CN112140897A

CN112140897A - Solar cell panel vertical position control scheme for solar electric vehicle based on multi-sensor fusion

Info

Publication number: CN112140897A
Application number: CN202011058913.0A
Authority: CN
Inventors: 杨坤; 王杰; 王鑫恫; 邵长江; 陈文钢; 赵义
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2020-12-29

Abstract

The invention provides a vertical position control scheme of a solar cell panel for a solar electric vehicle based on multi-sensor fusion, which comprises a sensing system and a control flow, wherein the sensing system comprises a vehicle-mounted sensing system and an actuating mechanism sensor system; the vehicle-mounted sensing system comprises a vehicle-mounted GPS sensor, a vehicle-mounted clock module, a vehicle-mounted enabling switch, a vehicle-mounted rainfall sensor and a vehicle-mounted image prompting device; the actuator sensor system includes: the device comprises a wind speed sensor, a photoelectric detection sensor, a solar panel angle sensor, a solar panel first limit sensor and a solar panel second limit sensor; on the basis of the sensing system, based on the proposed control flow, the control scheme can automatically close, open and adjust the solar cell panel according to information such as time, wind speed, vehicle speed, rainfall and the like, so that the contradiction between solar energy conversion efficiency and the wind resistance of the whole vehicle is effectively reduced, and the solar cell panel can be effectively protected.

Description

Solar cell panel vertical position control scheme for solar electric vehicle based on multi-sensor fusion

Technical Field

The invention belongs to the technical field of solar electric automobiles, and particularly relates to a vertical position control scheme of a solar cell panel for a solar electric automobile based on multi-sensor fusion.

Background

With the increasing prominence of energy safety and air pollution problems, electric automobiles become one of the focuses of automobile technology development in the world today; due to the performance of the battery, the driving range and the charging speed are short boards which influence the popularization and application of the electric automobile; solar energy is taken as pollution-free, inexhaustible and inexhaustible clean energy and is favored by various energy related industries, for example, as described in the document matching and economic analysis of hub motor driven solar electric vehicles (Wangxin in, Yangkun, Wangjie, and the like), after a solar cell is additionally arranged, under the condition that the average mileage per day is 50km under the working condition of NEDC, the driving mileage of the whole vehicle can be effectively improved by about 20 percent, and therefore, the solar electric vehicle is also concerned by various research institutions and automobile manufacturers at home and abroad; many automobile manufacturers install a Solar battery on the surface of an automobile body for auxiliary charging of a power battery, so that the driving range of the whole automobile is effectively increased, the service life of the power battery is prolonged, and the use cost of the whole automobile is reduced.

However, the current solar electric vehicle also has the key technical problem that the popularization and application of the solar electric vehicle are influenced because the solar cell panel is mostly arranged on the surface of the vehicle in the existing solar electric vehicle, the area of the solar cell panel is limited, sunlight cannot vertically irradiate the surface of the solar cell for a long time and the solar conversion rate is low, so that the invention provides a vertical position control scheme of the solar cell panel for the solar electric vehicle based on multi-sensor fusion, the control scheme is combined with a solar cell panel adjusting mechanism with a vertical position adjusting device, the optimal angle of the solar cell panel can be obtained according to the position of the whole vehicle and the sunlight irradiation angle, so that the included angle between the solar cell panel and the horizontal plane is actively adjusted, and the solar cell panel is vertical to the sunlight as much as possible, the conversion efficiency of solar energy is effectively improved; in addition, the control scheme can provide the best parking azimuth reference information for the driver through the vehicle-mounted image prompting device from the angle of improving the conversion efficiency of the solar cell panel, and automatically close, open and adjust the solar cell panel according to the information such as time, wind speed, vehicle speed and rainfall, so that the contradiction between the solar conversion efficiency and the wind resistance of the whole vehicle is effectively solved, and the solar cell panel can be effectively protected.

Disclosure of Invention

The invention relates to a vertical position control scheme of a solar cell panel for a solar electric vehicle based on multi-sensor fusion.

The sensing system comprises a vehicle-mounted sensing system and an actuator sensor system.

The vehicle-mounted sensing system comprises a vehicle-mounted GPS sensor, a vehicle-mounted clock module, a vehicle-mounted enabling switch, a vehicle-mounted rainfall sensor and a vehicle-mounted image prompting device; the data port of the vehicle-mounted GPS sensor is respectively connected with the I/O1 port and the I/O2 port of the control unit, and the longitude and latitude information of the location of the automobile is output to the control unit; the data port of the vehicle-mounted clock module is respectively connected with the I/O3 port and the I/O4 port of the control unit, and the current date and time are output to the control unit in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O7 port of the control unit, and rainfall information is output to the control unit; the vehicle-mounted enabling switch is connected with an I/O10 port of the control unit; the vehicle-mounted image prompting device is connected with CAN _ RXD and CAN _ TXD ports of the control unit through a CAN bus.

The actuator sensor system includes: the wind speed sensor, the photoelectric detection sensor, the solar panel angle sensor, the first limit sensor of solar panel and the second limit sensor of solar panel.

The data port of the wind speed sensor is connected with the AD1 port of the control unit, and wind speed information is output to the control unit; two data ports of the photoelectric detection sensor are respectively connected with AD2 and AD3 ports of the control unit, and angle information of sunlight and the solar cell panel is output to the control unit; the data port of the solar panel angle sensor is respectively connected with the I/O5 port and the I/O6 port of the control unit, and the included angle between the solar panel and the horizontal plane is output to the control unit; the data port of the first limit sensor of the solar panel is connected with the I/O8 port of the control unit; the data port of the second limit sensor of the solar panel is connected with the I/O9 port of the control unit.

