the circuit board, thereby improving the system's resistance to stray light interference in complex lighting environments and enhancing the consistency and stability of the four-channel measurements. This provides stable input conditions for subsequent analog signal conditioning and high-precision acquisition.

[0024] In this way, the light-shielding column 3, together with the light-transmitting window 2 on the outer shell and the built-in light-shielding structural components, constitute a four-window projection light-shielding structure. When the light source deviates from the sensor axis, the light-shielding column 3 blocks the incident light and forms a shadow projection, causing the effective light intensity of at least one channel to change. This transforms the "misalignment" into a measurable difference in the four signals, which facilitates the extraction of directional deviation information from the differential / ratio of the four signals and serves as the measurement basis for closed-loop control.

[0025] 2) Analog signal conditioning system like Figure 4 As shown, the analog signal conditioning system is set between the photodiode and the subsequent high-precision acquisition circuit. It is used to convert the weak photocurrent generated in photovoltaic mode into a voltage signal in a linear manner, and to perform high-gain amplification, bandwidth limitation, noise suppression and amplitude shaping under wide illumination variation conditions, so that the output of the four channels falls stably into the range that can be accurately quantized, providing a reliable analog input basis for subsequent 16-bit digital sampling and closed-loop control calculations.

[0026] The analog signal conditioning system employs a dual operational amplifier chip to achieve two-stage processing: the first stage uses a T-network transimpedance gain and a filter network in conjunction with an inverting operational amplifier to complete the current-to-voltage conversion. The T-network is used to obtain a high equivalent transimpedance gain, which reduces the impact of error sources on weak signals while ensuring high sensitivity. The effective bandwidth is limited by the feedback capacitor / compensation capacitor C to suppress out-of-band noise and interference and improve stability under high gain conditions. On this basis, the second stage uses another operational amplifier unit of the same chip to perform gain redistribution and filtering shaping, so that the output voltage is constrained within the range of 0 to +3.3V to match the analog-to-digital converter input and improve the effective quantization utilization rate under low light conditions.

[0027] To avoid loss of differential characteristics due to shearing or saturation caused by lower limit limitations under strong light conditions, this invention provides dual analog power supplies of +3.3V and -1.8V for the analog amplifier circuit. This allows the first-stage output to have a negative linear swing range. Through parameter design, the first-stage output voltage is controlled within the allowable range of the negative power supply (ensuring it is not lower than -1.8V and preferably controlled within approximately -1.6V). This maintains the linear operating range under conditions with a large span between strong and weak light, while also ensuring high sensitivity and unsaturation capability. At the same time, the input maintains high impedance and low disturbance characteristics and minimizes the error introduced by bias, enabling stable switching of the photodiode output and reducing the impact of zero-point drift and inconsistencies between channels on direction calculation. The four channels adopt isomorphic transimpedance and shaping links. Combined with the bandwidth constraints and filtering processing of the first and second stages, the small light intensity differences formed by the optical path structure can be transformed into stable, repeatable, and calibrable four-channel voltage differences. This improves the stability and consistency of positioning measurements and provides key front-end conditions for subsequent high-precision sampling and closed-loop correction control.

[0028] Figure 5 The back-end voltage signal reading and closed-loop control link shown aims to stably and continuously convert the four photovoltage signals output from the front-end analog signal conditioning system into digital quantities. The microcontroller then performs error calculation and execution control, thereby achieving closed-loop automatic alignment of the solar azimuth and altitude angles. Specifically, the four symmetrically placed photosensitive units, after a first-stage transimpedance amplification and a second-stage operational amplifier conditioning and filtering, form four independent analog voltage signals with amplitudes constrained within the input range of the analog-to-digital converter. These four analog voltage signals are respectively connected to the four input pins of a four-channel high-precision analog-to-digital converter.

