Vehicle-mounted navigation solar energy supplementing control method and system

Abstract

The application discloses a kind of vehicle navigation solar energy supplement control method and system, it is related to vehicle energy technical field.For solving low light condition solar energy supplement system counter consumption, lack photovoltaic panel temperature protection mechanism, lack of unfolding mechanism jam detection and fault protection problem.The method obtains solar energy supply opening instruction signal, first control photovoltaic panel in photovoltaic system and expand;Afterwards, the output power of photovoltaic panel is acquired, to determine whether to power through photovoltaic system for propeller, when the output power of photovoltaic panel is greater than or equal to first power threshold, simultaneously through photovoltaic system and power battery for vehicle propeller power supply;When the output power of photovoltaic panel is less than first power threshold, control photovoltaic panel is withdrawn to the state of retraction, only through power battery for vehicle propeller power supply.The application can effectively reduce power battery additional consumption, prolong navigation endurance, while guarantee photovoltaic panel safe operation, improve system reliability.

Description

Technical Field

[0001] This invention relates to the field of vehicle energy technology, and in particular to a method and system for controlling onboard solar energy replenishment for vehicle navigation. Background Technology

[0002] With the development of the new energy off-road vehicle market, amphibious vehicles rely on the vehicle's battery as the primary power source for propulsion during navigation. Since the engine cannot start during navigation, the battery must independently handle all the power needs of the propulsion system. However, the limited battery capacity restricts the driving range.

[0003] To extend the driving range, retractable solar photovoltaic panels can be installed on the roof. When the vehicle is in motion, the photovoltaic panels are deployed to provide auxiliary power to the propulsion system, thereby reducing the consumption of the power battery and extending the driving range.

[0004] However, since the power generation of photovoltaic panels is directly related to the intensity and angle of sunlight, when the sunlight intensity is insufficient and the power generation of photovoltaic panels is too low, the power consumption of the photovoltaic system itself exceeds the power generation of photovoltaic panels, resulting in net power consumption of the system, which in turn accelerates the consumption of power batteries and reduces the driving range. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle-mounted solar energy replenishment control method and system to solve the problems of power consumption, lack of photovoltaic panel temperature protection mechanism, and lack of deployment mechanism jamming detection and fault protection in the existing technology.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A method for solar power replenishment for vehicle navigation includes the following steps: Upon receiving the solar power activation command signal, the photovoltaic panels in the photovoltaic system are controlled to extend and unfold. Obtain the output power of the photovoltaic panel; When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state; When the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion unit. The first power threshold is greater than the static power consumption of the photovoltaic system itself, so as to ensure that the photovoltaic system has a positive net output power when it is working.

[0007] Furthermore, the process of controlling the photovoltaic panel to extend and unfold includes: Start the lifting motor to control the photovoltaic panel to extend, and during the extension of the photovoltaic panel, obtain the number of rotations and torque of the lifting motor; When the number of rotations of the lifting motor is greater than the set threshold for the number of rotations, and the torque of the lifting motor is greater than the set threshold for the torque, the photovoltaic panel is determined to rise to the set position, and the lifting motor is controlled to remain at that position. Then, the unfolding motor is started to control the unfolding of the photovoltaic panel, and the number of rotations and torque of the unfolding motor are obtained during the unfolding process of the photovoltaic panel; When the number of rotations of the unfolding motor is greater than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, the photovoltaic panel is determined to be fully unfolded, and the unfolding motor is controlled to remain in that position.

[0008] Furthermore, when the number of rotations of the lifting motor is less than the set lifting rotation threshold and the torque of the lifting motor is greater than the set lifting torque threshold, it is determined that the photovoltaic panel is stuck in the upward movement. When the number of rotations of the unfolding motor is less than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, it is determined that the photovoltaic panel is stuck during unfolding. When it is determined that the photovoltaic panel is stuck in the rising or unfolding position, the photovoltaic panel is controlled to retract to the retracted state.

[0009] Furthermore, during the process of providing auxiliary functions to the vehicle propulsion system through the photovoltaic system, the output power of the photovoltaic panel is continuously acquired; When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0010] Furthermore, during the process of the photovoltaic system providing auxiliary functions for the vehicle propulsion, the temperature of the photovoltaic panel is continuously acquired; When the temperature of the photovoltaic panel is higher than the set temperature threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0011] Furthermore, during the process of providing auxiliary power to the vehicle's propulsion system, the photovoltaic system also acquires the propulsion system's output power: When the output power of the thruster is less than the set second power threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0012] A vehicle-mounted solar power replenishment system for navigation includes: The motion mechanism controller is used to control the photovoltaic panels in the photovoltaic system to extend and unfold after receiving a solar power supply start command signal; A boost module is used to obtain the output power of the photovoltaic panel; when the output power of the photovoltaic panel is less than a first power threshold, the photovoltaic panel is controlled to retract to a retracted state; when the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion unit.

[0013] An electronic device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the aforementioned solar power replenishment method for vehicle navigation.

[0014] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned method for solar power replenishment for vehicle navigation.

[0015] A computer program product includes a computer program that, when executed by a processor, implements the aforementioned method for solar power replenishment for vehicle navigation.

[0016] The beneficial effects of this invention are: This invention proposes a method and system for solar power replenishment for vehicle navigation. Upon receiving a solar power activation command signal, the method first controls the photovoltaic panel in the photovoltaic system to extend and unfold. Then, it acquires the output power of the photovoltaic panel to determine whether to power the thruster through the photovoltaic system. When the output power of the photovoltaic panel is greater than or equal to a first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle thruster. When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to a retracted state, and the auxiliary function of the photovoltaic system is not activated. This ensures that the auxiliary function of the photovoltaic system is only activated when the output power of the photovoltaic panel is higher than the static power consumption of the photovoltaic system itself. This avoids the net power consumption problem caused by the photovoltaic system's own power consumption exceeding the photovoltaic panel's power generation under low light conditions, effectively reducing the additional consumption of the power battery and improving the navigation range. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a solar power replenishment method for vehicle-mounted navigation. Figure 2 This is a schematic diagram of the system architecture of a solar power replenishment method for vehicle navigation.

