CN101859149B - Method for automatically adjusting angle of solar cell panel, and solar cell system - Google Patents
Method for automatically adjusting angle of solar cell panel, and solar cell system Download PDFInfo
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Abstract
The invention provides a method for automatically adjusting an angle of a solar cell panel. The method comprises the following steps of: shooting an image which comprises the sun by using a camera; comparing a brightness value of each pixel point of the shot image with the set brightness threshold to obtain a binary image; clustering bright pixel points in the binary image to obtain a plurality of communicated small areas with high brightness; calculating the area of each of the small areas and comparing with an area threshold, wherein the areas of which the area is greater than the region threshold are removed; sequencing the rest areas with high brightness to obtain the largest area, and calculating the center-of-gravity position of the largest region, namely the position of the sun; and calculating a displacement vector with a target position according to the position of the sun, and driving a motor to adjust the angle of the solar cell panel according to the displacement vector.
Description
[technical field]
The present invention relates to field of solar energy, particularly about the self-adjusting method and system of a kind of angle of solar cell panel.
[background technology]
Solar-photovoltaic technology is one of fast-developing in recent years clean energy technology.For the usefulness that makes photovoltaic cell keeps best, be necessary to make solar energy equipment with aiming at season, morning and afternoon etc. the sun automatically.There is Many researchers to develop different solar tracking technology at present.
Fig. 1 is a kind of disclosed sun tracker 100.Please refer to shown in Figure 1ly, said sun tracker 100 comprises: the sunlight detecting head is made up of convex lens, five photodiodes (R1, R2, R3, R4 and R5), control circuit board and a cylinder, its specifically the composition mode see Fig. 1.Five photoelectric tubes are installed on the same block of plectane (being electro-optical package), are cruciform and arrange, and it is one group up and down, detects the vertical moving of the sun; About be one group, detect moving horizontally of the sun; Middle one is one group, for light detects, reset trigger is provided.Lens are installed in the top of cylinder, and the blended rubber glue closes, the double waterproof cover of doing.The other end sealing of cylinder.Circuit board is installed in the cylinder.Electro-optical package is installed in the focal length of lens in the tube; The hot spot that lens form during with the sunlight direct projection shines less than four photoelectric tubes are (suitable from the much distances of electro-optical package as for hot spot for well on every side; Depend on required tracking sensitivity, just be unlikely to make the machine frequent starting about general 1cm).When sunlight is vertically injected, irradiation less than around photoelectric tube, have only sunlight light run-off the straight misalignment solar time of promptly popping one's head in just might make on the photoelectric tube of light around being mapped to.When skew takes place in the level of the sun or upright position, must there be one to receive solar radiation in R1, R2 or R3, four photoelectric tubes of R4, so just can confirm the direction of solar motion.
The problem of this technology is, the photoelectric tube negligible amounts is at interval bigger each other, and the ratio of precision that causes following the tracks of is relatively poor.
Therefore being necessary to propose a kind of new technical scheme overcomes the problems referred to above.
[summary of the invention]
The purpose of this part is to summarize some aspects of embodiments of the invention and briefly introduces some preferred embodiments.In this part and the application's specification digest and denomination of invention, may do a little simplification or omit avoiding the making purpose of this part, specification digest and denomination of invention fuzzy, and this simplification or omit and can not be used to limit scope of the present invention.
The object of the present invention is to provide the self-adjusting method of a kind of angle of solar cell panel, it adopts camera head that the figure of the sun and sky is analyzed, and finds the position of the sun automatically, makes that the degree of accuracy of following the tracks of is very high.
According to an aspect of the present invention, the present invention provides a kind of angle of solar cell panel self-adjusting method, and it comprises: utilize a camera to take the image that includes the sun; The brightness value and the preset brightness threshold value of each pixel of the image of taking are compared, obtain binary image; Bright pixel in the said binary image is carried out cluster, obtain some communicated small areas with high brightness; Calculate the area of said each small region and compare, wherein, remove the zone of area greater than said region threshold with region threshold; Sort by region area greater than the remaining brighter said small region of brightness in the zone back of said region threshold to removing area, obtain maximum zone, and the centre of gravity place that calculates the zone of said maximum is the position of the sun; According to the position calculation of the said sun and the displacement vector of target location, drive motor is according to the angle of said displacement vector adjustment cell panel.
Further, the brightness of image that said camera is taken is in a brightness section, and said luminance threshold is set to the brightness value more than the average in the said brightness section.
