CN106020250B - A kind of sun tracker and its tracking - Google Patents
A kind of sun tracker and its tracking Download PDFInfo
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- CN106020250B CN106020250B CN201610571513.7A CN201610571513A CN106020250B CN 106020250 B CN106020250 B CN 106020250B CN 201610571513 A CN201610571513 A CN 201610571513A CN 106020250 B CN106020250 B CN 106020250B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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Abstract
The present invention relates to a kind of sun trackers, including projection identification device, impermeable baffle plate, projection identification device babinet, server and tumbler, impermeable baffle plate is vertically on the upper bottom surface of projection identification device babinet, project the interior projection identification device for being equipped with projection of the impermeable baffle plate in projection identification device babinet upper bottom surface for identification of identification device babinet, projection identification device babinet is located on tumbler, project identification device signal output end Connection Service device, the rotation of server controls tumbler.The beneficial effects of the present invention are the errors at the actual height angle of, the sun, horizontal angle and the result measured within the scope of 5 °.
Description
Technical field
The present invention relates to solar tracking fields, and in particular to a kind of sun tracker.
Background technology
In order to solve the problems, such as that traditional energy is limited, while in view of the protection of ecological environment, at present countries in the world effort
Carry out to sustainable, cleaning new energy development and utilization, such as solar power generation.Although solar energy has many good qualities, still
Many problems are still had in terms of utilization, distinct issues the most are exactly the not high problem of photoelectric conversion efficiency.This is asked
Topic can be accounted for and be studied in terms of two：On the one hand it is to use the higher photoelectric conversion material of transfer efficiency, this is still needed to
Research worker is wanted to research and develop for a long time；On the other hand it is the receiving efficiency for improving solar energy, it can using the prior art
To solve the problems, such as this.
Currently, sunlight trace mode mainly has photo-electric and mechanical two ways.Photo-electric is by photaesthesia material
Material converts optical signals to electric signal, and detection electric signal judges that the real time position of the sun, last driving motor rotate corresponding axis
It follows spot to realize.It is mechanically position of sun to be calculated by program, control corresponding motor chases after using time and Position Latitude as parameter
The track sun.Above two mode still remains some technical problems in practical applications：The anti-interference ability of photo-electric tracking
Weaker, precision is relatively low；Mechanical trace mode causes effect not fully up to expectations because of the increase of accumulated error.
The shortcomings that in order to make up above two control mode, novel solar tracking technology continuously emerge.At present it is novel with
Track technology mainly has following two：
（1）Framing tracks：Framing tracking is a kind of determining too by the track of sun image of processing capture
The elevation angle and azimuthal method of sun.In tropic of cancer northern area, do not surpassed according to the azimuthal variation of solar motion track
The characteristics of crossing 180 ° obtains the aerial sun image in day within the scope of 180 ° using panoramic shooting, and by carrying out a system to the image
Row analyzing processing identifies the central point of solar facula, so that it is determined that the azimuth of the sun and elevation angle, are realized to position of sun
Accurate positionin.
This method tracking accuracy is very high, and wide range of measurement, but needs to carry out shooting image quick and effective
Processing, to system performance requirements height, cost is also high, with the further promotion of processor processing capacity, in solar tracking side
Face will be used widely.
（2）Rotatory current tracks：This method is that the short circuit current generated in view of solar cell rotation is alternating current
Feature decomposes it, unrelated with sunray incidence angle according to short circuit current reflecting component, short circuit current incident components with
Angle between solar cell plane normal and incident ray is at cosine relation, by solar cell rotating around z-axis, x-axis rotation
And azimuth and initial phase are measured, the relation curve of elevation angle and initial phase utilizes the side of DFT operation detection waveform initial phases
Method, calculates sunny elevation angle and azimuth, realizes to solar azimuth from motion tracking.
Its advantage is that application element thereof is few, wide range of measurement is simple in structure, cheap, has very strong practicability；Directly
Using discrete Fourier transform（DFT）Solve short circuit current initial phase, improve the accuracy of tracking system, avoid due to
The problem of inconsistency of polylith light-sensitive element is brought reduces the cost of electricity-generating of photovoltaic generating system.