[0018] Figure 3 This is a schematic diagram of the photovoltaic panel extending and unfolding process. Detailed Implementation

[0019] In this application, unless otherwise stated, the terms "first," "second," etc., are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0020] In this application, "photovoltaic panel" refers to a semiconductor device assembly that converts solar energy into electrical energy, also known as a solar panel, which is usually composed of multiple photovoltaic cell units connected in series and parallel, and is able to output DC voltage and current under sunlight conditions.

[0021] "Upward motor G1" refers to a motor that drives the photovoltaic panel module to rise or fall vertically. The lifting and positioning of the photovoltaic panel is achieved by controlling its rotation number and torque.

[0022] "Expanding motor G2" refers to a motor that drives the photovoltaic panel module to unfold or retract in the horizontal direction. The unfolding and retraction of the photovoltaic panel is achieved by controlling its rotation number and torque.

[0023] The "motion mechanism controller" refers to the boost module responsible for controlling the operation of the lifting motor G1 and the unfolding motor G2. It can detect parameters such as the number of rotations and torque of the motor in real time, and control the start, stop and position holding of the motor according to preset conditions.

[0024] A "boost module" is a DC-DC voltage conversion circuit that boosts the low-voltage DC power output from a photovoltaic panel to the operating voltage range of a propulsion system. It typically includes components such as power switching transistors, inductors, diodes, and capacitors.

[0025] "Number of rotations" refers to the cumulative number of rotations of the motor from its starting position. It is usually obtained by an encoder or Hall sensor and is used to determine whether the motor has reached the predetermined position.

[0026] "Torque" refers to the torque on the output bearing of the motor, reflecting the current load state of the motor. When the mechanism jams, the torque will increase abnormally.

[0027] In recent years, with more and more people choosing to travel by car, especially with the development of the new energy hardcore off-road market, there are often situations where people need to detour around rivers and lakes when traveling. This has led to existing vehicles no longer meeting the needs of being used only on the road. Therefore, various car manufacturers are exploring solutions to add a navigation power system to the vehicle, so that the vehicle can have amphibious capabilities. When new energy off-road vehicles encounter rivers in the wild, they can directly enter the water and navigate.

[0028] To extend the driving range, retractable solar photovoltaic panels can be installed on the roof. During navigation, the panels unfold, and a boost module amplifies the low-voltage DC power output from the panels, which is then connected in parallel with the power battery to provide auxiliary power to the propulsion system. This reduces battery consumption and extends the driving range. The solar auxiliary power supply device includes photovoltaic panels, a motion mechanism, and a boost module. The motion mechanism drives the photovoltaic panels to unfold, and the boost module converts the low-voltage electricity output from the photovoltaic panels into the propulsion system's operating voltage before integrating it into the power supply circuit.

[0029] Existing vehicle-mounted solar power systems have the following technical defects in practical applications: when the light intensity is insufficient, the power generation of the photovoltaic panels is too low, but the photovoltaic system continues to operate, causing the power consumption of the photovoltaic system itself to exceed the power generation of the photovoltaic panels, resulting in net power consumption and reducing the driving range.

[0030] To address the aforementioned technical deficiencies, this invention proposes a vehicle-mounted solar power replenishment control method. When the output power of the photovoltaic panel is greater than or equal to a first power threshold, it provides auxiliary power to the vehicle's propellers. When the output power of the photovoltaic panel is less than the first power threshold, it stops providing auxiliary power to the vehicle's propellers. This ensures that the photovoltaic system's auxiliary function is only activated when the output power of the photovoltaic panel exceeds the static power consumption of the photovoltaic system itself. This avoids the net power consumption problem caused by the photovoltaic system's own power consumption exceeding the photovoltaic panel's power generation under low light conditions, effectively reducing the additional consumption of the power battery and improving the vehicle's range, thereby solving the aforementioned problems of the prior art.

[0031] The core technical concept of this invention is as follows: Upon receiving a solar power activation command signal, the system first controls the photovoltaic panels in the photovoltaic system to extend and unfold. Then, it acquires the output power of the photovoltaic panels to determine whether to power the propellers through the photovoltaic system. When the output power of the photovoltaic panels is greater than or equal to a first power threshold, the system controls the photovoltaic system to provide auxiliary power to the vehicle's propellers. When the output power of the photovoltaic panels is less than the first power threshold, the photovoltaic panels are retracted to the retracted state, and the auxiliary function of the photovoltaic system is not activated. This ensures that the auxiliary function of the photovoltaic system is only activated when the output power of the photovoltaic panels is higher than the static power consumption of the photovoltaic system itself. This avoids the net power consumption problem caused by the photovoltaic system's own power consumption exceeding the photovoltaic panel's power generation under low light conditions, effectively reducing the additional consumption of the power battery and improving the driving range. The coordinated operation of the above-mentioned links forms a complete vehicle-mounted solar power replenishment control strategy.

[0032] Figure 2 This is a schematic diagram of the system architecture of an application system for a vehicle-mounted solar power replenishment method provided in an embodiment of the present invention. (See diagram below.) Figure 2 As shown, this system is applied to the navigation scenarios of amphibious vehicles and mainly includes the following components: Photovoltaic panel modules, installed on the roof of vehicles, consist of multiple photovoltaic panels connected in series and parallel. They can convert solar energy into direct current (DC) electricity, with an output voltage range typically from 12V to 48V.

[0033] The lifting motor G1 is electrically connected to the motion mechanism controller, driving the photovoltaic panel assembly to rise or fall vertically. The lifting height is typically 0.5 meters to 1.5 meters. After the lifting is completed, the photovoltaic panel is positioned above the vehicle roof for easy deployment.

