CN112172533A

CN112172533A - Two-dimensional position control scheme of solar cell panel of solar electric vehicle based on multi-sensor fusion

Info

Publication number: CN112172533A
Application number: CN202011058925.3A
Authority: CN
Inventors: 杨坤; 王杰; 王鑫恫; 邵长江; 赵义; 陈文钢
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-05

Abstract

The invention provides a two-dimensional position control scheme of a solar cell panel of 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 gyroscope, a vehicle-mounted enabling switch and a vehicle-mounted rainfall sensor; the actuator sensor system includes: the device comprises a wind speed sensor, a solar panel angle sensor, a photoelectric detection 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 solved, and the solar cell panel can be effectively protected.

Description

Two-dimensional position control scheme of solar cell panel of 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 two-dimensional position control scheme of a solar cell panel of 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, except that the area of the solar cell panel is limited, sunlight cannot vertically irradiate the surface of the solar cell panel for a long time and the solar conversion rate is low, so that the invention provides a two-dimensional position control scheme of the solar cell panel of the solar electric vehicle based on multi-sensor fusion, the control scheme is combined with a solar cell panel adjusting mechanism with a horizontal position adjusting device and a vertical position adjusting device, the best angle of the solar cell panel can be obtained according to the position of the whole vehicle and the angle of sunlight irradiation, and the azimuth of the solar cell panel in the horizontal plane and the included angle between the solar cell panel and the horizontal plane are actively adjusted, the solar panel is perpendicular to the sunlight as much as possible, and the conversion efficiency of the solar energy is effectively improved; in addition, 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 the solar energy 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 provides a two-dimensional position control scheme of a solar cell panel of a solar electric vehicle based on multi-sensor fusion, which comprises two aspects of a sensing system and a control flow.

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 gyroscope, a vehicle-mounted enabling switch and a vehicle-mounted rainfall sensor; 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 gyroscope is connected with the I/O5 and I/O6 ports of the control unit, and the yaw angle of the whole vehicle is output to the control unit in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O9 port of the control unit, and rainfall information is output to the control unit; the on-board enable switch is connected to the I/O12 port of the control unit.

The actuator sensor system includes: the device comprises a wind speed sensor, a solar panel angle sensor, a photoelectric detection 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; the four data ports of the photoelectric detection sensor are respectively connected with AD2, AD3, AD4 and AD5 ports of the control unit, and angle information of sunlight and the solar panel is output to the control unit; the data port of the solar panel angle sensor is respectively connected with the I/O7 port and the I/O8 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 solar panel limit sensor is connected with the I/O10 port of the control unit, and the data port of the second solar panel limit sensor is connected with the I/O11 port of the control unit.

The enabling port of the horizontal orientation motor driver is connected with the I/O13 port of the control unit, and the control signal port is connected with the FTM1 port of the control unit; the enable port of the vertical orientation motor drive is connected to the I/O14 port of the control unit and the control signal port is connected to the FTM2 port of the control unit.

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

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

Step S2: data acquisition: the method for acquiring signals of the sensors specifically comprises the following steps: the longitude and latitude information of the location of the automobile output by the vehicle-mounted GPS sensor and the current date and time output by the vehicle-mounted clock module; the yaw angle of the whole vehicle is output by the vehicle-mounted gyroscope; 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 four 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: 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 S4: 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 S5: and judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, resetting the solar panel, and if not, roughly adjusting the horizontal azimuth angle of the solar panel.

Step S6: and roughly adjusting the horizontal azimuth angle of the solar cell panel according to the azimuth angle of the sun and the yaw angle of the whole vehicle.

Step S7: according to the absolute value | U of the voltage difference value of two photoresistors in the horizontal direction of the photoelectric detection sensor_AB| and threshold value Δ U₁Judging whether the horizontal azimuth angle of the solar cell panel needs to be accurately adjusted according to the size relation, and if the horizontal azimuth angle is U_AB|>ΔU₁And adjusting the horizontal azimuth angle of the solar panel through a horizontal position adjusting device until the horizontal azimuth angle is | U |_AB|≤ΔU₁(ii) a If | U_AB|≤ΔU₁Further judging whether the included angle between the solar cell panel and the horizontal plane needs to be adjusted; threshold value delta U₁Obtained by calibration tests.

Step S8: 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 S9: 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 S10: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor_CD| and threshold value Δ U₂Judging whether the included angle between the solar cell panel 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_CD|>ΔU₂Adjusting the included angle between the solar panel and the horizontal plane through the vertical position adjusting device, and repeating the step S8; if | U_CD|≤ΔU₂Further judging whether to continue charging; threshold value delta U₂Obtained by calibration tests.