Compared to photo-electric, mechanical tracking technique, the novel solar tracking technology of above two can effectively promote light
The tracking effect of electric-type, mechanical solar tracking, but since complicated algorithm is to the higher feature of system performance requirements, fail
To extensive use.In conclusion existing solar tracking technology fails fully to meet actual needs, so research application range
Extensively, it is extremely urgent to track solar tracking system accurate, simple in structure, at low cost.
Invention content
To avoid the shortcoming of background technology, the present invention provides one kind and have a wide range of application, it is accurate, simple in structure to track,
Sun tracker at low cost.
In order to solve the above-mentioned technical problem, a kind of sun tracker, including projection identification device, impermeable light trap are designed
Plate, projection identification device babinet, server and tumbler, impermeable baffle plate is vertically in the upper bottom surface of projection identification device babinet
On, the interior throwing for being equipped with projection of the impermeable baffle plate in projection identification device babinet upper bottom surface for identification of projection identification device babinet
Shadow identification device, projection identification device babinet are located on tumbler, project identification device signal output end Connection Service device, clothes
Business device control tumbler rotation.
Further, impermeable baffle plate be can not light transmission circular baffle plate.
Further, projection identification device babinet is tetragonal body, and impermeable baffle plate is located at tetragonal body upper bottom surface center, throws
The upper bottom surface of shadow identification device babinet is white, the bottom plate with certain transparency.
Further, tumbler includes vertical lifting device and horizontal rotation apparatus, and vertical lifting device is fixed horizontal
On rotating device.
Further, vertical lifting device includes first motor, flexible fastening block and trunnion axis, the motor shaft of first motor
Trunnion axis is connected, trunnion axis drives flexible fastening block upper and lower displacement, and projection identification device babinet is connected above flexible fastening block, the
It is additionally provided with yielding coupling between the motor shaft and trunnion axis of one motor.
Further, horizontal rotation apparatus includes horizontal rotatable platform, vertical axes and the second motor, the motor of the second motor
Axis connection vertical axes, vertical axes drive horizontal rotatable platform rotation, bullet are additionally provided between the motor shaft and vertical axes of the second motor
Property shaft coupling.
Further, vertical lifting device is fixed on horizontal rotatable platform, and vertical lifting device outer cover sets dustproof cover,
Dustproof cover is equipped with the opening to come in and go out for the flexible fastening block of vertical lifting device.
Further, the holder being used to support is set up on the outside of tumbler.
Further, include gradation processing module, binary processing module, computing module and control module in server.
A kind of sun tracing method, the first step：By projecting identification device acquired projections, the projection of acquisition is transferred to service
Device, projection is after server gray proces using binary conversion treatment；
Second step：Processed projection is rotated with the increment of each 1-3 degree within the scope of 90 degree；The primary record of often rotation
The perimeter of boundary rectangle boundary point on its coordinate system direction records the short axle projected at this time when extraneous rectangular perimeter minimum
Length and long axis length；
Third walks：Calculate the sun and horizontal sextant angle=arcsin projection minor axis length/impermeable baffle plates of impermeable baffle plate
Diameter；
4th step：Calculate diameter/projection long axis of the sun and height angle=impermeable baffle plates of arctan of impermeable baffle plate
Length；
5th step：Tumbler, which is adjusted, by server reaches the horizontal sextant angle and height angle.
The beneficial effects of the present invention are accurately calculate angle of incidence of light, realize the accurate tracking to sunlight, obtain
The actual height angle of the sun, horizontal angle and the result measured error within the scope of 5 °, apparatus structure is simple, spare and accessory parts
Less, at low cost.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the projection of shape of light oblique fire object.
Specific implementation mode
Below in conjunction with the drawings and specific embodiments, the invention will be further described：
With reference to attached drawing 1, a kind of sun tracker, including projection identification device 4, impermeable baffle plate 3, projection identification device
Babinet 2, server and tumbler, vertically on the upper bottom surface of projection identification device babinet 2, projection identifies impermeable baffle plate 3
It is equipped with impermeable baffle plate 3 for identification in device box 2 and identifies dress in the projection of the projection of projection 2 upper bottom surface of identification device babinet
4 are set, projection identification device babinet 2 is located on tumbler, projects 4 signal output end Connection Service device of identification device, server
Control tumbler rotation.