[0034] The unfolding motor G2 is connected to the motion mechanism controller via an electrical connection, driving the photovoltaic panel components to unfold or retract horizontally. After unfolding, the area of ​​the photovoltaic panel can reach 2 to 4 times the area of ​​the vehicle roof, greatly increasing the area for receiving light energy.

[0035] The motion mechanism controller, as the core boosting module of the entire system, controls the rotation and position holding of the motors by detecting the number of rotations and torque of the lifting motor G1 and the unfolding motor G2. It also has a fault detection function and can execute protective actions in a timely manner when the mechanism jams.

[0036] The boost module is electrically connected to the photovoltaic panel assembly and communicates with the motion mechanism controller via digital signal lines. It includes a DC-DC conversion circuit that can boost the low-voltage DC power output from the photovoltaic panel to the operating voltage of the propulsion system, typically 48V to 400V, and also has an output power detection function.

[0037] The temperature sensor is thermally coupled to the photovoltaic panel module and connected to the motion mechanism controller via an analog signal line. It detects the temperature of the photovoltaic panel in real time and sends a protection signal to the motion mechanism controller when the temperature exceeds the protection threshold.

[0038] The thruster communication interface communicates with the boost module via a data connection to receive thruster output power data, which is used to determine whether the thruster has stopped working.

[0039] The power battery, serving as the main power source for the propulsion system, directly supplies electrical energy to the propulsion system via a high-voltage electrical connection. During navigation, the propulsion system always relies on the power battery as its primary energy source. The output of the boost module is connected in parallel with the output of the power battery through a parallel interface. When there is sufficient sunlight, the electrical energy generated by the photovoltaic panel is boosted and then added to the propulsion power supply circuit, reducing the actual discharge of the power battery and extending the navigation range.

[0040] The navigation controller is used to receive vehicle mode switching commands and then control the vehicle to switch modes according to the vehicle mode switching commands. For example, when the received vehicle mode switching command is an instruction to activate the underwater navigation mode, the controller controls the vehicle to enter the underwater navigation mode. When the received vehicle mode switching command is an instruction to exit the underwater navigation mode, the controller controls the vehicle to exit the underwater navigation mode and enter the land driving mode.

[0041] The display communication module communicates with the motion mechanism controller via a digital signal line, receives fault signals and displays them on the vehicle's display screen to alert the driver to the system's operating status or fault information.

[0042] The aforementioned components are connected via electrical, signal, or data connections to form a complete onboard solar power replenishment system for vehicle navigation. The power battery serves as the primary power source for the thrusters, while the boost module output is connected in parallel with the power battery output to provide auxiliary power to the thrusters when sunlight is abundant, effectively reducing power battery consumption and extending the driving range.

[0043] Figure 1 This is a flowchart illustrating the vehicle-mounted solar power replenishment control method provided in an embodiment of the present invention. Figure 1 As shown, the method includes the following steps: S101: Upon receiving the solar power supply start command signal, control the photovoltaic panels in the photovoltaic system to extend and unfold.

[0044] In this step, when a solar power switch signal is received, it is determined that a solar power supply start command signal has been obtained, and the motion mechanism controller and the boost module perform initialization.

[0045] When the driver taps the solar power switch on the vehicle's display screen or triggers it via a physical button, the system receives the solar power switch signal. Additionally, when the vehicle enters underwater navigation mode, a solar power supply activation command signal is automatically generated. Upon receiving this signal, the motion mechanism controller first performs initialization operations, including reading the current position parameters of the lifting motor G1 and the deploying motor G2, checking the motor drive circuit status, and clearing fault flags from the previous operation. Simultaneously, the motion mechanism controller sends an initialization command to the boost module via a digital signal line. Upon receiving the initialization command, the boost module executes a self-test program, checking the power switches, inductors, capacitors, and other components of the DC-DC converter circuit for proper functioning, as well as the output voltage and current sampling circuits, and the electrical connection to the photovoltaic panel components. After initialization, both the motion mechanism controller and the boost module enter a ready state, awaiting subsequent control commands.

[0046] The technical effect of this step is that the initialization operation clears the historical state of the system, providing a reliable starting point for subsequent photovoltaic panel deployment control and voltage boosting control, thereby improving the stability and reliability of the system operation.

[0047] Once the motion mechanism controller and boost module are initialized, the photovoltaic panel is controlled to extend and unfold.

[0048] Figure 3 This is a schematic diagram of the photovoltaic panel extension and unfolding process, as shown below. Figure 3 As shown, the process of controlling the extension and unfolding of the photovoltaic panel includes: S1011, Start the lifting motor, control the photovoltaic panel to extend, and obtain the number of rotations and torque of the lifting motor during the extension of the photovoltaic panel; When the number of rotations of the lifting motor is greater than the set threshold for the number of rotations, and the torque of the lifting motor is greater than the set threshold for the torque, the photovoltaic panel is determined to rise to the set position, and the lifting motor is controlled to remain at that position.

[0049] The motion mechanism controller records the starting position of the lifting motor and controls its rotation. When the lifting motor meets the preset lifting completion conditions, it controls the lifting motor to maintain its current position.

[0050] In this step, the motion controller first reads the current position of the lifting motor G1 using an encoder or Hall sensor and records this position as the starting position of the lifting motor. Then, the motion controller sends a rotation command to the drive circuit of the lifting motor G1. The drive circuit then drives the lifting motor G1 to rotate forward according to the command, causing the photovoltaic panel assembly to rise vertically. During the rotation of the lifting motor G1, the motion controller continuously monitors the number of rotations n1 and the torque Tq1 of the lifting motor G1.

[0051] The preset conditions for successful lifting include: the number of rotations n1 of the lifting motor G1 reaches a preset lifting rotation threshold n3, and the torque Tq1 reaches a preset lifting torque threshold Tq3. The lifting rotation threshold n3 is calculated based on the designed lifting height of the photovoltaic panel and the reduction ratio of the lifting motor G1. For example, if the designed lifting height is 1 meter, and the lifting motor G1 drives the photovoltaic panel upward via a lead screw mechanism with a lead screw lead of 5 mm and a reduction ratio of 10:1, then the lifting rotation threshold n3 = 1000 mm ÷ 5 mm × 10 = 2000 rotations. The lifting torque threshold Tq3 is set based on factors such as the weight of the photovoltaic panel and the frictional resistance of the lifting mechanism, and is typically set to 1.2 to 1.5 times the normal lifting torque. It is used to determine whether the photovoltaic panel has reached its designated position and whether the lifting mechanism is in a locked state.

