CN101403928A - Auto sun-tracking system of solar energy gathering device - Google Patents
Auto sun-tracking system of solar energy gathering device Download PDFInfo
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- CN101403928A CN101403928A CNA2008102148065A CN200810214806A CN101403928A CN 101403928 A CN101403928 A CN 101403928A CN A2008102148065 A CNA2008102148065 A CN A2008102148065A CN 200810214806 A CN200810214806 A CN 200810214806A CN 101403928 A CN101403928 A CN 101403928A
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Abstract
The invention belongs to the technical field of solar energy application, in particular relates to an automatic sun tracking system of a solar collector. The system consists of a motor which drives the solar collector to track the sun, a mechanical transmission mechanism and a tracking control circuit which controls the mechanical transmission mechanism to operate; the system is characterized in that a GPS receiver arranged on the solar collector and an attitude sensor are used for outputting the signals of the position, the orientation, and the like, of the collector to a microprocessor; the microprocessor outputs control signals to the motor, so as to control the mechanical transmission mechanism to drive the solar collector to face the sun directly after working out the difference value of the orientation of the collector and the position of the sun. The system can realize the accurate all-round sun tracking in real time by adopting the GPS location finding technique without the influence of weather and environment, and is suitable for the solar collector which has the fixed position on the earth or the solar collector which is arranged on the moving car body and a transocean vessel to track the sun.
Description
Technical field
The invention belongs to application of solar, relate to a kind of auto sun-tracking system of solar energy concentrator.
Technical background
Sun power is as a kind of clean energy resource, and is inexhaustible, is the new forms of energy of tool exploitation potential.The energy that sun p.s. discharges approximately is 16 * 1023KW, and the sun power total amount that arrives earth surface in a year is amounted to standard coal equivalent and is about 1.892 * 1,019 hundred million tons, is 10,000 times of present world main energy sources proven reserves.China's solar energy resources is very abundant, but just at present, the utilization of domestic sun power still is far from being enough.This mainly is because there are some weakness in solar energy resources self: the density of sunshine is low, irradiation time intermittently, space distribution constantly changes etc.Because these weakness make solar energy utilization ratio not high.Solar tracking system provides possibility for addressing this problem, no matter which kind of solar utilizing equipment is vertical with sunshine as long as its cumulative device can remain, just can intercept and capture more sun power in limited usable floor area.Theoretical analysis shows that to the tracking and the non-tracking of the sun, the acceptance rate of energy differs 37.7%.With the photovoltaic generation is example, adopt accurate solar energy automatic tracking to focus on after, 1cm
2Concentrator cell under etalon optical power behind 400～600 times of optically focused, output power reaches more than 6～10W, and with the flat solar cell output power of homalographic 12～14mW only.
Present sun tracing method has two big classes substantially: a class is to calculate the active solar tracking of pursuit movement track around the day operation rule according to the earth; Another kind of is real-time detection sun position over the ground, and control is to the passive type solar tracking of day angle.Typical case's representative of active tracking has control to put the formula tracking, clock type is followed the tracks of.The principle that the control formula of putting is followed the tracks of is: place one in the west side of solar energy concentrator and lay particular stress on, as amplitude transformer rotating force westwards.Utilize control to put device the release of this power is controlled, make amplitude transformer slow yaw motion westwards under the effect of rotating force.This mechanism structure is simple, is easy to realize.But precision is low and can only be used for uniaxiality tracking.The control method that clock type is followed the tracks of is a timing method: according to the sun on high in the movement angle of per minute, calculate the angle that the amplitude transformer per minute should rotate, thereby set out the rotating speed of drive motor, make amplitude transformer according to the position of the sun and corresponding change.Be characterized in that circuit is simple, but because the clock cumulative errors constantly increases, the tracking accuracy of system is very low.
Typical case's representative of Passive Track has differential tracking and the tracking of light activated element comparison expression etc.The ultimate principle of differential tracking is: utilize the both sides light-receiving area of closed container can not produce the characteristics of pressure differential simultaneously, under the effect of pressure, make the dress tracking means aim at the sun.This method is simple in structure, and pure machinery control does not need external power supply.But this method can only be used for uniaxiality tracking and precision is very low.The light activated element comparison expression is followed the tracks of and is utilized the light activated element principle that performance parameter changes when illumination, four identical light activated elements is positioned over the direction edge, all directions of amplitude transformer plane skylight respectively.When sunshine oblique fire during to plane skylight, the sunlight that two relative light activated elements receive exists illumination poor, and control circuit converts this difference to control signal rear drive motor and rotates, and the intensity of illumination on two light activated elements is identical.Its advantage is to follow the tracks of more accurate, and circuit is realized easily.But this method can not adapt to the variation of occurring in nature light, and tracking effect is also not ideal.