A kind of sun tracker, impermeable baffle plate 3 be can not light transmission circular baffle plate.
A kind of sun tracker, projection identification device babinet 2 is tetragonal body, and impermeable baffle plate 3 is located on tetragonal body
The upper bottom surface in bottom surface center, projection identification device babinet is white, the bottom plate with certain transparency.
The upper bottom surface of a kind of sun tracker, projection identification device babinet is white, the plastics with certain transparency
Bottom plate.
The upper bottom surface of a kind of sun tracker, projection identification device babinet is A4 paper.
A kind of sun tracker, tumbler include vertical lifting device and horizontal rotation apparatus, vertical lifting device
On fixed horizontal rotation apparatus.
A kind of sun tracker, vertical lifting device include first motor 1, flexible fastening block 10 and trunnion axis 6, and first
The motor axis connection trunnion axis 6 of motor 1, trunnion axis 6 drive 10 upper and lower displacement of flexible fastening block, the 10 top connection of flexible fastening block
Identification device babinet 2 is projected, yielding coupling 5 is additionally provided between the motor shaft and trunnion axis 6 of first motor 1.
A kind of sun tracker, horizontal rotation apparatus include horizontal rotatable platform 7, vertical axes 9 and the second motor 8, and
The motor axis connection vertical axes 9 of two motors 8, vertical axes 9 drive horizontal rotatable platform 7 to rotate, the motor shaft of the second motor 8 and perpendicular
Yielding coupling 5 is additionally provided between d-axis 9.
A kind of sun tracker, vertical lifting device are fixed on horizontal rotatable platform 7, and vertical lifting device outer cover
If dustproof cover, dustproof cover is equipped with the opening to come in and go out for the flexible fastening block of vertical lifting device.
A kind of sun tracker, tumbler outside set up the holder being used to support.
A kind of sun tracker, according to projection theory, sunray with different angle irradiation can not light transmission object when,
Projection of different shapes can be obtained on perspective plane.If impermeable baffle plate be can not light transmission circular baffle plate, at this time on the projection surface
Obtain three kinds of projected images of different shapes：Straight line, ellipse and circle.Above-mentioned projection of shape is deposited with sunray incident angle
In one-to-one relationship.
A kind of sun tracker, interior server includes gradation processing module, binary processing module, computing module and control
Molding block.
A kind of sun tracing method, the first step：By projecting identification device acquired projections, the projection of acquisition is transferred to service
Device, projection is after server gray proces using binary conversion treatment；
Second step：Processed projection is rotated with the increment of each 1-3 degree within the scope of 90 degree；The primary record of often rotation
The perimeter of boundary rectangle boundary point on its coordinate system direction records the short axle projected at this time when extraneous rectangular perimeter minimum
Length and long axis length；
Third walks：Calculate the sun and horizontal sextant angle=arcsin projection minor axis length/impermeable baffle plates of impermeable baffle plate
Diameter；
4th step：Calculate diameter/projection long axis of the sun and height angle=impermeable baffle plates of arctan of impermeable baffle plate
Length；
5th step：Tumbler, which is adjusted, by server reaches the horizontal sextant angle and height angle.
According to above-mentioned principle, it is intended to can not light transmission project objects carry out image recognition, collect the key of projecting figure
Parameter, the analysis using image recognition algorithm to key parameter, accurately calculates angle of incidence of light, it is intended to realize to sunlight
Accurate tracking, realizes that specific route is as follows：
（1）Circular object is horizontally placed under sunlight, when the sun slants circular object, obtains the perspective view of ellipse
Picture；
（2）Projected image is identified using computation vision, and the geometric parameter of ellipse projection is calculated；
（3）Using geometric parameter, sunray irradiating angle is calculated；
（4）Control motor makes mechanism kinematic, realizes the purpose that the sun is followed spot.