Further; When the brightness value of the pixel of the image of taking then is labeled as a value in 1 or 0 with this pixel during greater than said luminance threshold; When the brightness value of the pixel of the image of taking then is labeled as another value in 1 or 0 with this pixel during less than threshold value, thereby form a binary image.
Further, said cluster is to be communicated with through four connections or eight to carry out cluster.
Further, said region threshold is slightly less than the area of the sun in the image.
Further, said target location is the picture centermost.
Further, said displacement vector is that (Cx-x0, Cy-y0), wherein (x0 y0) is the RC position of said picture, and (Cx Cy) is the position of the center of gravity of the current picture sun.
Further, when the position of the sun was the picture centermost, the angle of cell panel was the best angle towards the sun, and said cell panel carries out angular setting so that the sun is positioned at the centermost of picture according to said displacement vector.
According to a further aspect in the invention, the present invention provides a kind of angle of solar cell panel self-adjusting system, and it comprises:
Solar panel;
Camera module is used to take the image that includes the sun;
Image processing module; Comprise binarization unit, cluster cell and position determination unit, wherein said binarization unit is used for the brightness value and the preset brightness threshold value of each pixel of the image of said photographing module shooting are compared to obtain binary image; Said cluster cell is used for the bright pixel of said binary image is carried out cluster, obtains some communicated small areas with high brightness; Said comparing unit is used to calculate the area of said each small region and compares with region threshold; Said position determination unit is removed the small region of area greater than said region threshold; And to remove area greater than the small region of said region threshold after the remaining brighter said small region of brightness sort by region area; Obtain maximum small region, and the centre of gravity place that calculates the small region of said maximum is the position of the sun; With
The drive motor module, according to the position calculation of the said sun and the displacement vector of target location, drive motor is adjusted the angle of said solar panel according to said displacement vector.
Further; When the brightness value of the pixel of the image of taking then is labeled as a value in 1 or 0 with this pixel during greater than said luminance threshold; When the brightness value of the pixel of the image of taking then is labeled as another value in 1 or 0 with this pixel during less than threshold value, thereby form a binary image.
Further, said target location is the picture centermost, calculates the position (Cx of the sun in the current picture; Cy) and said target location (x0; Y0) (Cx-x0, Cy-y0), drive motor drives said solar panel according to said vector and carries out angular setting vector.
Compared with prior art; The present invention adopts a video camera to take the image of the sun, and it is analyzed, and obtains the position of the sun; Obtain displacement vector according to demarcating good target location in advance subsequently; At last according to the direction and the size of displacement vector, drive motor to be being transferred to best angle to the angle of solar panel, thereby makes that the degree of accuracy of following the tracks of the sun is very high.
[description of drawings]
In order to be illustrated more clearly in the technical scheme of the embodiment of the invention; The accompanying drawing of required use is done to introduce simply in will describing embodiment below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work property, can also obtain other accompanying drawing according to these accompanying drawings.Wherein:
Fig. 1 is a kind of disclosed sun tracker;
Fig. 2 is the process flow diagram of the self-adjusting method of angle of solar cell panel among the present invention;
Fig. 3 A is communicated with the synoptic diagram that carries out cluster for binary picture among embodiment among the present invention by four;
Fig. 3 B is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 A mark afterwards;
Fig. 3 C is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 B mark afterwards;
Fig. 3 D is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 C mark afterwards;
Fig. 3 E is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 D mark afterwards;
Fig. 4 is communicated with the synoptic diagram that carries out cluster for binary picture among embodiment among the present invention by eight;
Fig. 5 is the synoptic diagram of bubble sort among embodiment among the present invention; With
Fig. 6 is the synoptic diagram of the self-adjusting device 600 of a kind of angle of solar cell panel among the present invention
[embodiment]
Detailed description of the present invention is mainly come the running of direct or indirect simulation technical scheme of the present invention through program, step, logical block, process or other symbolistic descriptions.Be the thorough the present invention that understands, in ensuing description, stated a lot of specific detail.And when not having these specific detail, the present invention then possibly still can realize.Affiliated those of skill in the art use these descriptions here and state that the others skilled in the art in affiliated field effectively introduce their work essence.In other words, be the object of the invention of avoiding confusion, because the understanding easily of method of knowing and program, so they are not described in detail.