The enable port of the motor driver is connected with the I/O11 port of the control unit, and the control signal port is connected with the FTM1 port of the control unit.

The specific working flow of the solar cell panel vertical position control scheme for the solar electric vehicle based on multi-sensor fusion is as follows.

Step S1: and judging whether the vehicle-mounted enabling switch is turned on, if the enabling switch is turned on, performing data acquisition, and if the enabling switch is turned off, stopping charging and resetting the solar cell panel.

Step S2: data acquisition: the method for acquiring signals of the sensors specifically comprises the following steps: longitude and latitude information of the location of the automobile output by the vehicle-mounted GPS sensor; the current date and time output by the vehicle-mounted clock module; rainfall information output by the vehicle-mounted rainfall sensor; wind speed information output by a wind speed sensor; the photoelectric detection sensor outputs voltage values of the two photoresistors; the position information of the solar cell panel output by the first solar cell panel limiting sensor and the second solar cell panel limiting sensor.

Step S3: and determining a proper parking direction according to the longitude and latitude of the position of the whole vehicle, and feeding back the parking direction to the driver through the vehicle-mounted image prompting device.

Step S4: judging whether the vehicle speed is greater than 0, if so, stopping charging, and resetting the solar cell panel; if the vehicle speed is equal to 0, the time is further judged.

Step S5: judging whether the time is night or not, if so, stopping charging, and resetting the solar cell panel; if the wind speed is not night, the wind speed is further judged.

Step S6: judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, and resetting the solar panel; and if the wind speed is less than 10.7m/s, judging whether the horizontal azimuth angle of the solar panel can be further adjusted.

Step S7: judging whether the first limit sensor of the solar panel outputs a high level, if so, entering a cycle from the step S1 again; and if the level is low, the included angle between the solar panel and the horizontal plane is adjusted.

Step S8: and roughly adjusting the included angle between the solar panel and the horizontal plane according to the altitude angle and the azimuth angle of the sun and the included angle between the solar panel and the horizontal plane.

Step S9: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor_AB| and threshold value Δ U₁Judging whether the included angle between the solar cell panel and the horizontal plane needs to be accurately adjusted or not, if the angle is U_AB|>ΔU₁Adjusting the included angle between the solar panel and the horizontal plane through the vertical position adjusting device, and repeating the step S7; if | U_AB|≤ΔU₁Further judging whether to continue charging; threshold value delta U₁Obtained by calibration tests.

Step S10: judging whether the SOC of the battery is greater than the maximum SOC SOCmax of the battery or not, if the SOC is greater than the SOCmax, stopping charging, and resetting the solar panel; if SOC ≦ SOCmax, the charge is continued and the loop is entered from step S1 again.

Step S11: and stopping charging, and resetting the solar cell panel.

Step S12: judging whether the second limit sensor of the solar panel outputs a high level, if so, stopping adjustment and finishing work; if the voltage level is low, the included angle between the solar cell panel and the horizontal plane is continuously adjusted until the second limit sensor of the solar cell panel outputs high voltage level.

Compare with current solar energy electric automobile: the control scheme is combined with the solar cell panel with the vertical position adjusting device, so that the optimal angle of the solar cell panel can be obtained according to the position of the whole vehicle and the sunlight irradiation angle, the included angle between the solar cell panel and the horizontal plane is actively adjusted, the solar cell panel is perpendicular to sunlight as much as possible, and the conversion efficiency of solar energy is effectively improved; in addition, the control scheme can provide the best parking azimuth reference information for the driver through the vehicle-mounted image prompting device from the angle of improving the conversion efficiency of the solar cell panel, and automatically close, open and adjust the solar cell panel according to the information such as time, wind speed, vehicle speed and rainfall, so that the contradiction between the solar conversion efficiency and the wind resistance of the whole vehicle is effectively solved, and the solar cell panel can be effectively protected.

Drawings

FIG. 1 is a schematic diagram of a scheme for controlling the vertical position of a solar panel for a solar electric vehicle based on multi-sensor fusion.

Fig. 2 is a work flow chart of a solar panel vertical position control scheme for a solar electric vehicle based on multi-sensor fusion.

Fig. 3 is a three-dimensional structural view of the solar cell panel position adjusting apparatus.

Fig. 4 is a three-dimensional structure view of a base of the solar cell panel position adjusting apparatus.

Fig. 5 is an exploded view of a base of the solar panel position adjusting apparatus.

Fig. 6 is a D-direction view of the second side plate of the solar panel position adjusting apparatus.

Fig. 7 is an F-direction view of a fourth side plate of the solar cell panel position adjusting device.

Fig. 8 is an enlarged view of a portion a in fig. 3.

Fig. 9 is an enlarged view of a portion B in fig. 3.

Fig. 10 is a right side view of the solar cell panel position adjusting apparatus.

Fig. 11 is an enlarged view of a portion H in fig. 10.

Fig. 12 is a front view of the solar cell panel position adjusting apparatus.

Fig. 13 is a three-dimensional structural view of the vertical position adjusting apparatus and the base for the solar cell panel.

Fig. 14 is an enlarged view of portion I of fig. 13.

Fig. 15 is an enlarged view of portion J of fig. 13.

Fig. 16 is an enlarged view of a portion K in fig. 13.

Fig. 17 is an enlarged view of portion L of fig. 13.

Fig. 18 is a top view of the solar panel vertical position adjustment apparatus and the base.

Fig. 19 is a cross-sectional view of the vertical position adjusting device of the solar cell panel and the base in the direction of M-M.