The typical tracking of introducing according to the front is as can be known: active tracking belongs to irreversible tracking, runs into cloud and cover the solar time in tracing process, can only continue operation with certain speed, could guarantee that the tracking after the sun is appeared again is uninterrupted; In tracing process, system can't revise departure and mechanical drive error, causes bigger cumulative errors, and As time goes on tracking accuracy can reduce.Though astronomical sight data tracking precision is higher, its cost is too high.Passive Track is not subjected to the restriction in geographic position, and tracking accuracy is higher.But weather condition is complicated and changeable in the Nature, and this just requires the sensor measuring unit of Passive Track can accurately reflect the sunray variation.When intermittent cloudy weather, rainy weather occurring, even only be that cloud temporarily covers the solar time in the sky, the sensing unit of this class tracking just can't reflect the variation of sunray, and the sun may depart from bigger angle after wet weather or cloud.The sensor measuring unit that this tracking mode requires can be in the variation of the sunny light of internal reaction in a big way, implement the comparison difficulty, these present trackings only are fit to the upper fixing amplitude transformer tracking sun, the car body that is not suitable for moving and the tracking of the sun amplitude transformer on the ocean-going vessel sun put of the earth.
Summary of the invention
The object of the present invention is to provide a kind of auto sun-tracking system of solar energy concentrator.This systematic tracking accuracy height, be not subjected to weather and environmental impact, not only be fit to that the earth is upper to be put fixing solar energy concentrator and follow the tracks of the sun, and the sun amplitude transformer that is suitable on motion car body and the ocean-going vessel is followed the tracks of the sun.
The auto sun-tracking system of solar energy concentrator provided by the present invention, follow the tracks of the motor of the sun by driving solar energy concentrator, the follow-up control circuit of mechanical transmission mechanism and the work of control mechanical transmission mechanism is formed, it is characterized in that described follow-up control circuit is by the GPS receiver, attitude sensor and microprocessor control circuit are formed, the GPS receiver, attitude sensor is installed on the solar energy concentrator, the output signal of GPS receiver and attitude sensor is sent into microprocessor control circuit, drives solar energy concentrator over against the sun for Electric Machine Control machinery gear train by output control signal after the microprocessor control circuit analyzing and processing.
The auto sun-tracking system principle of work of solar energy concentrator provided by the present invention is as follows: navigation message and the time information sent by satellite in the GPS receiver receiving world locational system, calculate the three-dimensional position of obtaining solar energy concentrator through the GPS receiver, and movement velocity and temporal information, attitude sensor detect solar energy concentrator in real time towards, real-time position of sun that calculates according to the precision positions information and the temporal information of GPS receiver output by the microprocessor control circuit sun altitude and the position angle of solar energy concentrator position detection (promptly from) and solar energy concentrator that attitude sensor detects in real time towards, calculate solar energy concentrator reality towards with the deviation of sun current location, by analysis, handle back output control signal and give the motor servo control mechanism, the control mechanical transmission mechanism drives solar energy concentrator and moves until solar energy concentrator over against the sun to the direction that reduces deviation.
