CN113885589A - Photovoltaic support group tracking control device and control method based on machine vision - Google Patents
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- G—PHYSICS
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- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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Abstract
The invention discloses a photovoltaic support group tracking control device and a photovoltaic support group tracking control method based on machine vision, and the device comprises oblique single-shaft photovoltaic support groups, wherein each oblique single-shaft photovoltaic support group consists of a plurality of oblique single-shaft photovoltaic supports arranged in a matrix form, each oblique single-shaft photovoltaic support comprises a solar panel, a support, a tracking shaft, a driving motor and a support tracking controller, the driving motor is connected with the support tracking controller and the tracking shaft, a CCD (charge coupled device) camera is arranged above the oblique single-shaft photovoltaic support group and on one side surface of the oblique single-shaft photovoltaic support group, a plurality of measuring points are arranged on one side edge of each solar panel far away from the CCD camera, a plurality of reference points are arranged at the centers of four adjacent oblique single-shaft photovoltaic supports arranged in the matrix form, the support tracking controller is connected with an industrial personal computer system, and the industrial personal computer system is connected with the CCD camera. The invention reduces the cost of the official support tracking control system, facilitates field construction and reduces the installation difficulty.
Description
Technical Field
The invention belongs to the technical field of solar photovoltaic power generation, relates to a photovoltaic support group tracking control device based on machine vision, and further relates to a photovoltaic support group tracking control method based on machine vision.
Background
Solar energy is an energy substitute with abundant resources and no pollution, and the development and utilization of solar energy are greatly emphasized in recent years, and for improving the collection efficiency of solar energy, the auxiliary device of a solar energy collection device is provided, namely, the arrangement angle of a photovoltaic module is changed along with the change of the position of the sun through a tracking support, the collection of solar energy is obviously increased, and the power generation efficiency of the photovoltaic module is improved. At present, a control system of an inclined single-shaft photovoltaic power generation tracking support usually uses a PLC (programmable logic controller) and a single chip microcomputer as control cores, a tilt sensor is adopted to collect the tilt angle of each tracking support, and a plurality of functional components of each tracking support control system are overlapped and are complex to operate.
Disclosure of Invention
The invention aims to provide a photovoltaic support group tracking control device based on machine vision, which reduces the cost of a photovoltaic support tracking control system, facilitates field construction and reduces the installation difficulty.
The invention also provides a photovoltaic support group tracking control method based on machine vision.
The technical scheme includes that the photovoltaic support group tracking control device based on machine vision comprises oblique single-shaft photovoltaic support groups, each oblique single-shaft photovoltaic support group is composed of a plurality of oblique single-shaft photovoltaic supports arranged in a matrix mode, each oblique single-shaft photovoltaic support comprises a solar panel, a support, a tracking shaft, a driving motor and a support tracking controller, the driving motors are connected with the support tracking controllers and the tracking shafts, a CCD camera is arranged above the oblique single-shaft photovoltaic support groups and on one side face of each oblique single-shaft photovoltaic support group, a plurality of measuring points are arranged on one side edge, away from the CCD camera, of each solar panel, a plurality of reference points are arranged in the centers of four adjacent oblique single-shaft photovoltaic supports arranged in the matrix mode, each support tracking controller is connected with one industrial personal computer system, and each industrial personal computer system is connected with the CCD camera.
The present invention is also characterized in that,
the support tracking controller comprises a single chip microcomputer, the single chip microcomputer is respectively connected with a support tracking controller communication module, a work control module, a power supply module B, a display module, a limit switch and a motor driving module, and the motor driving module is connected with a driving motor.
The work control module comprises a patch switch and a key, and the patch switch and the key are connected with the single chip microcomputer.
The model of the singlechip is C8051F.
The industrial personal computer system comprises an industrial personal computer, the industrial personal computer is respectively connected with an industrial personal computer communication module, a display, a clock module, a power module A, a wind speed sensor and an image acquisition card, the image acquisition card is connected with a CCD camera, the industrial personal computer communication module is connected with a support tracking controller communication module and an upper computer, and the wind speed sensor is arranged in the middle of the inclined single-shaft photovoltaic support group.
The distance between the wind speed sensor and the ground is not less than 10 meters.
3 measuring points are arranged at equal intervals; the number of reference points is 5, 4 of which constitute a square, the remaining 1 being located at the center of the square.