Fig. 20 is a cross-sectional view of the vertical position adjusting device and the base of the solar cell panel in the N-N direction.

Fig. 21 is an enlarged view of a portion O in fig. 19.

Fig. 22 is an enlarged view of a portion P in fig. 19.

Fig. 23 is a three-dimensional structural view of the lead screw nut.

Fig. 24 is a side view of the lead screw nut.

Fig. 25 is a cross-sectional view taken along line Q-Q of the lead screw nut.

Fig. 26 is a three-dimensional structural view of a link.

Fig. 27 is a three-dimensional structural view of the first guide bar.

Fig. 28 is a three-dimensional structural view of the second guide bar.

Fig. 29 is a front view of the second bearing cover.

Fig. 30 is a rear view of the second bearing cap.

Fig. 31 is a plan view of the second bearing cover.

Fig. 32 is a bottom view of the second bearing cover.

Fig. 33 is a sectional view of the second bearing cap in the direction of S-S.

FIG. 34 is a three-dimensional structure of the second support base.

FIG. 35 is a top view of the second support seat.

FIG. 36 is a front view of the second support seat.

Fig. 37 is a rear view of the second support seat.

Fig. 38 is a front view of the first bearing cover.

Fig. 39 is a rear view of the first bearing cover.

Fig. 40 is a top view of the first bearing cover.

Fig. 41 is a bottom view of the first bearing cover.

Fig. 42 is a V-V sectional view of the first bearing cap.

Fig. 43 is a three-dimensional structural view of the first support base.

Fig. 44 is a top view of the first support base.

Fig. 45 is a front view of the first support base.

Fig. 46 is a plan view of a solar panel mounting base.

Fig. 47 is a bottom view of the solar cell panel mounting base.

Fig. 48 is a left side view of the solar cell panel mounting base.

In the figure: 1. a first guide bar; 2. a first limit sensor of the solar panel; 3. a first side plate; 4. a base bottom plate; 5. a second side plate; 6. a first bearing cover; 7. a lead screw; 8. a first lifting lug; 9. a second lifting lug; 10. a mounting substrate; 11. a third lifting lug; 12. a wind speed sensor; 13. a first rotation pin; 14. a first wire harness; 15. a photoelectric detection sensor; 16. a solar panel angle sensor; 17. a connecting rod; 18. a fourth lifting lug; 19. a fifth lifting lug; 20. a first nut; 21. a second rotation pin; 22. a first bearing; 23. a solar panel; 24. a third side plate; 25. a second bearing cover; 26. a motor; 27. a motor foot seat; 28. a fourth side plate; 29. a motor driver; 30. a second wire harness; 31. a third wire harness; 32. a control unit; 33. a fourth wire harness; 34. a fifth wire harness; 35. a second limit sensor of the solar panel; 36. a second support seat; 37. a sixth wire harness; 38. a third rotation pin; 39. a sixth lifting lug; 40. a lead screw nut; 41. a first shaft bearing mounting hole; 42. a first harness through hole; 43. a second shaft bearing mounting hole; 44. a second guide bar; 45. a second nut; 46. a seventh wire harness; 47. a first support base; 48. a third nut; 49. a first bolt; 50. a first end of a coupling; 51. a second end of the coupling; 52. a second bolt; 53. a third bolt; 54. a fourth nut; 55. a fourth bolt; 56. a second bearing; 57. a third bearing; 58. a first key; 59. a second key; 60. a motor shaft; 61. a first guide rod through hole; 62. a threaded hole of the lead screw; 63. a second guide rod through hole; 64. a first through hole; 65. a second through hole; 66. a lead screw nut connecting end; 67. a first substrate connection end; 68. a first rotation pin connection hole; 69. a second substrate connection end; 70. a second pivot pin attachment hole; 71. a third pivot pin attachment hole; 72. a first guide club head; 73. a first guide bar body; 74. a second guide club head; 75. a third guide bar head; 76. a second guide rod body; 77. a fourth guide bar head; 78. a first club head mounting groove; 79. a first lead screw mounting hole; 80. a second club head mounting groove; 81. a first threaded hole; 82. a second threaded hole; 83. a first bearing groove; 84. a third threaded hole; 85. a second lead screw mounting hole; 86. a fourth threaded hole; 87. a third club head mounting groove; 88. a second bearing groove; 89. a fourth bar head mounting groove; 90. a fifth club head mounting groove; 91. a third lead screw mounting hole; 92. a sixth rod head mounting groove; 93. a fifth threaded hole; 94. a sixth threaded hole; 95. a third bearing groove; 96. a seventh threaded hole; 97. a fourth bearing groove; 98. an eighth threaded hole; 99. a seventh club head mounting groove; 100. a fourth lead screw mounting hole; 101. an eighth club head mounting groove; 102. a second harness through hole; 103. a first substrate mounting shaft; 104. a second substrate mounting shaft; 105. a third via.