Table 1 gives light actual height angle and horizontal angle, and is calculated with using solar light tracking algorithm as described herein
The result gone out is compared.The result shows that the error at actual height angle, horizontal angle and result of calculation is within the scope of 5 °.It is related
Document shows when the angle of the normal of solar energy equipment and sunray is when within 15 °, not to the utilization ratio variation of the sun
Obviously.Therefore, current demand can be met within 5 ° of error, can realize the purpose of sun real-time tracking.
1 results contrast of table
Operation principle
1. the calculating of angle of incidence of sunlight degree
By perspective plane analog solar receiver board, on the projection surface fixed placement can not light transmission circular slab, circular slab with
Perspective plane keeps vertical relation.When sunlight is in the point positions A, light slants circular slab, and oval throwing is obtained on perspective plane
Shadow, as shown in Figure 2.By taking Fig. 2 as an example, space coordinates XYZ is established, origin O is the point of intersection of circular slab and perspective plane.At this point,
The horizontal sextant angle of the sun and object is α, and height angle is β.
Horizontal angle α calculation formula are as follows：
Wherein, b is the minor axis length of elliptic projection；D is the diameter of circular slab.
Elevation angle β calculation formula are as follows：
Wherein, a is the long axis length of elliptic projection.
2. projecting figure is handled
（1）The acquisition of projected image
Image is acquired using projection identification device equipment, pixel is 8,000,000.When acquiring image, using white A4 paper as
Background is extracted projected image target for the later stage and is provided conveniently.The image that camera obtains is true coloured picture, and each pixel is by 3 sizes
Identical two-dimensional array indicates, can not direct application image Processing Algorithm, need to carry out gray proces to it.Using in matlab
Gray proces function is set, the gray proces of image are carried out.After gray proces, image can indicate figure by two bit arrays,
Each pixel just corresponds to a pixel value in matlab, but still fails to extract image object, it is necessary to be carried out to it
Binary conversion treatment.Whole image is showed apparent black and white effect by the binary conversion treatment of image, further highlights the wheel of target
Exterior feature reduces the data volume of image, improves data processing speed, is conducive to the further processing of image.
（2）The identification of geometric parameter
In above-mentioned analysis, the calculating of angle of incidence of sunlight degree needs to learn the data of following two projecting figures：It is oval
Long axis length, the minor axis length of projection.Two above parameter is obtained using external minimum rectangle, concrete principle is as follows：It will projection
Image is rotated with 3 degree or so every time of increment within the scope of 90 degree；Often rotation is primary, records the external square on its coordinate system direction
The minimum value a and maximum value b of shape boundary point calculate the area of boundary rectangle with a, b；After rotating to a certain angle, external square
The area of shape reaches minimum, and boundary rectangle is minimum at this time；The long side of minimum enclosed rectangle is elliptical long axis, and short side is ellipse
Short axle.
3. Design of Mechanical Structure
The direction for being identified as solar panel of image geometry parameter provides foundation, using double-axis tracking general at present
Mode designs corresponding mechanical structure and realizes accurately tracking for the sun.The output shaft axis of the Z axis of space coordinates and the second motor
Line overlaps, and X-axis is overlapped with the output shaft axis of first motor.Second motor drives number line rotation, water by yielding coupling
Flat rotating platform is with vertical axes by Flat dey joint, and to realize rotary motion, part more than horizontal rotatable platform is with dampening
Flat rotating platform horizontally rotates.First motor is coupled with trunnion axis by yielding coupling, and flexible fastening block passes through screw thread
It clamps on the horizontal axis, is moved with the rotation of trunnion axis.Projection identification device babinet is realized with flexible fastening block by screw thread
It is fixedly connected, projection identification device is placed by bottom centre.Project identification device acquisition can not light transmission circular baffle plate perspective view
Picture, and by radioing to corresponding server, server identifies projecting figure, obtains the incident angle of sunray, refer to
The second motor, first motor work are led, to ensure the real-time tracking of the sun.Arrange that limit sensors, limitation are thrown on dustproof cover
The angle of shadow identification device body pivot avoids projection identification device babinet from colliding with other parts.
A kind of sun tracker, projection identification device are micro-camera.
Although the present invention is described by reference to preferred embodiment, those of ordinary skill in the art answer
Work as understanding, the description that can be not limited to the above embodiments can make in form and details each in the range of claims
Kind variation.