Step S11: 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 S12: and stopping charging, and resetting the solar cell panel.

Step S13: judging whether the second limit sensor of the solar panel outputs a high level, if so, entering a cycle from the step S12 again; 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 horizontal position adjusting device and 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 direction of the solar cell panel in the horizontal plane and the included angle between the solar cell panel and the horizontal plane are 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 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 the solar energy 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 two-dimensional position control scheme of a solar panel of a solar electric vehicle based on multi-sensor fusion.

Fig. 2 is a working flow chart of a two-dimensional position control scheme of a solar panel of a solar electric vehicle based on multi-sensor fusion.

Fig. 3 is a three-dimensional configuration diagram of the solar panel position adjustment actuator.

Fig. 4 is a three-dimensional structural view of a base of the solar panel position adjustment actuator.

Fig. 5 is an exploded view of the base of the solar panel position adjustment actuator.

Fig. 6 is a C-direction view of the second side plate of the solar panel position adjustment actuator.

Fig. 7 is an E-direction view of the fourth side plate of the solar panel position adjustment actuator.

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

Fig. 9 is a right side view of the solar panel position adjustment actuator of the solar electric vehicle.

Fig. 10 is an enlarged view of portion G in fig. 9.

Fig. 11 is a front view of the solar panel position adjustment actuator of the solar electric vehicle.

Fig. 12 is an enlarged view of a portion H in fig. 11.

Fig. 13 is a bottom view of the solar panel position adjustment actuator of the solar electric vehicle.

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

Fig. 15 is a top view of the horizontal position adjusting means.

FIG. 16 is a sectional view taken along line J-J of the horizontal position adjusting means.

Fig. 17 is a three-dimensional structural view of the connecting flange and the ring gear.

Fig. 18 is an exploded view of the three-dimensional structure of the connecting flange and the ring gear.

FIG. 19 is a front view of the connecting flange and ring gear.

Fig. 20 is a sectional view of the connecting flange and the ring gear taken along the direction K-K.

Fig. 21 is a three-dimensional configuration diagram of the carrier device.

Fig. 22 is an exploded view of the three-dimensional structure of the carrier device.

Fig. 23 is an exploded view of the three-dimensional structure of the base of the horizontal position adjusting device.

FIG. 24 is a three-dimensional structural view of a base of the horizontal position adjusting means.

FIG. 25 is a top view of the horizontal position adjustment device base.

Fig. 26 is a three-dimensional structural view of the solar cell panel vertical position adjusting apparatus and the base.

Fig. 27 is an enlarged view of portion L in fig. 26.

Fig. 28 is a three-dimensional structural view of the upper case of the speed reducer.

Fig. 29 is a front view of the upper case of the decelerator.

FIG. 30 is a rear view of the upper housing of the retarder.

Fig. 31 is a bottom view of the upper case of the decelerator.

Fig. 32 is a three-dimensional structural view of the lower case of the decelerator.

Fig. 33 is a plan view of the lower case of the decelerator.

Fig. 34 is a top view of the solar panel vertical position adjustment apparatus and the base.

Fig. 35 is an enlarged view of a portion M in fig. 34.

Fig. 36 is a cross-sectional view of the vertical position adjusting device and the base N-N of the solar cell panel.

Fig. 37 is an enlarged view of the portion R in fig. 36.

Fig. 38 is a cross-sectional view of the vertical position adjusting device and the base O-O of the solar cell panel.

Fig. 39 is a cross-sectional view of the vertical position adjusting device of the solar cell panel and the base P-P.

Fig. 40 is a cross-sectional view of the vertical position adjusting device of the solar cell panel and the base Q-Q.

Fig. 41 is a sectional view of the vertical position adjusting device of the solar cell panel and the base S-S.

Fig. 42 is an enlarged view of a portion T in fig. 41.

Fig. 43 is a plan view of the solar cell panel mounting base.

Fig. 44 is a bottom view of the solar cell panel mounting base.

Fig. 45 is a front view of the solar cell panel mounting base.

Fig. 46 is a U-U sectional view of the solar panel mounting base.

Fig. 47 is a three-dimensional structural view of the roller.