Alleged here " embodiment " or " embodiment " are meant special characteristic, structure or the characteristic that can be contained at least one implementation of the present invention.Different in this manual local " in one embodiment " that occur not are all to refer to same embodiment, neither be independent or optionally mutually exclusive with other embodiment embodiment.In addition, represent that the sequence of modules and revocable in method, process flow diagram or the functional block diagram of one or more embodiment refers to any particular order, also be not construed as limiting the invention.
Fig. 2 is the process flow diagram of the self-adjusting method 200 of angle of solar cell panel among the present invention, see also shown in Figure 2, shown in method 200 comprise:
In one example, see also shown in Fig. 3 A, it is communicated with the synoptic diagram that carries out cluster for binary picture among embodiment among the present invention by four, and the binaryzation figure among Fig. 3 A is 7 row, 7 row, following step is arranged carrying out four when being communicated with:
Step 1: traveling through since first row, is that 1 point then is labeled as color color1 when finding mark, subsequently this point is carried out four connections; Also just say, if point (x, value y) is 1; Then to point (x, y-1), (x, y+1), (x-1; Y) and (x+1 y) judges, if 1 color mark that will put is color1;
Step 2: coloured one of them point of mark that obtains after being communicated with said four then carries out above-mentioned identical step, sees also shown in Fig. 3 B, and Fig. 3 B is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 A afterwards; Carry out four connections to point (2,3) this moment, then with point (2; 4) be labeled as color color1; The qualified point that carries out four connections up to point (2,3) all has been labeled, and returns step 2 till the point that does not have to be labeled;
Step 3: subsequently, coloured wherein another point of mark that obtains after said four connections after the step 1 is carried out step 2, see also Fig. 3 C, Fig. 3 C is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 B afterwards, and accomplished the mark of point (2,3) through step 2 this moment; Subsequently point (3,2) is carried out the mark of step 2, here mark point (3,1) and point (4,2); Subsequently point (4,2) is communicated with, sees also Fig. 3 D, Fig. 3 D is for being communicated with the synoptic diagram that carries out cluster through four afterwards corresponding to Fig. 3 C, wherein to point (4; 2) carry out 4 points (4,3) that are communicated with, point (4,3) is carried out 4 points (4,4) that are communicated with; Point (4,4) is carried out 4 point (4,5), the points (5,4) that are communicated with, to point (4; 5) carry out 4 points (4,6) that are communicated with, point (4,6) is carried out 4 points (3,6) that are communicated with; To the point (2,6) that point (3,6) carries out four connections, the point (6 that point (5,4) is carried out four connections; 4) and to point (6,4) carry out 4 points (6,5) that are communicated with, and above-mentioned point all is labeled as color1, all points that are labeled as color1 have formed the zone of a connection like this;
Step 4: after whole marks of point that all and first point links to each other are intact, then return step 1, following point then is labeled as color color2 (among the figure for ease of differentiation; Replace with one group of horizontal line), finish up to step 3, see also Fig. 3 E; Fig. 3 E is for be communicated with the synoptic diagram that carries out cluster through four corresponding to Fig. 3 D afterwards, and the point (5,7) that is marked as color2 among Fig. 3 E forms a connected region at this moment; Return step 1 then and proceed said process, then finish, be marked as color3 at last (among the figure for ease of distinguishing up to the point that does not need mark; Replace with one group of oblique line) point (6,2) and point (7,2) also formed a connected region.
In another example, see also shown in Figure 4ly, it shows among the present invention, and binary picture is communicated with the synoptic diagram that carries out cluster by eight among the embodiment, and eight are communicated with the point that then means eight directions around the point is communicated with, as to point (2; 2) carry out eight connections, then to point (1,1), point (1,2), point (1,3), point (2; 1), point (2,2), point (2,3), point (3,1), point (3; 2), point (3,3) carries out judge mark, the process that other processes and four are communicated with is identical, just no longer details here.
Above-described four connections, eight are communicated with and can realize through software, hardware or software and hardware combining, and the those of ordinary skill that its concrete implementation procedure is affiliated field can both be realized, has just detailed no longer one by one here.