The present invention proposes the auto sun-tracking system that a kind of new high-precision sun can amplitude transformer, promptly utilize the GPS location technology to realize in real time sun omnidirectional tracking accurately.This system has the characteristics of traditional active and Passive Track concurrently, and the precise position information and the temporal information that are provided with the GPS positioning system serve as that automatic omnidirectional tracking is realized on the basis.The position of the sun is not surveyed and is got in the method, but position that provides by the GPS receiver and temporal information calculate in real time, and calculates once p.s..Therefore can not be subjected to the influence of sun light intensity and Changes in weather, yet not free cumulative errors.Any position on earth, any moment just can obtain accurate GPS receiver three-dimensional position and temporal information as long as GPS receives function to receive 4 or 4 above satellites simultaneously and send signal.GPS has been launched at least 24 satellites at present, in general, the solar energy concentrator installation site is in spacious or unscreened place, and it is unchallenged that the GPS receiver receives the signal that 4 or 4 above satellites send, because the sun is approximately 1.49 * 10 to the mean distance of the earth
11Rice, and the positioning error of present civilian GPS receiver is about 10 meters, as seen GPS receiver location and the position of sun precision that calculates thus is quite high.Development along with modern surveying, control and automatic technology.The application of sensing technology is more and more general, technology is also more and more ripe, being used for detecting the 3 d pose that the attitude sensor of solar energy concentrator attitude utilizes geomagnetic sensor and gravity sensor can detect amplitude transformer exactly changes, its accuracy of detection can reach ± and 0.5 °, these attitude sensors also have digital interface, and the data of output can be directly by microprocessor processes.Therefore the auto sun-tracking system of solar energy concentrator provided by the present invention tracking accuracy height not only, and be not subjected to the influence of weather and environment.The auto sun-tracking system of solar energy concentrator provided by the present invention is that the precise position information and the temporal information that are provided with the GPS positioning system serve as that automatic omnidirectional tracking is realized on the basis, the solar energy concentrator three-dimensional position that the GPS receiver transfers out with and movement velocity and temporal information be multidate information, therefore, the auto sun-tracking system of this solar energy concentrator not only is applicable to the solar energy concentrator of stationkeeping on the earth from the motion tracking sun, and the car body that is particularly suitable for moving and the tracking of the sun amplitude transformer on the ocean-going vessel sun.
Description of drawings
Fig. 1 is the structural representation of the auto sun-tracking system embodiment one of solar energy concentrator provided by the present invention;
Fig. 2 is the frame principle figure of follow-up control circuit among the auto sun-tracking system embodiment one of solar energy concentrator provided by the present invention;
Fig. 3 is the circuit theory diagrams of follow-up control circuit among the auto sun-tracking system embodiment one of solar energy concentrator provided by the present invention;
Fig. 4 is auto sun-tracking system embodiment two structural representations of solar energy concentrator provided by the present invention;
Fig. 5 is the frame principle figure of follow-up control circuit among the auto sun-tracking system embodiment two of solar energy concentrator provided by the present invention;
Fig. 6 is the circuit theory diagrams of follow-up control circuit among the auto sun-tracking system embodiment two of solar energy concentrator provided by the present invention.
Embodiment
The structural representation of the auto sun-tracking system embodiment one of the solar energy concentrator that provides in the present invention is provided.Solar energy concentrator in this system is a solar panel 1, and its mechanical transmission mechanism is made up of position angle gear train 2 and angle of pitch gear train 3, is driven by position angle drive motor and angle of pitch drive motor respectively.Follow-up control circuit is made of GPS receiver, 3D electronic compass and microprocessor control circuit.GPS receiver GPS, 3D electronic compass DL1 are installed on the solar panel.The frame principle figure and the electrical schematic diagram of follow-up control circuit among Fig. 2, the auto sun-tracking system embodiment one that is respectively solar energy concentrator provided by the present invention shown in Figure 3.Referring to Fig. 2, follow-up control circuit is made up of GPS receiver, 3D electronic compass and microprocessor control circuit, the output signal of GPS receiver and 3D electronic compass is sent into microprocessor control circuit, give position angle drive motor and angle of pitch drive motor by output control signal after the microprocessor control circuit analyzing and processing, drive position angle mechanical transmission mechanism and angle of pitch mechanical transmission mechanism respectively and drive the solar panel tracking sun.Referring to Fig. 3, this follow-up control circuit is by GPS receiver GPS, 3D electronic compass DL1 and microprocessor control circuit are formed, microprocessor control circuit is by microprocessor U1, storer U2, U3 (FLASH, SDRAM) and communication interface circuit U 4 form, GPS receiver GPS, 3D electronic compass DL1 meets microprocessor U1 by communication