In the figure: 1. a first side plate; 2. a first push rod shaft; 3. an upper housing; 4. a second push rod shaft; 5. a first slide rail; 6. a second side plate groove; 7. a second slide rail; 8. a wind speed sensor; 9. a first wire harness; 10. a photoelectric detection sensor; 11. a solar panel angle sensor; 12. a solar panel; 13. a second side plate; 14. a first rolling groove; 15. a third side plate; 16. a fourth side plate; 17. a mounting substrate; 18. a first base bottom plate; 19. a cover sheet; 20. a first bolt; 21. a first motor; 22. a second wire harness; 23. a third wire harness; 24. a fourth wire harness; 25. a motor driver housing; 26. a fourth side panel groove; 27. a fifth wire harness; 28. a control unit; 29. a second motor; 30. a first harness through hole; 31. a sixth wire harness; 32. a first limit sensor of the solar panel; 33. a second limit sensor of the solar panel; 34. a base through hole; 35. a seventh wire harness; 36. a second rolling groove; 37. a first motor harness interface; 38. a first base plate; 39. a second bolt; 40. a third bolt; 41. a fixed flange; 42. a connecting flange; 43. a fourth bolt; 44. a first foot seat; 45. a second base floor; 46. a second base housing; 47. a fifth bolt; 48. a first threaded hole; 49. a ring gear; 50. a planetary gear; 51. a second threaded hole; 52. a planet carrier connecting column; 53. a sun gear; 54. a first motor shaft; 55. a first key; 56. a planetary gear shaft; 57. a planet wheel bearing; 58. a flange ring; 59. a ball bearing; 60. a thrust bearing; 61. a second base plate; 62. a second base boss; 63. a first semicircular groove; 64. a first planet axle mounting hole; 65. a second planet gear shaft mounting hole; 66. a third threaded hole; 67. a first motor shaft hole; 68. a fourth threaded hole; 69. a fifth threaded hole; 70. a sixth threaded hole; 71. a seventh threaded hole; 72. an eighth threaded hole; 73. a ninth threaded hole; 74. a second semi-circular groove; 75. a second base groove; 76. the first push rod is connected with the shaft neck; 77. a first putter head; 78. a second putter head; 79. the second push rod is connected with the shaft neck; 80. a lower housing; 81. a second motor foot base; 82. a second motor harness interface; 83. an upper housing first bearing seat; 84. an upper housing second bearing support; 85. a third bearing seat of the upper shell; 86. a sixth bolt; 87. a seventh bolt; 88. a tenth threaded hole; 89. a first mounting hole of a rotating shaft of the second motor; 90. a fourth bearing seat of the upper shell; 91. a first mounting hole of the second push rod shaft; 92. a fifth bearing seat of the upper shell; 93. a first push rod shaft first mounting hole; 94. a sixth bearing seat of the upper shell; 95. a groove in the upper shell; 96. an eleventh threaded hole; 97. a lower housing first bearing seat; 98. a lower housing second bearing block; 99. a second motor rotating shaft second mounting hole; 100. a third bearing seat of the lower shell; 101. a fourth bearing seat of the lower shell; 102. a second push rod shaft second mounting hole; 103. a fifth bearing seat of the lower shell; 104. a first push rod shaft second mounting hole; 105. a sixth bearing seat of the lower shell; 106. a groove in the lower shell; 107. a second motor shaft; 108. a first push rod connecting shaft; 109. the second push rod is connected with the shaft; 110. a first gear; 111. a second gear; 112. a third gear; 113. a gear shaft; 114. a fourth gear; 115. a first bearing; 116. a second bearing; 117. a third bearing; 118. a second key; 119. a third bond; 120. a fourth key; 121. a fourth bearing; 122. a fifth key; 123. a fifth bearing; 124. a sixth bearing; 125. a second harness through hole; 126. a first roller mounting shaft; 127. a second roller mounting shaft; 128. a first slide rail groove; 129. a second slide rail groove; 130. an inner ring of the roller; 131. a roller wheel body; 132. and rolling balls.

The facets in FIG. 5 define: b1, the front end surface of the first side plate; b2, the left end face of the first side plate; b3, the upper end surface of the first side plate; c1, a front end face of the second side plate; c2, a second side plate right end face; c3, the upper end surface of the second side plate; d1, the front end face of the third side plate; d2, the left end face of the third side plate; d3, the upper end face of the third side plate; e1, fourth side panel front end face; e2, fourth side plate right end face; e3, fourth side plate upper end surface; f1, the front end face of the base bottom plate; f2, the left end face of the base bottom plate; f3, the upper end surface of the base bottom plate; the facets in FIG. 17 define: g1, connecting the lower end face of the flange; g2, connecting the inner hole surface of the flange; h1, the lower end face of the flange ring; h2, the inner hole surface of the flange circular ring; h3, the outer end face of the flange ring; i1, the outer end face of the gear ring; the facets in FIG. 22 define: j1, the upper end face of the second bottom plate; k1 and the upper end surface of the planet carrier connecting column; l1, the upper end surface of the first bottom plate; the facets in FIG. 23 define: m1, the outer side surface of the second base bottom plate; m2, a second base bottom plate upper plane; n1, the outer side surface of the second base shell; n2, a second base shell upper plane; n3, a second chassis housing interior side; o1, the outer side surface of the second base boss; o2, a second base boss upper plane; the facets in FIGS. 28-33 define: p1, front end surface of upper shell; p2, the rear end face of the upper shell; p3, the lower end surface of the upper shell; q1, lower housing front end face; q2, the rear end surface of the lower shell; q3 and the upper end surface of the lower shell; the facets in FIGS. 43-45 define: r1, mounting substrate upper plane; r2, mounting substrate front end face; r3, mounting substrate right end face; r4, mounting substrate rear end face; r5, mounting substrate left end face; r6, mounting substrate lower plane.