The facets in FIG. 5 define: c1, the front end surface of the first side plate; c2, the left end face of the first side plate; c3, the upper end surface of the first side plate; d1, a front end face of the second side plate; d2, a second side plate right end face; d3, the upper end surface of the second side plate; e1, the front end face of the third side plate; e2, the left end face of the third side plate; e3, the upper end face of the third side plate; f1, fourth side plate front end face; f2, a fourth side plate right end face; f3, the upper end face of the fourth side plate; g1, the front end surface of the base bottom plate; g2, the left end face of the base bottom plate; g3, the upper end surface of the base bottom plate; the facets in FIGS. 29-33 define: r1, the lower end face of the second bearing cover; r2, the upper end face of the second bearing cover; r3, the front end face of the second bearing cover; the facets in FIGS. 34-37 define: t1, front end face of the second support seat; t2, the upper end surface of the second support seat; t3, the rear end face of the second support seat; t4 and the left end face of the second support seat; the facets in FIGS. 37-41 define: u1 and the lower end face of the first bearing cover; u2, the upper end surface of the first bearing cover; u3, the front end surface of the first bearing cover; the facets in FIGS. 43-45 define: w1, the front end surface of the first supporting seat; w2, the upper end surface of the first supporting seat; w3, the rear end face of the first supporting seat; w4, the right end face of the first supporting seat; the facets in FIGS. 45-47 define: x1, mounting substrate front end face; x2, mounting substrate right end face; x3, mounting substrate rear end face; x4, mounting substrate left end face; x5, mounting substrate upper end face; x6, mounting substrate lower end face.

Detailed description of the preferred embodiments

The invention provides a solar cell panel vertical position control scheme for a solar electric vehicle based on multi-sensor fusion, and in order to make the technical scheme and effect of the invention clearer and clearer, the solar cell panel adjusting mechanism with a vertical position adjusting device shown in the attached figures 3-48 is combined for further detailed description; it should be noted, however, that fig. 3-48 merely illustrate one specific example and do not represent that the present invention is applicable only to such a configuration, and that the present invention is equally applicable to other solar panel adjustment mechanisms having vertical position adjustment mechanisms.

Based on the solar cell panel vertical position control scheme for the solar electric vehicle based on the multi-sensor fusion and the solar cell panel adjusting mechanism with the vertical position adjusting device shown in the attached figures 3-48, the solar cell panel vertical position adjusting system for the solar electric vehicle based on the multi-sensor fusion, which is composed of a control unit, a vehicle-mounted sensing system, an executing device and an energy supply system, can be formed.

The control unit (32) is an STM32 chip.

The vehicle-mounted sensing system comprises a vehicle-mounted GPS sensor, a vehicle-mounted clock module, a vehicle-mounted enabling switch, a vehicle-mounted rainfall sensor and a vehicle-mounted image prompting device; the data port of the vehicle-mounted GPS sensor is respectively connected with the I/O1 port and the I/O2 port of the control unit (32) and outputs the longitude and latitude information of the location of the automobile to the control unit (32); the data port of the vehicle-mounted clock module is respectively connected with the I/O3 port and the I/O4 port of the control unit (32) and outputs the current date and time to the control unit (32) in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O7 port of the control unit (32) and outputs rainfall information to the control unit (32); the vehicle-mounted enabling switch is connected with an I/O10 port of the control unit (32); the vehicle-mounted image prompting device is connected with CAN _ RXD and CAN _ TXD ports of a control unit (32) through a CAN bus.

The actuating device consists of a base, a solar cell panel mounting base body, a vertical position adjusting device, an actuating mechanism sensing system and a motor driver (29).

As shown in fig. 3-7, the base is composed of a first side plate (3), a second side plate (5), a third side plate (24), a fourth side plate (28) and a base bottom plate (4); the first side plate (3), the second side plate (5), the third side plate (24), the fourth side plate (28) and the base bottom plate (4) are all of cuboid structures; the first side plate (3) and the third side plate (24) are the same in shape; the second side plate (5) and the fourth side plate (28) have the same shape; two ends of the rear end surface of the fourth side plate (28) opposite to the front end surface (F1) of the fourth side plate are respectively fixedly connected with the left end surface (C2) of the first side plate and the left end surface (E2) of the third side plate; the front end surface (D1) of the second side plate is respectively and fixedly connected with the right end surface of the first side plate (3) and the right end surface of the third side plate (24); the first side plate (3) and the third side plate (24) are parallel; the second side plate (5) and the fourth side plate (28) are parallel; the first side plate front end face (C1) is coplanar with the second side plate right end face (D2) and the fourth side plate right end face (F2); the rear end face of the third side plate (24) is coplanar with the left end face of the second side plate (5) and the left end face of the fourth side plate (28); the lower end surfaces of the first side plate (3), the second side plate (5), the third side plate (24) and the fourth side plate (28) are coplanar with the lower end surface of the base bottom plate (4); the rear end surface of the first side plate (3) is fixedly connected with the front end surface (G1) of the base bottom plate; the front end surface (D1) of the second side plate is fixedly connected with the right end surface of the base bottom plate (4); the front end surface (E1) of the third side plate is fixedly connected with the rear end surface of the base bottom plate (4); the rear end surface of the fourth side plate (28) is fixedly connected with the left end surface (G2) of the base bottom plate; a first shaft bearing mounting hole (41) is formed on the left side of the front end surface (D1) of the second side plate; a second shaft bearing mounting hole (43) is formed in the left side of the rear end face of the fourth side plate (28); the first shaft bearing mounting hole (41) is overlapped with the center line of the second shaft bearing mounting hole (43) and is perpendicular to the front end surface (D1) of the second side plate.

As shown in fig. 3, 8-45, the vertical position adjusting device is composed of a motor (26) and a transmission device.

The motor (26) is a rotating motor and is fixed on the base bottom plate (4) through a motor foot seat (27) and a fourth bolt (55).

The transmission device comprises a first guide rod (1), a coupler, a lead screw (7), a lead screw nut device, a connecting rod (17), a second guide rod (44) and a transmission supporting device.