[0052] When the motion controller detects that the rotation number n1 of the lifting motor G1 has reached the lifting rotation number threshold n3 and the torque Tq1 has reached the lifting torque threshold Tq3, it considers the photovoltaic panel to have reached its position. At this time, the motion controller sends a stop command to the drive circuit of the lifting motor G1, the drive circuit stops supplying power to the lifting motor G1, and the lifting motor G1 stops rotating. Simultaneously, the motion controller sends a position holding command to the drive circuit of the lifting motor G1, the drive circuit uses an electromagnetic brake or a self-locking mechanism to keep the lifting motor G1 in its current position, preventing the photovoltaic panel from falling due to its own weight.

[0053] In a preferred embodiment, to avoid misjudgment caused by transient interference, the preset lifting completion condition also includes a maintenance time requirement: when the number of rotations n1 of the lifting motor G1 reaches the lifting rotation threshold n3 and the torque Tq1 reaches the lifting torque threshold Tq3, and this is maintained for a preset duration t1, the current position is recorded as the lifting completion position, and the lifting motor G1 is controlled to maintain the current position. The preset duration t1 is typically set to 0.5 seconds to 2 seconds, which can effectively filter out transient torque fluctuations caused by factors such as mechanical vibration and electromagnetic interference.

[0054] The technical effect of this step is that by using the dual criteria of rotation number and torque, it can accurately determine whether the lifting has reached the correct position, and can also determine whether the lifting mechanism is in a locked state by the change in torque, thus improving the accuracy and reliability of position determination.

[0055] S1012, Start the unfolding motor, control the photovoltaic panel to unfold, and obtain the number of rotations and torque of the unfolding motor during the unfolding process of the photovoltaic panel; When the number of rotations of the unfolding motor is greater than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, the photovoltaic panel is determined to be fully unfolded, and the unfolding motor is controlled to remain in that position.

[0056] In this step, the motion mechanism controller first reads the current position of the deployment motor G2 using an encoder or Hall sensor and records this position as the starting position of the deployment motor. Then, the motion mechanism controller sends a rotation command to the drive circuit of the deployment motor G2. The drive circuit then drives the deployment motor G2 to rotate forward according to the command, causing the photovoltaic panel assembly to unfold horizontally. During the rotation of the deployment motor G2, the motion mechanism controller continuously monitors the number of rotations n2 and the torque Tq2 of the deployment motor G2.

[0057] The preset conditions for successful deployment include: the number of rotations n2 of the deployment motor G2 reaches a preset deployment rotation threshold n4, and the torque Tq2 reaches a preset deployment torque threshold Tq4. The deployment rotation threshold n4 is calculated based on the designed deployment length of the photovoltaic panel and the reduction ratio of the deployment motor G2. For example, if the designed deployment length is 2 meters, and the deployment motor G2 drives the photovoltaic panel deployment via a rack and pinion transmission mechanism with a rack pitch of 10 mm, a gear tooth count of 20, and a reduction ratio of 15:1, then the deployment rotation threshold n4 = 2000 mm ÷ (10 mm × 20 teeth) × 15 = 1500 rotations. The deployment torque threshold Tq4 is set based on factors such as the deployment resistance of the photovoltaic panel and the frictional resistance of the deployment mechanism, and is typically set to 1.2 to 1.5 times the normal deployment torque. It is used to determine whether the photovoltaic panel has been deployed in place and whether the deployment mechanism is in a locked state.

[0058] When the motion controller detects that the number of rotations n2 of the deployment motor G2 has reached the deployment rotation threshold n4 and the torque Tq2 has reached the deployment torque threshold Tq4, it considers the photovoltaic panel to have been deployed in place. At this time, the motion controller sends a stop command to the drive circuit of the deployment motor G2, the drive circuit stops supplying power to the deployment motor G2, and the deployment motor G2 stops rotating. Simultaneously, the motion controller sends a position holding command to the drive circuit of the deployment motor G2, the drive circuit uses an electromagnetic brake or a self-locking mechanism to keep the deployment motor G2 in its current position, preventing the photovoltaic panel from shrinking due to wind or inertia.

[0059] In a preferred embodiment, to avoid misjudgment caused by transient interference, the preset deployment completion condition also includes a maintenance time requirement: when the number of rotations n2 of the deployment motor G2 reaches the deployment rotation threshold n4 and the torque Tq2 reaches the deployment torque threshold Tq4, and this is maintained for a preset duration t3, the current position is recorded as the deployment completion position, and the deployment motor G2 is controlled to maintain the current position. The preset duration t3 is typically set to 0.5 seconds to 2 seconds, which can effectively filter out transient torque fluctuations caused by factors such as mechanical vibration and electromagnetic interference.

[0060] The technical effect of this step is that by using the dual criteria of rotation number and torque, it can accurately determine whether the deployment is in place, and can also determine whether the deployment mechanism is in a locked state by the change in torque, thereby improving the accuracy and reliability of position determination.

[0061] Steps S1011 and S1012 also include a fault detection step: When the number of rotations of the lifting motor is less than the set lifting rotation threshold and the torque of the lifting motor is greater than the set lifting torque threshold, it is determined that the photovoltaic panel is stuck in the upward movement. When the number of rotations of the unfolding motor is less than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, it is determined that the photovoltaic panel is stuck during unfolding. When it is determined that the photovoltaic panel is stuck in the rising or unfolding position, the photovoltaic panel is controlled to retract to the retracted state.