[0029] like Figure 6 As shown, the MCU operation and controller control method includes the following steps: Step 1: After the microcontroller is powered on, it first completes the initialization of the clock and basic peripherals, and establishes the I²C communication timing. Step 2: Then, the digital-to-analog converter is configured via I²C registers to enable it to enter continuous conversion mode and perform voltage sampling according to the preset range and sampling rate; Step 3: The microcontroller obtains the 16-bit digital sampling results of each channel by periodically reading the AD conversion register, and switches the input multiplexing channel through the configuration register after each reading to complete the four-channel polling acquisition, thereby forming four digital photovoltage values ​​that correspond one-to-one with the four symmetrical "up, down, left, and right" directions. Step 4: After the microcontroller caches the acquired four voltage data and performs necessary data validity checks, it enters the error calculation step. By performing differential normalization calculation on the four optical voltages, it obtains the X-axis error value Ex and the Y-axis error value Ey indicating the direction and amplitude of the light spot offset. Ex reflects the deviation trend in the left and right directions, and Ey reflects the deviation trend in the up and down directions. Furthermore, the normalization process decouples the error amount from the change in the absolute value of the light intensity, thereby improving the control consistency under different light intensity conditions. Step 5: After obtaining the X-axis error value Ex and the Y-axis error value Ey, the microcontroller determines the axis that needs to be corrected first based on the error sign and amplitude, and maps the error to the control quantity of the motion execution unit. It then sends the azimuth and elevation angle adjustment commands to the execution unit so that the gimbal can step or correct its position in the corresponding direction. Step 6: During the action, the action execution unit outputs real-time attitude angle feedback information. The microcontroller periodically obtains the actual values ​​of the current azimuth and elevation angles through the communication interface and forms an attitude buffer. In the next control cycle, the attitude feedback and the latest photovoltage error calculation result are used together to generate a new target angle, thus forming a closed-loop control loop of "error calculation - command issuance - attitude feedback - recalculation". This enables the system to quickly converge to the dead zone range and maintain stable alignment during the iterative process of continuous sampling and correction, and finally achieves high-precision automatic tracking of the solar azimuth and elevation angles.

[0030] Figure 7 The diagram shows the structure of the distributed power supply system of the present invention. It performs graded transformation, branch power supply and multi-stage filtering on the 12V to 24V industrial wide voltage input to form digital power supply, analog power supply and negative power supply required by operational amplifier, thereby providing low ripple, low interference and stable operating point power supply conditions for high-precision photoelectric signal conditioning and four-channel analog-to-digital conversion sampling.

[0031] Specifically, the input power supply is converted to a 3.3V digital power supply by a first switching power supply, and a secondary filtering is performed at the output end using an inductor-capacitor filter network. This power supply is used to power digital circuits such as microcontrollers and communication circuits, reducing the coupling of digital switching noise to the analog measurement link through structural isolation. At the same time, the input power supply first obtains a 5V intermediate power supply through a second switching power supply, which is then pre-filtered by an inductor-capacitor filter network and regulated by a low-dropout linear regulator to obtain a 3.3V analog power supply. This is used for front-end analog signal conditioning and powering noise-sensitive analog units. Thus, the ripple is reduced and the power supply stability is improved through the path of "switching regulator pre-conversion - filtering - linear regulator purification". Building upon this foundation, the system further generates a negative power supply from the 3.3V power supply. First, a voltage-inverting negative power supply conversion circuit converts +3.3V to -3.3V. This structure has fewer external components and a compact layout, facilitating negative power supply within limited board space and reducing assembly and failure risks. Subsequently, a negative voltage linear regulator stabilizes the -3.3V to -1.8V to further suppress disturbances from the previous negative power supply and obtain a more stable negative voltage output. Ultimately, it provides dual power supplies of +3.3V and -1.8V to the operational amplifier, allowing for more reasonable swing and operating point settings. Combined with digital / analog power distribution and multi-stage filtering, this comprehensively improves the system's anti-interference capability and measurement repeatability under environmental changes, load fluctuations, and strong / weak light conditions.

[0032] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several changes and improvements without departing from the overall concept of the present invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. An optical detection and mechanical optical path system, characterized in that: Includes a housing (1), on which at least three light-transmitting windows (2) are provided. At the geometric center of the area enclosed by the light-transmitting windows (2), an opaque central projection light-shielding column (3) is provided. The light-shielding column (3) is arranged along the axial direction of the housing (1) and located in the center of the four detection channels. The bottom of the light-shielding column (3) is provided on the main board (4). A photodiode is provided on the main board (4). The photodiode is provided in correspondence with the light-transmitting window (2).