In one example, utilize modal bubble sort method to sort, can be referring to Fig. 5, Fig. 5 is bubble sort synoptic diagram among embodiment among the present invention; The region area that wherein obtains is respectively 5,4,6,9, at first first data and second data compared, and when first data then exchange less than second data, otherwise constant; First data 5 are greater than second data 4 among the figure, thus constant, judge the size of second data and the 3rd data subsequently, same; Then exchange less than the 3rd data for second data, second data 4 then exchanges less than the 3rd data 6 at this moment; And the like, then at first obtain sequence and be: 5,6,9,4, the first round finishes; Hence one can see that, and the effect that said bubble sort produces is exactly with bigger number row upwards, less several then rows downwards; Subsequently the last round of sequence that obtains is sorted by above-mentioned steps again; Up to obtaining a sequence from big to small, as, take turns second and to finish the postorder row and become: 6,9,5,4; Finishing postorder in third round classifies as: 9,6,5,4; At this moment, the number that does not have a front then finishes less than the number of back.
Certainly, different ordering its time complexity maybe be different, utilize the sort algorithm that high rate is arranged most according to actual conditions, and other sort algorithm and application all are that the those of ordinary skill in affiliated field can both be realized, have just detailed no longer one by one here.
Fig. 6 is the synoptic diagram of the self-adjusting device 600 of a kind of angle of solar cell panel among the present invention; See also shown in Figure 6; The self-adjusting device 600 of wherein said angle of solar cell panel comprises solar panel 610, photographing module 620, image processing module 630, drive motor module 640; Be used to obtain the image of the sun and according to the sunny position of threshold value comparison module interpretation, drive motor is through the position of the sun and the angle of the adjustment of the vector between target location cell panel.
Said photographing module 620 is used to take the image that includes the sun, can adopt black and white head or colour imagery shot mutually.
Said image processing module 630 comprises binarization unit 6301, cluster cell 6302, comparing unit 6303 and position determination unit 6304.
Said binarization unit 6301 is used for the brightness value and the preset brightness threshold value of each pixel of the image of said video camera shooting are compared to obtain binary image.
Said cluster cell 6302 is used for the bright pixel of said binary image is carried out cluster, obtains some communicated small areas with high brightness.
Said comparing unit 6303 is used to calculate the area of said each small region and compares with region threshold.
Said position determination unit 6304 is removed the small region of area greater than said region threshold; And to remove area greater than the small region of said region threshold after the remaining brighter said small region of brightness sort by region area; Obtain maximum small region, and the centre of gravity place that calculates the small region of said maximum is the position of the sun.
Said drive motor module 640 is according to the position calculation of the said sun and the displacement vector of target location, and drive motor is according to the angle of said displacement vector adjustment cell panel.
In sum; Angle of solar cell panel automatic adjustment technologies of the present invention includes the image of the sun through the camera picked-up; And image analyzed; Thereby obtain the skew that the current sun departs from the corresponding target location of cell panel best angle, thereby realize the automatic adjustment of cell panel, improved the degree of accuracy that cell panel receives the sun according to said skew.
Above-mentioned explanation has fully disclosed embodiment of the present invention.It is pointed out that any change that technician's specific embodiments of the invention of being familiar with this field is done does not all break away from the scope of claims of the present invention.Correspondingly, the scope of claim of the present invention also is not limited only to previous embodiment.
Claims (11)
1. self-adjusting method of angle of solar cell panel is characterized in that it comprises:
Utilize a camera to take the image that includes the sun;
The brightness value and the preset brightness threshold value of each pixel of the image of taking are compared, obtain binary image;
Bright pixel in the said binary image is carried out cluster, obtain some communicated small areas with high brightness;
Calculate the area of said each small region and compare, wherein, remove the small region of area greater than said region threshold with region threshold;
To remove area greater than the small region of said region threshold after the remaining brighter said small region of brightness sort by region area, obtain maximum small region, and the centre of gravity place that calculates the small region of said maximum is the position of the sun; With
According to the position calculation of the said sun and the displacement vector of target location, drive motor is according to the angle of said displacement vector adjustment cell panel.
2. the self-adjusting method of angle of solar cell panel according to claim 1 is characterized in that: the brightness of image that said camera is taken is in a brightness section, and said luminance threshold is set to the brightness value more than the average in the said brightness section.
3. the self-adjusting method of angle of solar cell panel according to claim 1; It is characterized in that: when the brightness value of the pixel of the image of taking then is labeled as a value in 1 or 0 with this pixel during greater than said luminance threshold; When the brightness value of the pixel of the image of taking then is labeled as another value in 1 or 0 with this pixel during less than said luminance threshold, thereby form a binary image.