[0062] When the number of rotations n1 of the lifting motor G1 is less than the lifting rotation threshold n3 and the torque Tq1 reaches the lifting torque threshold Tq3, the motion mechanism controller detects that the lifting mechanism is stuck. At this time, the motion mechanism controller sends a reverse rotation command to the drive circuit of the lifting motor G1. The drive circuit drives the lifting motor G1 to rotate in the opposite direction, controlling the lifting motor G1 to return to the starting position. Simultaneously, the motion mechanism controller sends a fault signal to the vehicle display screen via the digital signal line, and the vehicle display screen displays the "Photovoltaic panel lifting fault" prompt message. When the number of rotations n2 of the unfolding motor G2 is less than the unfolding rotation threshold n4 and the torque Tq2 reaches the unfolding torque threshold Tq4, the motion mechanism controller detects that the unfolding mechanism is stuck. At this time, the motion mechanism controller sends a reverse rotation command to the drive circuit of the unfolding motor G2. The drive circuit drives the unfolding motor G2 to rotate in the opposite direction, controlling the unfolding motor G2 to return to the starting position. Simultaneously, the motion mechanism controller sends a reverse rotation command to the drive circuit of the lifting motor G1, synchronously controlling the lifting motor G1 to return to the starting position, retracting the photovoltaic panel to the retracted state, realizing the linkage protection of the lifting and unfolding mechanisms, and preventing the photovoltaic panel from being suspended in the half-unfolded state. At the same time, the motion mechanism controller sends a fault signal to the vehicle display screen via a digital signal line, and the vehicle display screen displays a "Photovoltaic panel deployment fault" message.

[0063] The technical benefits of the fault detection procedure are as follows: By monitoring the number of motor rotations and torque in real time, when the number of rotations has not reached a preset threshold but the torque has, it can promptly determine that the mechanism is jammed, immediately execute a retraction protection action, and send a fault signal to the display screen, thus preventing damage to the mechanism and improving system reliability. In particular, when the unfolding mechanism jams, the lifting motor is synchronously controlled to retract to the starting position, achieving overall protection and preventing abnormal states such as photovoltaic panel suspension or tilting caused by a single mechanism failure.

[0064] S1013, the motion mechanism controller sends a successful deployment signal to the boost module.

[0065] In this step, once the motion mechanism controller determines that both the lifting motor G1 and the unfolding motor G2 have completed their unfolding actions and the photovoltaic panel is fully unfolded, the motion mechanism controller sends an unfolding success signal to the boost module via a digital signal line. The unfolding success signal is typically a high-level pulse signal or a specific data frame. Upon receiving this signal, the boost module transitions from its initial ready state to the working state and begins executing subsequent power detection and voltage conversion operations.

[0066] In a preferred embodiment, to avoid the impact of transient interference during the deployment process on the startup of the boost module, the step of sending a deployment success signal to the boost module includes: sending it after a preset delay of t2. The preset delay t2 is typically set to 1 to 5 seconds. During this delay period, the mechanical vibration of the deployment mechanism gradually decays, the electromagnetic interference gradually disappears, and the output voltage of the photovoltaic panel tends to stabilize. Starting the boost module at this time can avoid abnormal operation of the boost module caused by transient interference.

[0067] The technical effect of this step is that by delaying the transmission of the successful deployment signal, the impact of transient interference during deployment on the startup of the boost module is avoided, thereby improving the stability of system startup.

[0068] S102, Obtain the output power of the photovoltaic panel; When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state; When the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion.

[0069] The output power of the photovoltaic panel is detected by the boost module. When the output power is greater than the first power threshold, the voltage of the photovoltaic panel is converted to output the voltage required by the thruster to provide auxiliary power to the vehicle thruster. When the output power is less than or equal to the first power threshold, the boost module is controlled to stop working and disconnect the boost circuit, and the photovoltaic panel is retracted to the retracted state.

[0070] In this step, after receiving the deployment success signal from the motion mechanism controller, the boost module begins to detect the output power P of the photovoltaic panel module. The boost module acquires the photovoltaic panel output voltage V_pv through the output voltage sampling circuit and the photovoltaic panel output current I_pv through the output current sampling circuit, calculating the photovoltaic panel output power P = V_pv × I_pv. The boost module then compares the calculated output power P with a preset first power threshold P1.

[0071] The principle for setting the first power threshold P1 is that it should be greater than the static power consumption of the boost module itself. The purpose of P1 is to ensure that the power generation of the photovoltaic panel can cover the power consumption of the boost module and generate a positive net output, avoiding net loss of the power battery due to system self-consumption. Specifically, the first power threshold P1 is usually set to 5% to 10% of the rated power of the boost module. For example, if the rated power of the boost module is 2000W and its own power consumption is about 50W to 100W, then the first power threshold P1 can be set to 100W to 200W.

[0072] When the boost module detects that the output power P is greater than the first power threshold P1, it considers the net power generation of the photovoltaic panel to be sufficient. At this time, the boost module activates the DC-DC conversion circuit to convert the photovoltaic panel voltage. The DC-DC conversion circuit typically uses a boost topology, which controls the duty cycle of the power switch to boost the low-voltage DC output from the photovoltaic panel to a thruster operating voltage range that matches the output of the power battery, typically 48V to 400V. The boosted voltage is connected in parallel with the power battery output through the output port, jointly providing power to the propulsion system, thereby reducing the actual discharge of the power battery and extending the driving range.

[0073] When the boost module detects that the output power P is less than or equal to the first power threshold P1, it considers the photovoltaic panel's power generation insufficient. Continuing to operate the boost module at this time would cause the system's own power consumption to exceed the photovoltaic panel's power generation, resulting in net power consumption and reduced driving range. Therefore, the boost module immediately stops working, turns off the power switch of the DC-DC conversion circuit, disconnects the boost circuit, and puts the boost module into a sleep state, minimizing its own power consumption. Simultaneously, the boost module sends a power deficiency signal to the motion mechanism controller via a digital signal line. Upon receiving this signal, the motion mechanism controller sends a prompt signal to the vehicle's display screen via the digital signal line. The vehicle's display screen shows the message "Insufficient sunlight, solar power system has stopped working, please click the stop button." After the driver clicks the stop button, the motion mechanism controller controls the deployment motor G2 and the lifting motor G1 to return to the starting position, retracting the photovoltaic panel.