interface circuit U 4, the output of microprocessor U1 is by switching tube Q1, relay J 1, switching tube Q2, relay J 2 meets position angle drive motor M1, the forward of controlling party parallactic angle drive motor M1, antiport is followed the tracks of the sun thereby the driving device gear train drives the solar panel East and West direction; The output of microprocessor U3 is by switching tube Q, relay J 3, switching tube Q4, relay J 4, meet angle of pitch drive motor M2, forward, the antiport of control angle of pitch drive motor M2 are followed the tracks of the sun thereby the driving device gear train drives the solar panel north-south.Its principle of work is: is responsible for the navigation message and the temporal information of receiving world locational system satellite transmission by the GPS receiver, calculates the position of obtaining receiver through the GPS receiver, and to microprocessor output time information and GPS receiver precision positions information; Microprocessor calculates each position of the sun in the horizontal system of coordinates, i.e. sun altitude and solar azimuth constantly under the control of program.The 3D electronic compass is carried the orientation information of solar panel to microprocessor, and with solar panel towards sending microprocessor to, microprocessor under the control of program, calculate solar panel towards with over against the difference of solar direction and send control signal, by gauge tap pipe Q1, Q2 or switching tube Q3, the conducting of Q4, end, pilot relay J1, J2 or relay J 3, J4's is logical, disconnected, thereby controlling party parallactic angle drive motor M1 or angle of pitch drive motor drive position angle gear train or the angle of pitch gear train solar panel is adjusted to position over against the sun.This tracking mode serves as that automatic omnidirectional tracking is realized on the basis with precise position information and the temporal information that GPS was provided.Be responsible for reception, computing and output time information and solar energy concentrator precision positions information by the GPS receiver and give microprocessor control circuit; Microprocessor control circuit calculate each constantly sun in the position that horizontal coordinate are fastened, i.e. elevation angle and position angle, the solar energy concentrator of a certain position, a certain moment sun can be used sun altitude α with respect to its position on being in the earth
sWith solar azimuth γ
sRepresent.They all are defined in horizontal coordinate and fasten.Horizontal system of coordinates regulation observation station O, promptly the solar panel loca is true origin, and the vertical direction of surface level is the Z axle, and geographical Due South is an X-axis, and geographical positive east is Y.Sun altitude α
sBe observation station O to the sight line vector of sun S and the angle of local level, span is 0 °～90 °; Solar azimuth γ
sBe this projection of sight line vector on local level and angle of geographical Due South, and the regulation Due South is zero degree, westwards for just, for negative, span is-180 °～+ 180 ° eastwards.
Sun altitude is not only relevant with the geographic position of observation station with solar azimuth, or the function of time.The time is here represented with solar hour angle ω.The period of change of ω is a diel, and variation range is ± 180 °.Regulation ω=0 at 12 o'clock high noons increased by 15 ° every one hour, and the morning, afternoon was for bearing for just.For example, at 10 in the morning is with respect to ω=2 * 15 °=30 °.Sun altitude and solar azimuth can be expressed from the next respectively:
sinα
s＝sinlsinδ+coslcosδcosω
L represents the observation station geographic latitude in the formula, and δ represents solar declination, and ω represents solar hour angle.Being installed in 3D electronic compass on the solar panels utilizes geomagnetic sensor and gravity sensor can detect the variation of solar panel 3 d pose and is converted into corresponding digital signal, serial port by communication interface circuit U6 is input to microprocessor U3, microprocessor U3 (program exists in the FLASH) under the control of program calculate solar panel towards sending microprocessor control circuit to difference over against solar direction; Send control signal control motor and corresponding gear train after the microprocessor U3 Treatment Analysis solar panel is adjusted to position over against the sun.Because the GPS receiver is after finishing initialization, under the state that keeps locking, can transmit a position correction information by the fastest per second, this is enough accurate for following the tracks of the sun, even losing lock occurs, about 10 minutes of the time interval that reinitializes, 10 minutes the time that reinitializes only has been offset 2.5 ° for the sun, do not influence tracking effect.The 3D electronic compass provides reliable resolution, dynamic response time and degree of accuracy, therefore solar cell cell panel in this embodiment adopts this tracker can make the solar cell installing plate keep following the tracks of the sun, no matter solar panel position is on earth fixed, also be mounted on operating car body and the ocean-going vessel, can both keep the solar panel real-time follow-up sun.Attitude sensor has adopted the 3D electronic compass among the embodiment one, the data that provide for the higher electronic compass of performance are that reliable tracking effect is fine, for the still not high enough electronic compass of performance, an obliquity sensor can also be installed on solar panel again, carry the attitude signal of solar panel by electronic compass and obliquity sensor to microprocessor control circuit, can guarantee that like this attitude signal that provides is accurate, tracking effect good.