The first guide rod (1) consists of three parts, the middle part is a first guide rod body (73), and the two ends are respectively a first guide rod head (72) and a second guide rod head (74); the second guide rod (44) consists of three parts, the middle part is a second guide rod body (76), and the two ends are respectively a third guide rod head (75) and a fourth guide rod head (77); the first guide rod body (73) and the second guide rod body (76) are the same in shape and are cylindrical structures; the first guide rod head (72), the second guide rod head (74), the third guide rod head (75) and the fourth guide rod head (77) are the same in shape and are of rectangular parallelepiped structures.

The transmission supporting device consists of a first bearing cover (6), a first supporting seat (47), a second bearing cover (25), a second supporting seat (36), a second bearing (56) and a third bearing (57).

A first bearing groove (83) is formed in the middle of the second bearing cover (25), first lead screw mounting holes (79) are formed in the front side and the rear side of the first bearing groove (83), the first lead screw mounting holes (79) are through holes, the radius of the first lead screw mounting holes (79) is smaller than that of the first bearing groove (83), the first lead screw mounting holes and the first bearing groove are semicircular holes, the central axes of the first lead screw mounting holes and the first bearing groove coincide, a first rod head mounting groove (78) and a second rod head mounting groove (80) are formed in the two sides of the first lead screw mounting holes (79) on the front end face (R3) of the second bearing cover, and the first rod head mounting groove (78), the first lead screw mounting hole (79), the second rod head mounting groove (80) and the first bearing groove (83) are communicated with the lower; a first screw hole (81) and a second screw hole (82) which do not interfere with other components are provided on both sides of the upper end surface (R2) of the second bearing cover.

A second bearing groove (88) is formed in the middle of the second supporting seat (36), second lead screw mounting holes (85) are formed in the front side and the rear side of the second bearing groove (88), the second lead screw mounting holes (85) are through holes, the second lead screw mounting holes (85) and the second bearing groove (88) are semicircular holes, the central axes of the second lead screw mounting holes and the second bearing groove coincide, and a third rod head mounting groove (87) and a fourth rod head mounting groove (89) are formed in the two sides of the second lead screw mounting holes (85) on the front end face (T1) of the second supporting seat and communicated with the upper end face (T2) of the second supporting seat; third screw holes (84) and fourth screw holes (86) which do not interfere with other components are arranged on two sides of the upper end surface (T2) of the second supporting seat.

After the installation, the central axes of the first threaded hole (81) and the fourth threaded hole (86) are overlapped; the central axis of the second threaded hole (82) coincides with the central axis of the third threaded hole (84); the central axes of the first bearing groove (83) and the second bearing groove (88) are superposed, the first bearing groove and the second bearing groove form a circular hole, and the second bearing (56) is installed in the circular hole; the central axes of the first lead screw mounting hole (79) and the second lead screw mounting hole (85) are overlapped, and the first lead screw mounting hole and the second lead screw mounting hole form a circular hole; the first rod head mounting groove (78), the second rod head mounting groove (80), the third rod head mounting groove (87) and the fourth rod head mounting groove (89) are rectangular grooves with the same section shape; after installation, the first club head installation groove (78) and the third club head installation groove (87) form a rectangular hole, and the third guide club head (75) is arranged in the rectangular hole; the second rod head mounting groove (80) and the fourth rod head mounting groove (89) form a rectangular hole, and the first guide rod head (72) is arranged in the rectangular hole.

A third bearing groove (95) is formed in the middle of the first bearing cover (6), third lead screw mounting holes (91) are formed in the front side and the rear side of the third bearing groove (95), the third lead screw mounting holes (91) and the third bearing groove (95) are semi-circular holes, the center lines of the third lead screw mounting holes and the third bearing groove coincide, and a fifth rod head mounting groove (90) and a sixth rod head mounting groove (92) are formed in the two sides of each third lead screw mounting hole (91) on the front end face (U3) of the first bearing cover and communicated with the lower end face (U1) of the first bearing cover; a fifth screw hole (93) and a sixth screw hole (94) which do not interfere with other components are provided on both sides of the first bearing cover upper end surface (U2).

A fourth bearing groove (97) is formed in the middle of the first support seat (47), fourth lead screw mounting holes (100) are formed in the front side and the rear side of the fourth bearing groove (97), the fourth lead screw mounting holes (100) and the fourth bearing groove (97) are semicircular holes, the center lines of the fourth lead screw mounting holes and the fourth bearing groove (97) are overlapped, a seventh rod head mounting groove (99) and an eighth rod head mounting groove (101) are formed in the two sides of the fourth lead screw mounting hole (100) on the front end face (W1) of the first support seat, and the fourth bearing groove (97), the seventh rod head mounting groove (99), the fourth lead screw mounting hole (100) and the eighth rod head mounting groove (101) are communicated with the upper end face (W2) of the first support seat; seventh and eighth threaded holes (96, 98) that do not interfere with other components are provided on both sides of the upper end surface (W2) of the first support base.

After the installation, the central axes of the fifth threaded hole (93) and the eighth threaded hole (98) are overlapped; the central axis of the sixth threaded hole (94) is superposed with the central axis of the seventh threaded hole (96); the central axes of the third bearing groove (95) and the fourth bearing groove (97) are superposed, the third bearing groove and the fourth bearing groove form a round hole, and the third bearing (57) is installed in the round hole; the central axes of the third lead screw mounting hole (91) and the fourth lead screw mounting hole (100) are superposed, and the third lead screw mounting hole and the fourth lead screw mounting hole form a round hole; the fifth club head mounting groove (90), the sixth club head mounting groove (92), the seventh club head mounting groove (99) and the eighth club head mounting groove (101) are rectangular grooves with the same cross-sectional shape; after installation, the fifth club head installation groove (90) and the seventh club head installation groove (99) form a rectangular hole, and the second guide club head (74) is arranged in the rectangular hole; the sixth club head mounting groove (92) and the eighth club head mounting groove (101) form a rectangular hole in which the fourth guide club head (77) is disposed.