[0074] During this step, while the photovoltaic system provides auxiliary functions for the vehicle propulsion, the output power of the photovoltaic panel is continuously acquired. When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0075] The technical effect of this step is that the output power of the photovoltaic panel is detected in real time by the boost module. When the output power is less than or equal to the first power threshold, the system automatically stops working and disconnects the boost circuit. This avoids the problem of net power consumption caused by the system's own power consumption exceeding the power generation of the photovoltaic panel under low light conditions, and effectively improves the navigation range.

[0076] During the process of providing auxiliary functions to the vehicle propulsion system through the photovoltaic system, the temperature of the photovoltaic panel is also continuously acquired; When the temperature of the photovoltaic panel is higher than the set temperature threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0077] In this step, a temperature sensor is thermally coupled to the photovoltaic panel module to continuously monitor the photovoltaic panel temperature T. The temperature sensor typically uses a thermistor or thermocouple, and its output signal is transmitted via an analog signal line to the analog input port of the motion mechanism controller. The motion mechanism controller converts the analog signal into a digital signal using an analog-to-digital converter (ADC) to obtain the numerical value of the photovoltaic panel temperature T. The motion mechanism controller then compares the detected photovoltaic panel temperature T with a preset temperature protection threshold T1.

[0078] The principle for setting the temperature protection threshold T1 is: the temperature protection threshold T1 should be lower than the maximum operating temperature of the photovoltaic panel, ensuring that the protection action is triggered when the photovoltaic panel temperature approaches but has not yet reached the damage temperature. The maximum operating temperature of photovoltaic panels is usually 85℃ to 90℃, so the temperature protection threshold T1 is usually set to 75℃ to 80℃.

[0079] When the motion mechanism controller detects that the photovoltaic panel temperature T exceeds the temperature protection threshold T1, it considers the photovoltaic panel temperature too high, and continued operation may lead to performance degradation or even damage to the photovoltaic panel. At this time, the motion mechanism controller immediately sends a reverse rotation command to the drive circuits of the deployment motor G2 and the lifting motor G1. The drive circuits drive the deployment motor G2 and the lifting motor G1 to rotate in the opposite direction, controlling them to return to their starting positions and retract the photovoltaic panel. Simultaneously, the motion mechanism controller sends a stop-work command to the boost module via a digital signal line. Upon receiving this command, the boost module immediately stops working, disconnects the boost circuit, and enters a sleep state. The motion mechanism controller also sends a fault signal to the vehicle display screen via a digital signal line, and the vehicle display screen displays the message "Photovoltaic panel temperature too high, solar power system has stopped working."

[0080] The technical effect of this step is: by continuously monitoring the temperature of the photovoltaic panel through a temperature sensor, the panel retraction protection mechanism is automatically triggered when the temperature of the photovoltaic panel exceeds the protection threshold, which avoids the performance degradation or damage of the photovoltaic panel caused by high temperature and extends the service life of the photovoltaic panel.

[0081] In the process of providing auxiliary power to the vehicle's propulsion system, the photovoltaic system also acquires the output power of the propulsion system; When the output power of the thruster is less than the set second power threshold, the photovoltaic panel is controlled to retract to the retracted state.

[0082] The thruster output power is detected. When the thruster output power is less than the second power threshold, the thruster is stopped. The motion mechanism controller controls the unfolding motor and the lifting motor to return to the starting position, retract the photovoltaic panel, and control the boost module to stop working.

[0083] In this step, the boost module receives the thruster output power data P2 through the thruster communication interface. The thruster communication interface typically uses a CAN bus or RS485 bus. The boost module periodically reads the output power data frames sent by the thruster controller through this interface to obtain the value of the thruster output power P2. The boost module then compares the received thruster output power P2 with a preset second power threshold P3.

[0084] The principle for setting the second power threshold P3 is as follows: the second power threshold P3 should be slightly higher than the minimum operating power of the thruster to ensure accurate determination of whether the thruster has stopped working. The minimum operating power of the thruster is usually 5% to 10% of the rated power. For example, if the rated power of the thruster is 10kW, the second power threshold P3 can be set to 500W to 1000W.

[0085] When the boost module detects that the thruster output power P2 is less than the second power threshold P3, it considers the thruster to have stopped working. At this point, continuing to deploy the photovoltaic panels is pointless, and they should be retracted promptly to reduce wind resistance and mechanical wear. Therefore, the boost module sends a thruster stop signal to the motion mechanism controller via a digital signal line. Upon receiving this signal, the motion mechanism controller immediately sends a reverse rotation command to the drive circuits of the deployment motor G2 and the lifting motor G1. The drive circuits drive the deployment motor G2 and the lifting motor G1 to rotate in the opposite direction, controlling them to return to their starting positions and retract the photovoltaic panels. Simultaneously, the motion mechanism controller sends a stop command to the boost module via a digital signal line. Upon receiving this command, the boost module immediately stops working, disconnects the boost circuit, and enters a sleep state. The motion mechanism controller also sends a status signal to the vehicle display screen via a digital signal line, displaying the message "Thruster stopped, solar power system stopped working."

[0086] The technical effect of this step is that by detecting the output power of the thruster, it can determine whether the thruster has stopped working. When the thruster stops, the photovoltaic panel is automatically retracted and the system enters a dormant state, which avoids the increase in wind resistance and mechanical wear caused by the photovoltaic panel being deployed for a long time, and improves the intelligence level of the system.