Fig. 4 is auto sun-tracking system embodiment two structural representations of solar energy concentrator provided by the present invention, and this is the structural representation of a generator unit in the roof solar power station.In this generator unit by erecting frame 1 and dress 6 solar panels 6 thereon, cold water pipe 3, hot-water line 4, connect cold water pipe, the distributive pipe 5 of hot-water line constitutes, the water of hot-water line enters water storage tank (omitting among the figure), by water storage tank, cold water pipe 3, hot-water line 4, the distributive pipe 5 that connects cold water pipe and hot-water line reaches in that (it is to become solar panel on the absorber plate of one that solar panel is sticked on by the heat conductive insulating resin glue with distributive pipe for the absorber plate of one with it on each distributive pipe, can only see solar panel 6 among the figure) constituted the solar thermal utilization device, this device is when being transformed into electric energy with solar energy, constantly shift out the heat of solar cell, these heats are used supply life hot water because of produced by illumination.GPS receiver GPS is housed on the erecting frame, mounted angle sensor SEN1 on solar panel, the mechanical transmission mechanism of this embodiment is by at the back side of erecting frame, form with trace 9 and 6 transfer bars 10 of erecting frame horizontal direction parallel, one end of transfer bar 10 is fixed on the distributive pipe 5 at solar panel 6 back sides, its other end and trace flexibly connect, drive the solar panel east-west directions by follow-up control circuit and Electric Machine Control trace 9, transfer bar 10 and follow the tracks of the sun, the luffing angle that the angle of pitch of solar panel can manual adjustments erecting frame 1.Fig. 5 is the principle of work block diagram of follow-up control circuit, and follow-up control circuit is made of GPS receiver, obliquity sensor SEN1 and single chip circuit in this embodiment.Figure 6 shows that the electrical schematic diagram of this follow-up control circuit.This follow-up control circuit is made up of single-chip microcomputer U1, storer U2, U4 (FLASH, SDRAM) and communication interface circuit U 4 GPS receiver GPS, obliquity sensor SEN1, single chip circuit, GPS receiver GPS, obliquity sensor SEN1 connect the output of single-chip microcomputer U1, single-chip microcomputer U1 by switching tube Q1, Q2 by communication interface circuit U 4, relay J 1, J2 meet position angle drive motor M1.Be responsible for the navigation message and the temporal information of receiving world locational system satellite transmission by the GPS receiver, obtain the position of receiver as calculated, and to single chip circuit output time information and GPS receiver precision positions information; Single chip circuit calculates each sun position in the horizontal system of coordinates constantly under the control of program, be sun altitude and solar azimuth, obliquity sensor with solar panel towards sending single chip circuit to, single chip circuit under the control of program, calculate solar panel towards with difference over against solar direction, and send control signal in view of the above, conducting by gauge tap pipe Q1 or Q2, end, pilot relay J1 or J2's is logical, disconnected, thereby the forward of controlling party parallactic angle drive motor M1, antiport drives trace 9 and transfer bar 10, solar panel 6 East and West directions are followed the tracks of the sun.
Claims (2)
1, a kind of auto sun-tracking system of solar energy concentrator, follow the tracks of the motor of the sun by driving solar energy concentrator, the follow-up control circuit of mechanical transmission mechanism and the work of control mechanical transmission mechanism is formed, it is characterized in that described follow-up control circuit is by the GPS receiver, attitude sensor and microprocessor control circuit are formed, the GPS receiver, attitude sensor is installed on the solar energy concentrator, the output signal of GPS receiver and attitude sensor is sent into microprocessor control circuit, drives solar energy concentrator over against the sun for Electric Machine Control machinery gear train by output control signal after the microprocessor control circuit analyzing and processing.
2,, it is characterized in that described attitude sensor is electronic compass or obliquity sensor according to the auto sun-tracking system of the described solar energy concentrator of claim 1.