The invention adopts another technical scheme that a photovoltaic support group tracking control method based on machine vision adopts a photovoltaic support group tracking control device based on machine vision, and is implemented according to the following steps:
step 1, after power-on, an industrial personal computer initializes local longitude and latitude, layout of the oblique single-shaft photovoltaic support, appearance size of the oblique single-shaft photovoltaic support, distance between measuring points, distance between reference points, radiuses of the measuring points and the reference points, a wind speed value, time and an error value;
and 6, after the rotation is finished, the CCD camera collects images of the reference point and the measuring point again and transmits the images to the industrial personal computer through the image acquisition card, the industrial personal computer determines an actual inclination angle value B of each inclined single-axis photovoltaic support according to image information and calculates an inclination angle error, the inclination angle error is a difference value between the actual inclination angle value B and a theoretical inclination angle value, if the inclination angle error is smaller than or equal to a set error value, the industrial personal computer transmits the theoretical inclination angle value and the actual inclination angle value B to the upper computer, if the inclination angle error is larger than the set error value, the industrial personal computer calculates a rotation angle value B, the rotation angle value B is a difference value between the theoretical inclination angle value and the actual inclination angle value B, the industrial personal computer sends the rotation angle value B to the support tracking controller communication module through the industrial personal computer communication module based on a modbus communication protocol, and the steps 5 and 6 are repeated until the inclination angle error is smaller than or equal to the set error value.
The present invention is also characterized in that,
in step 3, the expression of the theoretical inclination angle value of the photovoltaic module is as follows:
in the formula (1), rho is a theoretical inclination angle value h of the photovoltaic modulesIs the solar altitude angle rsIs the sun azimuth angle, rrFor tracking axial azimuth, betarIs the angle of inclination between the tracking axis and the ground plane;
in the formula (2), delta is the solar declination angle,
the local latitude is, and omega is the time angle;
ω＝(12-T)×15° (3)
in formula (3), T is the local time;
in formula (4), n is the day of the year.
The method has the advantages that the industrial personal computer is responsible for realizing theoretical inclination angle calculation of each inclined single-shaft photovoltaic support, timing measurement of actual inclination angles of each inclined single-shaft photovoltaic support, output of control instructions and the like; the support tracking controller is responsible for driving the driving motor, is convenient for realize the oblique unipolar photovoltaic support automatic tracking control of different places, different overall arrangement types, improves whole control system's application simplicity and price/performance ratio, has simplified the control system external connection line, and the later maintenance of being convenient for upgrades, is favorable to reducing the installation procedure, improves the installation progress.
Drawings
FIG. 1 is a schematic structural diagram of a photovoltaic support group tracking control device based on machine vision according to the invention;
FIG. 2 is a schematic structural diagram of a machine control machine system in the photovoltaic support group tracking control device based on machine vision;
FIG. 3 is a schematic structural diagram of a rack tracking controller in the photovoltaic rack set tracking control device based on machine vision according to the present invention;
FIG. 4 is a schematic control diagram of a photovoltaic support group tracking control device based on machine vision according to the invention;
fig. 5 is a flowchart of a photovoltaic support group tracking control method based on machine vision.
In the figure, 1, a CCD camera, 2, an image acquisition card, 3, an air speed sensor, 4, a display, 5, an industrial personal computer, 6, a clock module, 7, a power module A, 8, an industrial personal computer communication module, 9, a support tracking controller communication module, 10, a work control module, 11, a single chip microcomputer, 12, a power module B, 13, a display module, 14, a limit switch, 15, a motor driving module, 16, a driving motor, 17, a reference point, 18, a measuring point and 19, an inclined single-shaft photovoltaic support.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a photovoltaic support group tracking control device based on machine vision, which comprises oblique single-shaft photovoltaic support groups as shown in figure 1, wherein each oblique single-shaft photovoltaic support group consists of a plurality of oblique single-shaft photovoltaic supports arranged in a matrix, the distance between every two adjacent oblique single-shaft photovoltaic supports is 3-5 m, each oblique single-shaft photovoltaic support comprises a solar panel, a support, a tracking shaft, a driving motor 16 and a support tracking controller, the driving motor 16 is connected with the support tracking controller and the tracking shaft, a CCD camera 1 is arranged above the oblique single-shaft photovoltaic support groups and on one side surface of each oblique single-shaft photovoltaic support group, a plurality of measuring points 18 are arranged on one side edge of each solar panel, which is far away from the CCD camera 1, a plurality of equidistant reference points 17 are arranged at the centers of the four adjacent oblique single-shaft photovoltaic supports arranged in the matrix, and the measuring points 18 are 3 and arranged; the number of the reference points 17 is 5, wherein 4 reference points 17 form a square, the remaining 1 reference point 17 is located at the center of the square, as shown in fig. 4, the support tracking controller is connected with an industrial personal computer system, the industrial personal computer system is connected with a CCD camera 1, and the CCD camera 1 can shoot all the measurement points and reference points of the group of inclined single-axis photovoltaic supports.