After installation, the lower end surfaces of the second supporting seat (36) and the first supporting seat (47) are fixedly connected with the upper end surface (G3) of the base bottom plate; the first guide rod (1) and the second guide rod (44) are parallel to the central axis of the lead screw (7) and are perpendicular to the front end surface (C1) of the first side plate.

The coupler consists of a coupler first end (50) and a coupler second end (51), and the coupler first end (50) and the coupler second end (51) are fixedly connected through a third bolt (53) and a fourth nut (54); the motor rotating shaft (60) is fixedly connected with the first end (50) of the coupler through a second key (59).

One end of the screw rod (7) is fixed on the second bearing (56), the other end of the screw rod is fixed on the third bearing (57), penetrates through the third bearing (57), and is fixedly connected with the second end (51) of the coupler through a first key (58); after the mounting, the screw rod (7) is superposed with the central axes of the motor rotating shaft (60), the second bearing (56) and the third bearing (57); the lead screw nut (40) is of a cuboid structure, a lead screw threaded hole (62) is formed in the front end face of the lead screw nut, a first guide rod through hole (61) and a second guide rod through hole (63) are formed in the two sides of the lead screw threaded hole (62), the central axes of the first guide rod through hole (61), the lead screw threaded hole (62) and the second guide rod through hole (63) are perpendicular to the front end face of the lead screw nut (40), and after the lead screw nut is installed, the lead screw threaded hole (62) is matched with the lead screw (7), and the central axes of the lead; the first guide rod (1) is matched with the first guide rod through hole (61), and the central axes of the first guide rod and the first guide rod are superposed; the second guide rod (44) is matched with the second guide rod through hole (63), and the central axes of the second guide rod and the second guide rod are superposed; the top of the screw nut (40) is provided with a first lifting lug (8) and a sixth lifting lug (39), the first lifting lug (8) is provided with a first through hole (64), the sixth lifting lug (39) is provided with a second through hole (65), the central axis of the first through hole (64) is superposed with the central axis of the second through hole (65), and the central axes of the first through hole and the second through hole are mutually perpendicular to the central axis of the screw threaded hole (62).

The connecting rod (17) is of a Y-shaped structure and is provided with three connecting ends, namely a lead screw nut connecting end (66), a first substrate connecting end (67) and a second substrate connecting end (69); the screw nut connecting end (66) is provided with a third rotating pin connecting hole (71), the first substrate connecting end (67) is provided with a first rotating pin connecting hole (68), and the second substrate connecting end (69) is provided with a second rotating pin connecting hole (70); after the installation, after the third rotating pin (38) sequentially passes through the second through hole (65), the third rotating pin connecting hole (71) and the first through hole (64), the third rotating pin and the first through hole are fixedly connected through a third nut (48), and the connecting rod (17) can rotate around the third rotating pin (38).

As shown in fig. 3, 10-12 and 46-48, the solar panel mounting base body consists of a mounting base plate (10), a second lifting lug (9), a third lifting lug (11), a fourth lifting lug (18), a fifth lifting lug (19), a first base body mounting shaft (103) and a second base body mounting shaft (104); the mounting substrate (10) is of a cuboid structure, and the solar cell panel (23) is mounted on the upper end surface (W5) of the substrate; a second lifting lug (9), a third lifting lug (11), a fourth lifting lug (18) and a fifth lifting lug (19) are fixed on one side, close to the front end face (X1) of the mounting substrate, of the lower end face (X6) of the mounting substrate, third through holes (105) are formed in the second lifting lug (9), the third lifting lug (11), the fourth lifting lug (18) and the fifth lifting lug (19), and the central axes of the four through holes are overlapped and parallel to the front end face (W1) of the substrate; a first base mounting shaft (103) is fixed on one side of the right end surface (X2) of the mounting substrate, which is close to the rear end surface (X3) of the mounting substrate; a second base mounting shaft (104) is fixed on one side of the left end surface (X4) of the mounting substrate close to the rear end surface (X3) of the mounting substrate; the first base body mounting shaft (103) and the second base body mounting shaft (104) are both cylindrical, the central axes of the first base body mounting shaft and the second base body mounting shaft are coincident, and the first base body mounting shaft and the second base body mounting shaft are parallel to the front end face (W1) of the base plate.

The first base body mounting shaft (103) is disposed in the first shaft bearing mounting hole (41) through a first bearing (22), and the second base body mounting shaft (104) is disposed in the second shaft bearing mounting hole (43) through a bearing.

The first rotating pin (13) sequentially passes through the through hole in the third lifting lug (11), the second rotating pin connecting hole (70) and the through hole in the second lifting lug (9), and then is fixedly connected through the second nut (45); the second rotating pin (21) sequentially passes through the through hole in the fourth lifting lug (18), the first rotating pin connecting hole (68) and the through hole in the fifth lifting lug (19), and then is fixedly connected through the first nut (20); after the installation, the central axes of the first rotating pin (13) and the second rotating pin (21) are overlapped, and the connecting rod (17) can rotate around the first rotating pin (13) and the second rotating pin (21).