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| CN101872197A (en) * | 2010-05-18 | 2010-10-27 | 浙江大学 | Sun tracking and locating device and method based on single camera |
| CN102269998A (en) * | 2011-07-28 | 2011-12-07 | 江阴鼎峰网络通信有限公司 | solar photovoltaic sun tracking control system and control method |
| CN102411377A (en) * | 2011-12-31 | 2012-04-11 | 天津职业技术师范大学 | Sun auto-tracking device and tracking method thereof |
| CN102442332A (en) * | 2011-11-17 | 2012-05-09 | 广东工业大学 | Intelligent tracking system and processing method for solar railway labels |
| CN102541092A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Solar light tracking method and system |
| CN102566600A (en) * | 2012-02-13 | 2012-07-11 | 无锡泰克塞斯新能源科技有限公司 | Automatic correction system for tracking type solar photovoltaic generating system and realization method thereof |
| CN102637041A (en) * | 2012-04-26 | 2012-08-15 | 陈勇 | Shutter-type double-shaft tracking solar energy photovoltaic power generation system |
| CN103197685A (en) * | 2013-04-11 | 2013-07-10 | 南京信息工程大学 | Solar automatic tracking system |
| CN103246292A (en) * | 2013-03-30 | 2013-08-14 | 中国科学院安徽光学精密机械研究所 | Method for automatically tracking sun on motion platform |
| CN103872976A (en) * | 2014-01-12 | 2014-06-18 | 莫岸 | Solar-energy automatic tracing system based on Beidou Navigation System |
| CN103905096A (en) * | 2014-04-23 | 2014-07-02 | 武汉恒达智慧城市交通研发有限公司 | Device and method for setting geomagnetic sensor |
| CN103986410A (en) * | 2014-05-27 | 2014-08-13 | 武汉理工大学 | Sun tracking power generating device and array thereof |
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| CN101872197A (en) * | 2010-05-18 | 2010-10-27 | 浙江大学 | Sun tracking and locating device and method based on single camera |
| CN101872197B (en) * | 2010-05-18 | 2012-09-26 | 浙江大学 | Sun tracking and locating device and method based on single camera |
| CN102269998A (en) * | 2011-07-28 | 2011-12-07 | 江阴鼎峰网络通信有限公司 | solar photovoltaic sun tracking control system and control method |
| CN102442332A (en) * | 2011-11-17 | 2012-05-09 | 广东工业大学 | Intelligent tracking system and processing method for solar railway labels |
| CN102442332B (en) * | 2011-11-17 | 2015-05-06 | 广东工业大学 | Processing method of intelligent tracking system for solar railway labels |
| CN102411377A (en) * | 2011-12-31 | 2012-04-11 | 天津职业技术师范大学 | Sun auto-tracking device and tracking method thereof |
| CN102541092A (en) * | 2012-01-13 | 2012-07-04 | 燕山大学 | Solar light tracking method and system |
| CN102566600A (en) * | 2012-02-13 | 2012-07-11 | 无锡泰克塞斯新能源科技有限公司 | Automatic correction system for tracking type solar photovoltaic generating system and realization method thereof |
| CN102566600B (en) * | 2012-02-13 | 2015-08-26 | 无锡泰克塞斯新能源科技有限公司 | The automatic correction system of motion tracking solar photovoltaic generating system and its implementation |
| CN102637041A (en) * | 2012-04-26 | 2012-08-15 | 陈勇 | Shutter-type double-shaft tracking solar energy photovoltaic power generation system |
| CN102637041B (en) * | 2012-04-26 | 2013-11-20 | 陈勇 | Shutter-type double-shaft tracking solar energy photovoltaic power generation system |
| CN103246292A (en) * | 2013-03-30 | 2013-08-14 | 中国科学院安徽光学精密机械研究所 | Method for automatically tracking sun on motion platform |
| CN103246292B (en) * | 2013-03-30 | 2016-12-28 | 中国科学院安徽光学精密机械研究所 | A kind of automatic sun tracking method on motion platform |
| CN103197685A (en) * | 2013-04-11 | 2013-07-10 | 南京信息工程大学 | Solar automatic tracking system |
| CN103872976A (en) * | 2014-01-12 | 2014-06-18 | 莫岸 | Solar-energy automatic tracing system based on Beidou Navigation System |
| CN103905096A (en) * | 2014-04-23 | 2014-07-02 | 武汉恒达智慧城市交通研发有限公司 | Device and method for setting geomagnetic sensor |
| CN103905096B (en) * | 2014-04-23 | 2016-03-02 | 武汉恒达智慧城市交通研发有限公司 | A kind of method that geomagnetic sensor is arranged |
| CN103986410B (en) * | 2014-05-27 | 2016-08-24 | 武汉理工大学 | A kind of solar tracking TRT and array thereof |
| CN103986410A (en) * | 2014-05-27 | 2014-08-13 | 武汉理工大学 | Sun tracking power generating device and array thereof |
| CN104235736A (en) * | 2014-06-24 | 2014-12-24 | 重庆广建装饰股份有限公司 | Solid glass ball refraction solar power generating street lamp tracking solar azimuth automatically |
| CN104950911A (en) * | 2015-07-22 | 2015-09-30 | 河南瑞恒电力电气有限公司 | Automatic solar cell matrix tracking method and device |
| CN104950911B (en) * | 2015-07-22 | 2017-12-29 | 河南瑞恒电力电气有限公司 | Solar cell array automatic tracking method and device |
| WO2018099368A1 (en) * | 2016-11-29 | 2018-06-07 | 郭其秀 | Solar tracking and positioning control system and control method thereof |
| CN107604853A (en) * | 2017-10-13 | 2018-01-19 | 梁亮 | A kind of intelligent expressway collision device and its control method |
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