As shown in fig. 3, the support tracking controller includes a single chip microcomputer 11, the single chip microcomputer 11 is connected with a support tracking controller communication module 9, a work control module 10, a power module B12, a display module 13, a limit switch 14 and a motor driving module 15, the motor driving module 15 is connected with a driving motor 16, the support tracking controller communication module 9 adopts 485 wired or ZigBee wireless communication, and the power module B12 provides power for the single chip microcomputer 11.
The work control module 10 comprises a patch switch and a key, and the patch switch and the key are both connected with the single chip microcomputer 11.
As shown in fig. 2, the industrial personal computer system includes an industrial personal computer 5, the industrial personal computer 5 is respectively connected with an industrial personal computer communication module 8, a display 4, a clock module 6, a power module a7, an air velocity sensor 3, an image acquisition card 2, the image acquisition card 2 is connected with a CCD camera 1, the industrial personal computer communication module 8 is connected with a support tracking controller communication module 9, and an upper computer is connected, the air velocity sensor 3 is arranged in the middle of an inclined single-shaft photovoltaic support group, the distance between the air velocity sensor 3 and the ground is not less than 10 meters, the air velocity sensor 3 is connected with the industrial personal computer 5 through a 485 interface or a voltage mode, the image acquisition card 2 is installed on a PCI slot of the industrial personal computer 5, and the power module a7 provides a standby power for the industrial personal computer 5.
The type of the singlechip 11 is C8051F; the industrial personal computer 5 is the type of the Mohua IPC-660.
The invention also provides a photovoltaic support group tracking control method based on machine vision, which adopts a photovoltaic support group tracking control device based on machine vision, as shown in fig. 5, and is implemented according to the following steps:
step 1, after electrification, an industrial personal computer 5 initializes local longitude and latitude, layout of the oblique single-axis photovoltaic support, appearance size of the oblique single-axis photovoltaic support, distance between measurement points 18, distance between reference points 17, radiuses of the measurement points 18 and the reference points 17, a wind speed value, time and an error value;
the expression of the theoretical inclination angle value of the photovoltaic bracket is as follows:
in the formula (1), rho is the theoretical inclination angle value h of the photovoltaic bracketsIs the solar altitude angle rsIs the sun azimuth angle, rrFor tracking axial azimuth, betarIs the angle of inclination between the tracking axis and the ground plane;
in the formula (2), delta is the solar declination angle,
the local latitude is, and omega is the time angle;
ω＝(12-T)×15° (3)
in formula (3), T is the local time;
in formula (4), n is the day of the year.