[0087] In a preferred embodiment, after the photovoltaic panel is deployed, the motion mechanism controller simultaneously initiates three monitoring tasks: photovoltaic panel temperature detection, photovoltaic panel power output detection, and thruster output power detection. When any protection condition is triggered—that is, when the photovoltaic panel temperature exceeds a temperature protection threshold, the photovoltaic panel output power is less than a first power threshold, or the thruster output power is less than a second power threshold—the motion mechanism controller immediately prioritizes retracting the photovoltaic panel. This ensures that the system can respond promptly to abnormal conditions and avoids damage to the photovoltaic panel or energy waste due to response delays.

[0088] The technical effect of this step is that by simultaneously performing photovoltaic panel temperature detection, photovoltaic panel output power detection, and thruster output power detection, the photovoltaic panel retraction action is prioritized when any protection condition is triggered, thereby improving the system's response speed to abnormal states and further enhancing the system's reliability and safety.

[0089] It should be noted that after the vehicle enters the water navigation mode, the propulsion system always relies primarily on the power battery for power, with solar energy only providing auxiliary supplementation. Specifically, after the vehicle enters the water navigation mode, it automatically sends a solar power activation command signal. When the motion mechanism controller receives the solar power activation command signal, it controls the photovoltaic panels in the photovoltaic system to extend and unfold. When the output power of the photovoltaic panels is less than a first power threshold, it controls the photovoltaic panels to retract to the retracted state, and the propulsion system is powered solely by the power battery. When the output power of the photovoltaic panels is greater than or equal to the first power threshold, it controls the photovoltaic system to provide auxiliary power to the vehicle's propulsion system. At this time, both the photovoltaic system and the power battery power the propulsion system, thereby extending the vehicle's driving range.

[0090] Based on the same inventive concept as the above-described method embodiments, the present invention also provides a vehicle-mounted solar power replenishment control system for implementing the vehicle-mounted solar power replenishment control method described in the above-described method embodiments. The system includes: The motion mechanism controller is used to control the photovoltaic panels in the photovoltaic system to extend and unfold after receiving a solar power supply start command signal; A boost module is used to obtain the output power of the photovoltaic panel; when the output power of the photovoltaic panel is less than a first power threshold, the photovoltaic panel is controlled to retract to a retracted state; when the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion unit.

[0091] Specifically, the system includes: The motion mechanism controller is configured to control the rotation and position holding of the lifting and unfolding motors by detecting their rotational counts and torque. The motion mechanism controller typically uses a microcontroller or embedded processor, integrating peripherals such as an ADC analog-to-digital converter, a PWM pulse width modulator, and a communication interface. It can acquire the motor rotational count and torque signals in real time, generate motor drive signals according to preset control logic, and output them to the motor drive circuit via the PWM pulse width modulator. The motion mechanism controller also includes a fault detection unit, configured to detect mechanism jamming when the rotational count of the lifting or unfolding motor fails to reach a preset threshold but the torque reaches a preset threshold, and immediately execute a retraction protection action.

[0092] The lift motor, electrically connected to the motion mechanism controller, is configured to drive the photovoltaic panel upwards. The lift motor typically uses a brushless DC motor or a stepper motor, featuring adjustable speed, controllable torque, and high positioning accuracy. The output shaft of the lift motor is mechanically connected to the lift support of the photovoltaic panel module via a reducer, lead screw drive mechanism, or rack and pinion drive mechanism, converting the motor's rotational motion into the linear upward motion of the photovoltaic panel.

[0093] The unfolding motor, electrically connected to the motion mechanism controller, is configured to drive the unfolding of the photovoltaic panels. The unfolding motor typically uses a brushless DC motor or a stepper motor, featuring adjustable speed, controllable torque, and high positioning accuracy. The output shaft of the unfolding motor is mechanically connected to the unfolding support of the photovoltaic panel assembly via a reducer, rack and pinion transmission mechanism, or linkage mechanism, converting the motor's rotational motion into the horizontal unfolding motion of the photovoltaic panels.

[0094] The photovoltaic (PV) panel module is mechanically connected to the lifting motor and the unfolding motor. The PV panel module consists of multiple PV panels connected in series and parallel. The PV panels typically use monocrystalline or polycrystalline silicon solar cells, with a photoelectric conversion efficiency of 15% to 22%. The PV panel module also includes mechanical structures such as supports, hinges, and guide rails, enabling it to lift and unfold under the drive of the lifting and unfolding motors.

[0095] The boost module, electrically connected to the photovoltaic panel assembly and communicatively connected to the motion mechanism controller via digital signal lines, is configured to detect the output power of the photovoltaic panel assembly and convert the photovoltaic panel voltage when the output power exceeds a first power threshold. The boost module includes a DC-DC conversion circuit configured to convert the photovoltaic panel voltage to the operating voltage range of the propulsion system, typically 48V to 400V. The DC-DC conversion circuit usually employs a boost topology and includes components such as power switches, inductors, diodes, and capacitors, achieving voltage conversion by controlling the duty cycle of the power switches. The boost module is also configured to stop operating and disconnect the boost circuit when the output power is less than or equal to the first power threshold, putting the boost module into a sleep state and minimizing its own power consumption.

[0096] A temperature sensor, thermally coupled to the photovoltaic panel module, is connected to the motion mechanism controller via an analog signal line and is configured to detect the photovoltaic panel temperature. The temperature sensor typically uses a thermistor or thermocouple, and its output signal is an analog voltage or current signal, transmitted to the analog input port of the motion mechanism controller via the analog signal line. The temperature sensor is configured to send a protection signal to the motion mechanism controller when the detected photovoltaic panel temperature exceeds a temperature protection threshold. Upon receiving the protection signal, the motion mechanism controller immediately controls the unfolding motor and the lifting motor to retract to the starting position, thus retracting the photovoltaic panel.

[0097] The thruster communication interface, connected to the boost module via a data link, is configured to receive thruster output power data. The thruster communication interface typically uses a CAN bus or RS485 bus, and can periodically read the output power data frames sent by the thruster controller, transmitting the thruster output power data to the boost module. The boost module determines whether the thruster should stop operating based on the received thruster output power data. When the thruster stops operating, it notifies the motion mechanism controller to retract the photovoltaic panels and put the system into sleep mode.