The actuator sensor system includes: the device comprises a solar panel first limit sensor (2), a wind speed sensor (12), a photoelectric detection sensor (15), a solar panel angle sensor (16) and a solar panel second limit sensor (35); the wind speed sensor (12) is fixed on the upper plane (R1) of the mounting substrate and is close to the front end surface (R2) of the mounting substrate and the right end surface (R3) of the mounting substrate; the photoelectric detection sensor (15) is fixed on an upper plane (R1) of the mounting substrate, is close to the front end surface (R2) of the mounting substrate, and has equal distance from the right end surface (R3) of the mounting substrate and the left end surface (R5) of the mounting substrate; the solar panel angle sensor (16) is fixed on the mounting substrate upper plane (R1) and is close to the mounting substrate front end surface (R2).

The data port of the wind speed sensor (12) is connected with the AD1 port of the control unit (32) through a first wire harness (14) and outputs wind speed information to the control unit (32); two data ports of the photoelectric detection sensor (15) are respectively connected with AD2 and AD3 ports of the control unit (32) through a first wiring harness (14), and angle information of sunlight and the solar panel (23) is output to the control unit (32); a data port of the solar panel angle sensor (16) is respectively connected with I/O5 and I/O6 ports of the control unit (32) through a first wiring harness (14), and the included angle between the solar panel (23) and the horizontal plane is output to the control unit (32); the first solar panel limit sensor (2) is fixed on the right end face (W4) of the first supporting seat, the light sensing part exceeds the front end face (W1) of the first supporting seat, and the data port of the first solar panel limit sensor (2) is connected with the I/O8 port of the control unit (32) through a sixth wiring harness (37); the second limit sensor (35) of the solar panel is fixed on the left end face (T4) of the second supporting seat, the light sensing part exceeds the front end face (T1) of the second supporting seat, and a data port of the second limit sensor (35) of the solar panel is connected with an I/O9 port of the control unit (32) through a fifth wiring harness (34).

The motor driver (29) is connected with the motor (26) through a second wire harness (30); an enabling port of the motor driver (29) is connected with an I/O11 port of the control unit (32) through a third wiring harness (31), and a control signal port is connected with an FTM1 port of the control unit (32) through the third wiring harness (31); the motor driver (29) is fixed on the base bottom plate (4).

The energy supply system comprises a storage battery, a solar panel (23) and a DC/DC converter, wherein the solar panel (23) is connected with the storage battery through a power line and can charge the storage battery; the storage battery is respectively connected with VCC ports of the motor driver (29) and the control unit (32) through DC/DC converters and can provide energy for the motor driver (29) and the control unit (32).

Referring to fig. 2, a workflow of a solar panel vertical position adjustment system for a solar electric vehicle based on multi-sensor fusion is as follows.

Step S1: and judging whether the vehicle-mounted enabling switch is turned on, if the enabling switch is turned on, performing data acquisition, and if the enabling switch is turned off, stopping charging and resetting the solar cell panel (23).

Step S2: data acquisition: the method for acquiring signals of the sensors specifically comprises the following steps: longitude and latitude information of the location of the automobile output by the vehicle-mounted GPS sensor; the current date and time output by the vehicle-mounted clock module; rainfall information output by the vehicle-mounted rainfall sensor; wind speed information output by a wind speed sensor (12); the photoelectric detection sensor (15) outputs the voltage values of the two photoresistors; the position information of the solar cell panel (23) output by the first solar cell panel limiting sensor (2) and the second solar cell panel limiting sensor (35).

Step S4: judging whether the vehicle speed is greater than 0, if so, stopping charging, and resetting the solar cell panel (23); if the vehicle speed is equal to 0, the time is further judged.

Step S5: judging whether the time is night or not, if so, stopping charging, and resetting the solar cell panel (23); if the wind speed is not night, the wind speed is further judged.

Step S6: and judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, resetting the solar panel (23), and if not, judging whether the horizontal azimuth angle of the solar panel (23) can be further adjusted.

Step S7: judging whether the first limit sensor (2) of the solar panel outputs a high level, if so, entering a cycle from the step S1 again; if the level is low, the included angle between the solar cell panel (23) and the horizontal plane is adjusted.

Step S8: and roughly adjusting the included angle between the solar cell panel (23) and the horizontal plane according to the altitude angle and the azimuth angle of the sun and the included angle between the solar cell panel (23) and the horizontal plane.

Step S9: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor (15)_AB| and threshold value Δ U₁Judging whether the included angle between the solar cell panel (23) and the horizontal plane needs to be accurately adjusted according to the size relation, and if the included angle is greater than the absolute value of U_AB|>ΔU₁Adjusting the included angle between the solar panel (23) and the horizontal plane through a vertical position adjusting device, and repeating the step S7; if | U_AB|≤ΔU₁Further judging whether to continue charging; threshold value delta U₁Obtained by calibration tests.

Step S10: judging whether the SOC of the battery is larger than the maximum SOC SOCmax of the battery or not, if the SOC is larger than the SOCmax, stopping charging, and resetting the solar panel (23); if SOC ≦ SOCmax, the charge is continued and the loop is entered from step S1 again.

Step S11: and stopping charging, and resetting the solar cell panel (23).

Step S12: judging whether a second limit sensor (35) of the solar panel outputs a high level, if so, stopping adjustment and ending work; if the voltage level is low, the included angle between the solar panel (23) and the horizontal plane is continuously adjusted until the second limit sensor (35) of the solar panel outputs high voltage level.

To further explain the working principle of the present invention, on the basis of the working process of the solar cell panel vertical position adjustment system for the solar electric vehicle based on the multi-sensor fusion, the working principle of the vertical position adjustment device is explained as follows.