4. the self-adjusting method of angle of solar cell panel according to claim 1 is characterized in that: said cluster is to be communicated with through four connections or eight to carry out cluster.
5. the self-adjusting method of angle of solar cell panel according to claim 1, it is characterized in that: said region threshold is slightly less than the area of the sun in the image.
6. the self-adjusting method of angle of solar cell panel according to claim 1 is characterized in that: said target location is the picture centermost.
7. the self-adjusting method of angle of solar cell panel according to claim 6 is characterized in that: said displacement vector for (Cx-x0, Cy-y0); (x0 wherein; Y0) be the RC position of said picture, (Cx Cy) is the position of the center of gravity of the current picture sun.
8. the self-adjusting method of angle of solar cell panel according to claim 6; It is characterized in that: when the position of the sun is the picture centermost; The angle of cell panel is the best angle towards the sun, and said cell panel carries out angular setting so that the sun is positioned at the centermost of picture according to said displacement vector.
9. solar cell system is characterized in that it comprises:
Solar panel;
Photographing module is used to take the image that includes the sun;
Image processing module; Comprise binarization unit, cluster cell, comparing unit and position determination unit, wherein said binarization unit is used for the brightness value and the preset brightness threshold value of each pixel of the image of said photographing module shooting are compared to obtain binary image; Said cluster cell is used for the bright pixel of said binary image is carried out cluster, obtains some communicated small areas with high brightness; Said comparing unit is used to calculate the area of said each small region and itself and region threshold is compared; Said position determination unit is removed the small region of area greater than said region threshold; And to remove area greater than the small region of said region threshold after the remaining brighter said small region of brightness sort by region area; Obtain maximum small region, and the centre of gravity place that calculates the small region of said maximum is the position of the sun; With
The drive motor module, according to the position calculation of the said sun and the displacement vector of target location, drive motor is according to the angle of said displacement vector adjustment solar panel.
10. solar cell system according to claim 9; It is characterized in that: when the brightness value of the pixel of the image of taking then is labeled as a value in 1 or 0 with this pixel during greater than said luminance threshold; When the brightness value of the pixel of the image of taking then is labeled as another value in 1 or 0 with this pixel during less than said luminance threshold, thereby form a binary image.
11. solar cell system according to claim 9; It is characterized in that: said target location is the picture centermost; Calculate the sun in the current picture the position (Cx, Cy) with said target location (x0, vector (Cx-x0 y0); Cy-y0), drive motor drives said solar panel according to said vector and carries out angular setting.
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| CN2010101811570A CN101859149B (en) | 2010-05-25 | 2010-05-25 | Method for automatically adjusting angle of solar cell panel, and solar cell system |
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| CN105955316A (en) * | 2016-06-16 | 2016-09-21 | 浙江大学 | Double-shaft solar video sun tracking system and method |
| CN108259720A (en) * | 2018-02-05 | 2018-07-06 | 王美金 | A kind of solar energy health recorder and application method |
| CN108726006A (en) * | 2018-06-12 | 2018-11-02 | 河南农业大学 | A kind of Cold Chain Logistics haulage vehicle and control method |
| CN113160311A (en) * | 2020-01-07 | 2021-07-23 | 北京赛博联物科技有限公司 | Solar cell panel adjusting method and device, sun tracking system and storage equipment |
| CN115189456B (en) * | 2022-07-07 | 2024-01-30 | 北京奥达清环境检测有限公司 | Solar power supply system of small miniature online water quality and water quantity monitoring station |
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| CN101976348A (en) * | 2010-10-21 | 2011-02-16 | 中国科学院深圳先进技术研究院 | Image clustering method and system |
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| CN102116604A (en) * | 2009-12-31 | 2011-07-06 | 北方工业大学 | Method and device for measuring sun tracking error of heliostat by using image analysis technology |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1151637A (en) * | 1997-07-30 | 1999-02-26 | Mitsubishi Electric Corp | Direction-of-sun detector |
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| CN102116604A (en) * | 2009-12-31 | 2011-07-06 | 北方工业大学 | Method and device for measuring sun tracking error of heliostat by using image analysis technology |
| CN102073323A (en) * | 2010-09-29 | 2011-05-25 | 王烈 | Solar energy application method and device for fully automatically tracking direct radiation direction of sunlight |
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| CN102024156A (en) * | 2010-11-16 | 2011-04-20 | 中国人民解放军国防科学技术大学 | Method for positioning lip region in color face image |
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