step 4.1, establishing a three-dimensional model of the measuring point 18 and the reference point 17 in a coordinate system of the CCD camera 1 according to the relative position relationship between the measuring point 18 and the reference point 17 and the CCD camera 1, and obtaining the relative relationship between the rotation value of each inclined single-axis photovoltaic bracket and the movement change values of the measuring point 18 and the reference point 17 on the coordinate system of the CCD camera 1;
step 4.2, determining a conversion scaling factor i between the actual distance and the pixel distance, namely:
i＝L/L’ (5)
in the formula (5), L is the actual distance, and L' is the pixel distance;
step 4.3, determining the actual inclination angle value A of each oblique single-axis photovoltaic support according to the pixel movement change value of the measuring point 18 on the image, the relative relationship between the rotation value of each oblique single-axis photovoltaic support and the movement change value of the measuring point 18 on the coordinate system of the CCD camera 1 and the conversion proportion coefficient i; step 5, the support tracking controller communication module 9 transmits the received information to the single chip microcomputer 11, the single chip microcomputer 11 starts an instruction to the motor driving module 15, and the motor driving module 15 drives the driving motor 16 to rotate;
and 6, after the rotation is finished, the CCD camera 1 collects images of the reference point 17 and the measuring point 18 again and transmits the images to the industrial personal computer 5 through the image acquisition card 2, the industrial personal computer 5 determines an actual inclination angle value B of each inclined single-axis photovoltaic support according to image information and calculates an inclination angle error, the inclination angle error is a difference value between the actual inclination angle value B and a theoretical inclination angle value, if the inclination angle error is smaller than or equal to a set error value, the industrial personal computer 5 transmits the theoretical inclination angle value and the actual inclination angle value B to the upper computer, if the inclination angle error is larger than the set error value, the industrial personal computer 5 calculates a rotation angle value B, the rotation angle value B is a difference value between the theoretical inclination angle value and the actual inclination angle value B, the industrial personal computer 5 sends the rotation angle value B to the support tracking controller communication module 9 through the industrial personal computer communication module 8 based on the modbus communication protocol, and the steps 5 and 6 are repeated until the inclination angle error is smaller than or smaller than the set error value.
Aiming at the problems of overlapping functions, complex operation and low cost performance of an oblique single-shaft photovoltaic automatic tracking control system in the prior art, the invention provides a tracking control device and a tracking control method of an oblique single-shaft photovoltaic support group based on machine vision, which reduce the cost of the control system, simplify the installation and debugging method and improve the application simplicity and flexibility of the whole system.
Claims (10)
1. A photovoltaic support group tracking control device based on machine vision comprises oblique single-shaft photovoltaic support groups, each oblique single-shaft photovoltaic support group is composed of a plurality of oblique single-shaft photovoltaic supports arranged in a matrix, each oblique single-shaft photovoltaic support comprises a solar panel, a support, a tracking shaft, a driving motor (16) and a support tracking controller, the driving motor (16) is connected with the support tracking controller and the tracking shaft, it is characterized in that a CCD camera (1) is arranged above the oblique single-shaft photovoltaic bracket group and on one side surface of the oblique single-shaft photovoltaic bracket group, a plurality of measuring points (18) are arranged on one side edge of each solar panel far away from the CCD camera (1), a plurality of reference points (17) are arranged at the centers of four adjacent oblique single-shaft photovoltaic brackets arranged in a matrix, the support tracking controller is connected with an industrial personal computer system, and the industrial personal computer system is connected with a CCD camera (1).
2. The photovoltaic support group tracking control device based on machine vision according to claim 1, characterized in that the support tracking controller comprises a single chip microcomputer (11), the single chip microcomputer (11) is respectively connected with a support tracking controller communication module (9), a work control module (10), a power module B (12), a display module (13), a limit switch (14) and a motor driving module (15), and the motor driving module (15) is connected with a driving motor (16).
3. The photovoltaic support group tracking control device based on machine vision according to claim 2, characterized in that the work control module (10) comprises a patch switch and a key, and the patch switch and the key are both connected with the single chip microcomputer (11).
4. The photovoltaic support group tracking control device based on machine vision according to claim 2, characterized in that the type of the single chip microcomputer (11) is C8051F.
5. The photovoltaic support group tracking control device based on the machine vision is characterized in that the industrial personal computer system comprises an industrial personal computer (5), the industrial personal computer (5) is respectively connected with an industrial personal computer communication module (8), a display (4), a clock module (6), a power supply module A (7), an air speed sensor (3) and an image acquisition card (2), the image acquisition card (2) is connected with a CCD camera (1), the industrial personal computer communication module (8) is connected with a support tracking controller communication module (9) and an upper computer, and the air speed sensor (3) is arranged in the middle of an inclined single-shaft photovoltaic support group.
6. The photovoltaic support group tracking control device based on machine vision as claimed in claim 5, characterized in that the industrial personal computer (5) is of the type of Tuhua IPC-660.
7. The photovoltaic support group tracking control device based on machine vision according to claim 5, characterized in that the distance between the wind speed sensor (3) and the ground is not less than 10 meters.
8. The photovoltaic support group tracking control device based on machine vision according to claim 1, characterized in that the number of the measuring points (18) is 3 and the measuring points are arranged equidistantly; the number of the reference points (17) is 5, wherein 4 reference points (17) form a square, and the remaining 1 reference point (17) is positioned at the center of the square.