[0098] In a preferred embodiment, the system further includes a display communication module, which is connected to the motion mechanism controller via a digital signal line and configured to receive and display fault signals. The display communication module typically uses a CAN bus or LIN bus, and is capable of receiving fault or status signals sent by the motion mechanism controller and transmitting the signals to the vehicle display screen. The vehicle display screen then displays corresponding prompts based on the received signals, such as "Photovoltaic panel rise failure," "Photovoltaic panel deployment failure," "Photovoltaic panel overheating," and "Thruster stopped."

[0099] The functions of each component in the above device embodiment correspond one-to-one with the functions of the corresponding steps in the method embodiment, and can achieve all the technical effects described in the method embodiment.

[0100] This invention also provides an electronic device, including a processor and a memory. The memory stores a computer program, and when the processor executes the computer program, it implements the vehicle-mounted solar power replenishment control method described in the above-described method embodiments. This electronic device can be a motion mechanism controller or an independent boost module. It communicates with components such as the motion mechanism controller, the boost module, a temperature sensor, and a thruster communication interface to control the entire vehicle-mounted solar power replenishment system.

[0101] This invention also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the vehicle-mounted solar power replenishment control method described in the above-described method embodiments. The computer-readable storage medium can be a non-volatile storage medium, such as flash memory, EEPROM, hard disk, etc., or it can be a volatile storage medium, such as RAM, SRAM, etc. The computer program is stored in the computer-readable storage medium, and when the processor reads and executes the computer program from the computer-readable storage medium, it can achieve all the technical effects described in the above-described method embodiments.

[0102] In a preferred embodiment, the processor is a motion mechanism controller, and the computer-readable storage medium is the program memory inside the motion mechanism controller. The computer program is stored in the program memory in the form of firmware. After the motion mechanism controller is powered on, it automatically reads and executes the computer program from the program memory to realize the vehicle-mounted navigation solar power replenishment control method.

[0103] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle-mounted solar power replenishment control method described in the above method embodiments. The computer program product can be a software installation package, which can be downloaded via a network or distributed through a storage medium. After obtaining the computer program product, a user can install it on an electronic device. When the electronic device executes the computer program, it can achieve all the technical effects described in the above method embodiments.

[0104] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for solar power replenishment for vehicle-mounted navigation, characterized in that, include: Upon receiving the solar power activation command signal, the photovoltaic panels in the photovoltaic system are controlled to extend and unfold. Obtain the output power of the photovoltaic panel; When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state; When the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion unit, wherein the first power threshold is greater than the static power consumption of the photovoltaic system itself.

2. The method for solar power replenishment for vehicle navigation according to claim 1, characterized in that, The process of controlling the extension and unfolding of the photovoltaic panel includes: Start the lifting motor to control the photovoltaic panel to extend, and during the extension of the photovoltaic panel, obtain the number of rotations and torque of the lifting motor; When the number of rotations of the lifting motor is greater than the set threshold for the number of rotations, and the torque of the lifting motor is greater than the set threshold for the torque, the photovoltaic panel is determined to rise to the set position, and the lifting motor is controlled to remain at that position. Then, the unfolding motor is started to control the unfolding of the photovoltaic panel, and the number of rotations and torque of the unfolding motor are obtained during the unfolding process of the photovoltaic panel; When the number of rotations of the unfolding motor is greater than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, the photovoltaic panel is determined to be fully unfolded, and the unfolding motor is controlled to remain in that position.

3. The method for solar power replenishment for vehicle navigation according to claim 2, characterized in that, Also includes: When the number of rotations of the lifting motor is less than the set lifting rotation threshold and the torque of the lifting motor is greater than the set lifting torque threshold, it is determined that the photovoltaic panel is stuck in the upward movement. When the number of rotations of the unfolding motor is less than the set unfolding rotation threshold, and the torque of the unfolding motor is greater than the set unfolding torque threshold, it is determined that the photovoltaic panel is stuck during unfolding. When it is determined that the photovoltaic panel is stuck in the rising or unfolding position, the photovoltaic panel is controlled to retract to the retracted state.

4. The method for solar power replenishment for vehicle navigation according to claim 1, characterized in that, While the photovoltaic system provides auxiliary functions for the vehicle propulsion, it also continuously acquires the output power of the photovoltaic panel; When the output power of the photovoltaic panel is less than the first power threshold, the photovoltaic panel is controlled to retract to the retracted state.

5. The method for solar power replenishment for vehicle navigation according to claim 1, characterized in that, During the process of providing auxiliary functions to the vehicle propulsion system through the photovoltaic system, the temperature of the photovoltaic panel is also continuously acquired; When the temperature of the photovoltaic panel is higher than the set temperature threshold, the photovoltaic panel is controlled to retract to the retracted state.

6. The method for solar power replenishment for vehicle navigation according to claim 1, characterized in that, In the process of providing auxiliary power to the vehicle's propulsion system, the photovoltaic system also acquires the output power of the propulsion system; When the output power of the thruster is less than the set second power threshold, the photovoltaic panel is controlled to retract to the retracted state.

7. A vehicle-mounted solar power replenishment system for navigation, characterized in that, include: The motion mechanism controller is used to control the photovoltaic panels in the photovoltaic system to extend and unfold after receiving a solar power supply start command signal; A boost module is used to obtain the output power of the photovoltaic panel; when the output power of the photovoltaic panel is less than a first power threshold, the photovoltaic panel is controlled to retract to a retracted state; when the output power of the photovoltaic panel is greater than or equal to the first power threshold, the photovoltaic system is controlled to provide auxiliary power to the vehicle propulsion unit.

8. An electronic device, characterized in that, The device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement a solar power replenishment method for vehicle navigation as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements a solar power replenishment method for vehicle navigation as described in any one of claims 1-6.

10. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements a solar power replenishment method for vehicle navigation as described in any one of claims 1-6.

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