When the angle between the solar cell panel (23) and the horizontal plane needs to be adjusted, a motor (26) is electrified, a motor rotating shaft (60) rotates, the motor rotating shaft (60) drives a first end (50) of a coupler to rotate through a second key (59), the first end (50) of the coupler drives a second end (51) of the coupler to rotate through a third bolt (53), the second end (51) of the coupler drives a lead screw (7) to rotate through a first key (58), the lead screw (7) rotates to drive a lead screw nut (40) to move back and forth along the central axis of the lead screw (7), and the lead screw nut (40) can only do translational motion under the limitation of a first guide rod (1) and a second guide rod (44); when the motor (26) rotates clockwise, the screw nut (40) can translate towards one side of the first supporting seat (47), and at the moment, the connecting rod (17) can drive the mounting substrate (10) to rotate anticlockwise around the first base body mounting shaft (103) and the second base body mounting shaft (104), so that the included angle between the solar cell panel (23) and the horizontal plane is increased; when motor (26) anticlockwise rotation, screw nut (40) can be to second supporting seat (36) one side translation, and at this moment, connecting rod (17) can drive mounting substrate (10) and do clockwise rotation around first base member installation axle (103) and second base member installation axle (104) to reduce the contained angle of solar cell panel (23) and horizontal plane.

Claims

1. The utility model provides a solar cell panel vertical position control scheme for solar electric automobile based on multisensor fuses, includes sensing system and control flow, its characterized in that: the sensing system comprises a vehicle-mounted sensing system and an actuating mechanism sensor system;

the vehicle-mounted sensing system comprises a vehicle-mounted GPS sensor, a vehicle-mounted clock module, a vehicle-mounted enabling switch, a vehicle-mounted rainfall sensor and a vehicle-mounted image prompting device; the data port of the vehicle-mounted GPS sensor is respectively connected with the I/O1 port and the I/O2 port of the control unit, and the longitude and latitude information of the location of the automobile is output to the control unit; the data port of the vehicle-mounted clock module is respectively connected with the I/O3 port and the I/O4 port of the control unit, and the current date and time are output to the control unit in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O7 port of the control unit, and rainfall information is output to the control unit; the vehicle-mounted enabling switch is connected with an I/O10 port of the control unit; the vehicle-mounted image prompting device is connected with CAN _ RXD and CAN _ TXD ports of the control unit through a CAN bus;

the actuator sensor system includes: the device comprises a wind speed sensor, a photoelectric detection sensor, a solar panel angle sensor, a solar panel first limit sensor and a solar panel second limit sensor; the data port of the wind speed sensor is connected with the AD1 port of the control unit, and wind speed information is output to the control unit; two data ports of the photoelectric detection sensor are respectively connected with AD2 and AD3 ports of the control unit, and angle information of sunlight and the solar cell panel is output to the control unit; the data port of the solar panel angle sensor is respectively connected with the I/O5 port and the I/O6 port of the control unit, and the included angle between the solar panel and the horizontal plane is output to the control unit; the data port of the first limit sensor of the solar panel is connected with the I/O8 port of the control unit; the data port of the second limit sensor of the solar panel is connected with the I/O9 port of the control unit.

2. The utility model provides a solar cell panel vertical position control scheme for solar electric automobile based on multisensor fuses, includes sensing system and control flow, its characterized in that: the control flow comprises the following steps:

step S1: judging whether the vehicle-mounted enabling switch is turned on, if the vehicle-mounted enabling switch is turned on, performing data acquisition, and if the vehicle-mounted enabling switch is turned off, stopping charging and resetting the solar panel;

step S2: data acquisition: the method for acquiring signals of the sensors specifically comprises the following steps: longitude and latitude information of the location of the automobile output by the vehicle-mounted GPS sensor; the current date and time output by the vehicle-mounted clock module; rainfall information output by the vehicle-mounted rainfall sensor; wind speed information output by a wind speed sensor; the photoelectric detection sensor outputs voltage values of the two photoresistors; the position information of the solar cell panel is output by the first solar cell panel limiting sensor and the second solar cell panel limiting sensor;

step S3: determining a proper parking direction according to the longitude and latitude of the position of the whole vehicle, and feeding back the parking direction to a driver through a vehicle-mounted image prompting device;

step S4: judging whether the vehicle speed is greater than 0, if so, stopping charging, and resetting the solar cell panel; if the vehicle speed is equal to 0, further judging the time;

step S5: judging whether the time is night or not, if so, stopping charging, and resetting the solar cell panel; if the wind speed is not at night, further judging the wind speed;

step S6: judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, and resetting the solar panel; if the wind speed is less than 10.7m/s, judging whether the horizontal azimuth angle of the solar cell panel can be further adjusted;

step S7: judging whether the first limit sensor of the solar panel outputs a high level, if so, entering a cycle from the step S1 again; if the level is low, the included angle between the solar panel and the horizontal plane is adjusted;

step S8: roughly adjusting the included angle between the solar panel and the horizontal plane according to the altitude angle and the azimuth angle of the sun and the included angle between the solar panel and the horizontal plane;

step S9: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor_AB| and threshold value Δ U₁Judging whether the included angle between the solar cell panel and the horizontal plane needs to be accurately adjusted or not, if the angle is U_AB|>ΔU₁Adjusting the included angle between the solar panel and the horizontal plane through the vertical position adjusting device, and repeating the step S7; if | U_AB|≤ΔU₁Further judging whether to continue charging; threshold value delta U₁Obtained through a calibration test;

step S10: judging whether the SOC of the battery is greater than the maximum SOC SOCmax of the battery or not, if the SOC is greater than the SOCmax, stopping charging, and resetting the solar panel; if SOC is less than or equal to SOCmax, continuing to charge and re-entering the loop from step S1;

step S11: stopping charging, and resetting the solar cell panel;