Claims (6)
1. a kind of tracking of sun tracker, including projection identification device, impermeable baffle plate, projection identification device case
Body, server and tumbler, it is characterised in that：Impermeable baffle plate vertically on the upper bottom surface of projection identification device babinet, is thrown
Impermeable baffle plate for identification is equipped in shadow identification device babinet in the projection of the projection of projection identification device babinet upper bottom surface to know
Other device, projection identification device babinet are located on tumbler, project identification device signal output end Connection Service device, server
Control tumbler rotation；Impermeable baffle plate be can not light transmission circular baffle plate, the solar tracking side of the sun tracker
Method is as follows：
The first step：By projecting identification device acquired projections, the projection of acquisition is transferred to server, and server gray scale is passed through in projection
Using binary conversion treatment after processing；
Second step：Processed projection is rotated with the increment of each 1-3 degree within the scope of 90 degree；It often rotates and once records its seat
The perimeter of boundary rectangle boundary point on mark system direction records the minor axis length projected at this time when extraneous rectangular perimeter minimum
And long axis length；
Third walks：Horizontal sextant angle=the arcsin for calculating the sun and impermeable baffle plate projects the straight of minor axis length/impermeable baffle plate
Diameter；
4th step：Calculate the long axial length of diameter/projection of the sun and height angle=impermeable baffle plates of arctan of impermeable baffle plate
Degree；
5th step：Tumbler, which is adjusted, by server reaches the horizontal sextant angle and height angle.
2. a kind of tracking of sun tracker according to claim 1, it is characterised in that：Project identification device case
Body is tetragonal body, and impermeable baffle plate is located at tetragonal body upper bottom surface center, and the upper bottom surface of projection identification device babinet is white, tool
There is the bottom plate of certain transparency.
3. a kind of tracking of sun tracker according to claim 1, it is characterised in that：Tumbler includes perpendicular
Falling unit and horizontal rotation apparatus are gone straight up to, vertical lifting device is fixed on horizontal rotation apparatus.
4. a kind of tracking of sun tracker according to claim 3, it is characterised in that：The horizontal rotation dress
It sets including horizontal rotatable platform, vertical axes and the second motor, the motor axis connection vertical axes of the second motor, vertical axes drive horizontal
Rotating platform rotates, and yielding coupling is additionally provided between the motor shaft and vertical axes of the second motor.
5. a kind of tracking of sun tracker according to claim 3, it is characterised in that：The outer side frame of tumbler
If the holder being used to support.
6. a kind of tracking of sun tracker according to claim 1, it is characterised in that：It include ash in server
Spend processing module, binary processing module, computing module and control module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610571513.7A CN106020250B (en) | 2016-07-19 | 2016-07-19 | A kind of sun tracker and its tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610571513.7A CN106020250B (en) | 2016-07-19 | 2016-07-19 | A kind of sun tracker and its tracking |
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| CN106020250A CN106020250A (en) | 2016-10-12 |
| CN106020250B true CN106020250B (en) | 2018-07-13 |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107957736A (en) * | 2017-11-27 | 2018-04-24 | 天津创来智能光伏科技有限公司 | A kind of position of sun follow-up mechanism of low-cost and high-precision |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH075923A (en) * | 1993-04-20 | 1995-01-10 | Mariko Takaoka | Automatic pyramidical solar tracking device |
| CN102052913A (en) * | 2010-10-26 | 2011-05-11 | 浙江大学 | Small hole imaging principle-based projector for measuring sun position information |
| CN102707731A (en) * | 2012-05-16 | 2012-10-03 | 苏州市伦琴工业设计有限公司 | Solar tracker |
| CN103217141A (en) * | 2013-03-18 | 2013-07-24 | 大连宏海新能源发展有限公司 | Sun position detection device and method |
| CN103914085B (en) * | 2014-04-14 | 2016-04-20 | 华北电力大学 | A kind of apparatus and method utilizing flagpole shadow paths picture to realize sun light tracking |
| CN104359453B (en) * | 2014-11-12 | 2018-08-10 | 毕诗捷 | A kind of electronics day level sensor and its application method based on image processing techniques |
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