2. The optical detection and mechanical optical path system according to claim 1, characterized in that: The light-transmitting window (2) is made of matte black light-transmitting glass, and the outer shell (1) is coated with light-blocking paint in all other positions except for the light-transmitting window.

3. The optical detection and mechanical optical path system according to claim 1, characterized in that: An anti-light structure is built between the light-transmitting component and the circuit board. The built-in anti-light structure has light-transmitting areas only at the corresponding positions of the four photodiodes, and the remaining areas are light-absorbing structures. It is fixed to the housing and circuit board by fasteners.

4. A signal processing system for optical detection and mechanical optical path, characterized in that: An external light source enters the optical detection and mechanical optical path system described in claims 1-3. The optical signal output by the optical detection and mechanical optical path system enters the analog signal conditioning system. The electrical signal output by the analog signal conditioning system enters the four-channel high-precision analog-to-digital converter. The four-channel high-precision analog-to-digital converter outputs four optical voltage values, which enter the MCU operation and controller. The output terminal of the MCU operation and controller is connected to the asynchronous serial communication interface and then to the action execution unit. The analog signal conditioning system, the four-channel high-precision analog-to-digital converter, and the MCU operation and controller are all connected to the power management system.

5. The signal processing system for optical detection and mechanical optical path according to claim 4, characterized in that: The analog signal conditioning system is positioned between the photodiode and the subsequent high-precision acquisition circuit. The analog signal conditioning system uses a dual operational amplifier chip to achieve two-stage processing: the first stage uses a T-network transimpedance gain and a filter network in conjunction with an inverting operational amplifier to complete the current-to-voltage conversion; the second stage uses another operational amplifier unit of the same chip to perform gain redistribution and filtering shaping, so that the output voltage is constrained within the range of 0 to +3.3V to match the analog-to-digital converter input.

6. The signal processing system for optical detection and mechanical optical path according to claim 4, characterized in that: The MCU operation and controller control method includes the following steps: Step 1: After the microcontroller is powered on, it first completes the initialization of the clock and basic peripherals, and establishes the I²C communication timing. Step 2: Then, the digital-to-analog converter is configured via I²C registers to enable it to enter continuous conversion mode and perform voltage sampling according to the preset range and sampling rate; Step 3: The microcontroller obtains the 16-bit digital sampling results of each channel by periodically reading the AD conversion register, and switches the input multiplexing channel through the configuration register after each reading to complete the four-channel polling acquisition, thereby forming four digital photovoltage values ​​that correspond one-to-one with the four symmetrical "up, down, left, and right" directions. Step 4: After the microcontroller caches the acquired four voltage data and performs necessary data validity checks, it enters the error calculation step. By performing differential normalization calculation on the four optical voltages, it obtains the X-axis error value Ex and Y-axis error value Ey indicating the direction and amplitude of the light spot offset. Ex reflects the deviation trend in the left and right directions, and Ey reflects the deviation trend in the up and down directions. Furthermore, the normalization process decouples the error amount from the change in the absolute value of the light intensity. Step 5: After obtaining the X-axis error value Ex and the Y-axis error value Ey, the microcontroller determines the axis that needs to be corrected first based on the error sign and amplitude, and maps the error to the control quantity of the motion execution unit. It then sends the azimuth and elevation angle adjustment commands to the execution unit so that the gimbal can step or correct its position in the corresponding direction. Step 6: During the action, the action execution unit outputs real-time attitude angle feedback information. The microcontroller periodically obtains the actual values ​​of the current azimuth and elevation angles through the communication interface and forms an attitude buffer. In the next control cycle, the attitude feedback and the latest photovoltage error calculation result are used together to generate a new target angle, thus forming a closed-loop control loop of "error calculation - command issuance - attitude feedback - recalculation". This enables the system to quickly converge to the dead zone range and maintain stable alignment during the iterative process of continuous sampling and correction, and finally achieves high-precision automatic tracking of the solar azimuth and elevation angles.

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