9. A photovoltaic support group tracking control method based on machine vision is characterized in that the photovoltaic support group tracking control device based on machine vision is adopted, and the method is implemented according to the following steps:
step 1, after power-on, an industrial personal computer (5) initializes local longitude and latitude, oblique uniaxial photovoltaic support layout, oblique uniaxial photovoltaic support appearance size, distance between measuring points (18), distance between reference points (17), radiuses of the measuring points (18) and the reference points (17), a wind speed value, time and an error value;
step 2, determining whether each inclined single-shaft photovoltaic support is in an automatic tracking control mode or not through a patch switch, if so, reading real-time from a clock module (6) by an industrial personal computer (5), and acquiring a real-time wind speed value from a wind speed sensor (3) by the industrial personal computer (5);
step 3, the industrial personal computer (5) judges whether the obtained real-time and real-time wind speed values are within a set work allowable range, if not, the industrial personal computer (5) sends an 'inclined single-shaft photovoltaic support leveling' instruction to the support tracking controller communication module (9) through the industrial personal computer communication module (8) based on a modbus communication protocol, the step 5 is carried out, if yes, the industrial personal computer (5) calculates theoretical inclination angle values of all inclined single-shaft photovoltaic supports, and the step 4 is carried out;
step 4, the CCD camera (1) collects images containing reference points (17) and measuring points (18) and transmits the images to the industrial personal computer (5) through the image collecting card (2), the industrial personal computer (5) processes image information and determines actual inclination angle values A of all the inclined single-shaft photovoltaic supports, rotation angle values A of all the inclined single-shaft photovoltaic supports are calculated, the rotation angle values A are the difference values of the theoretical inclination angle values and the actual inclination angle values A, and the industrial personal computer (5) sends the rotation angle values A to the support tracking controller communication module (9) through the industrial personal computer communication module (8);
step 5, the support tracking controller communication module (9) transmits the received information to the single chip microcomputer (11), the single chip microcomputer (11) starts an instruction to the motor driving module (15), and the motor driving module (15) drives the driving motor (16) to rotate;
step 6, after the rotation is finished, the CCD camera (1) collects images of the reference point (17) and the measuring point (18) again and transmits the images to the industrial personal computer (5) through the image collecting card (2), the industrial personal computer (5) determines an actual inclination angle value B of each inclined single-axis photovoltaic support according to image information and calculates an inclination angle error, the inclination angle error is a difference value between the actual inclination angle value B and a theoretical inclination angle value, if the inclination angle error is less than or equal to a set error value, the industrial personal computer (5) transmits the theoretical inclination angle value and the actual inclination angle value B to the upper computer, if the inclination angle error is greater than the set error value, the industrial personal computer (5) calculates a rotation angle value B, the rotation angle value B is a difference value between the theoretical inclination angle value and the actual inclination angle value B, the industrial personal computer (5) sends the rotation angle value B to the support tracking controller communication module (9) through the industrial personal computer communication module (8) based on a modbus communication protocol, and the steps 5 and 6 are repeated, until the inclination error is less than or equal to the set error value.
10. The machine vision-based photovoltaic support group tracking control method according to claim 9, wherein in the step 3, the expression of the theoretical inclination angle value of the photovoltaic module is as follows:
in the formula (1), rho is a theoretical inclination angle value h of the photovoltaic modulesIs the solar altitude angle rsIs the sun azimuth angle, rrFor tracking axial azimuth, betarIs the angle of inclination between the tracking axis and the ground plane;
in the formula (2), delta is the solar declination angle,
the local latitude is, and omega is the time angle;
ω＝(12-T)×15° (3)
in formula (3), T is the local time;
in formula (4), n is the day of the year.
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| CN114682543A (en) * | 2022-02-22 | 2022-07-01 | 东华大学 | Photovoltaic solar panel intelligent cleaning device based on machine vision |
| CN116454882A (en) * | 2023-06-13 | 2023-07-18 | 天津福天科技有限公司 | Photovoltaic power generation prediction method based on machine vision predictor |
| CN116454882B (en) * | 2023-06-13 | 2023-08-25 | 天津福天科技有限公司 | Photovoltaic power generation prediction method based on machine vision predictor |
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