Detailed description of the preferred embodiments

The invention provides a two-dimensional position control scheme of a solar cell panel of a solar electric vehicle based on multi-sensor fusion, and in order to make the technical scheme and the effect of the invention clearer and clearer, the invention is further explained in detail by combining with a solar cell panel adjusting mechanism with a horizontal position adjusting device and a vertical position adjusting device shown in the attached drawings 3-47; it should be noted, however, that fig. 3-47 are merely illustrative and do not represent that the present invention is applicable to such a configuration, and that the present invention is equally applicable to other solar panel adjustment mechanisms having horizontal and vertical position adjustment mechanisms.

Based on the two-dimensional position control scheme of the solar cell panel of the solar electric vehicle based on the multi-sensor fusion, and the solar cell panel adjusting mechanism with the horizontal position adjusting device and the vertical position adjusting device shown in the attached drawings 3-47, the two-dimensional position adjusting system of the solar cell panel of 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 (28) uses STM32 chip.

The vehicle-mounted sensing system comprises a vehicle-mounted GPS sensor, a vehicle-mounted clock module, a vehicle-mounted gyroscope, a vehicle-mounted enabling switch and a vehicle-mounted rainfall sensor; 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 (28), and the longitude and latitude information of the location of the automobile is output to the control unit (28); 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 (28) and outputs the current date and time to the control unit (28) in real time; the data port of the vehicle-mounted gyroscope is connected with the I/O5 and I/O6 ports of the control unit (28), and the yaw angle of the whole vehicle is output to the control unit (28) in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O9 port of the control unit (28) and outputs rainfall information to the control unit (28); the on-board enable switch is connected to an I/O12 port of the control unit (28).

The executing device consists of a base, a solar cell panel mounting base body, a horizontal position adjusting device, a vertical position adjusting device, an executing mechanism sensing system and a motor driving system.

As shown in fig. 3-7, the base is composed of a first side plate (1), a second side plate (13), a third side plate (15), a fourth side plate (16) and a first base bottom plate (18); the first side plate (1), the second side plate (13), the third side plate (15), the fourth side plate (16) and the first base bottom plate (18) are all of cuboid structures; the first side plate (1) and the third side plate (15) are the same in shape; the second side plate (13) and the fourth side plate (16) have the same shape; two ends of the front end surface (E1) of the fourth side plate, which are opposite to the rear end surface of the fourth side plate (16), are respectively fixedly connected with the left end surface (B2) of the first side plate and the left end surface (D2) of the third side plate; the front end surface (C1) of the second side plate is respectively and fixedly connected with the right end surface of the first side plate (1) and the right end surface of the third side plate (15); the first side plate (1) and the third side plate (15) are parallel to each other; the second side plate (13) and the fourth side plate (16) are parallel to each other; the first side plate front end face (B1) is coplanar with the second side plate right end face (C2) and the fourth side plate right end face (E2); the rear end surface of the third side plate (15) is coplanar with the left end surface of the second side plate (13) and the left end surface of the fourth side plate (16); the lower end surface of the first side plate (1), the lower end surface of the second side plate (13), the lower end surface of the third side plate (15) and the lower end surface of the fourth side plate (16) are coplanar with the lower end surface of the first base bottom plate (18); the rear end surface of the first side plate (1) is fixedly connected with the front end surface (F1) of the base bottom plate; the front end surface (C1) of the second side plate is fixedly connected with the right end surface of the first base bottom plate (18); the front end surface (D1) of the third side plate is fixedly connected with the rear end surface of the first base bottom plate (18); the rear end surface of the fourth side plate (16) is fixedly connected with the left end surface (F2) of the base bottom plate.

A second side plate groove (6) is formed in the upper end face (C3) of the second side plate, and the second side plate groove (6) is rectangular and is positioned on one side close to the right end face (C2) of the second side plate; a first rolling groove (14) is formed in the front end face (C1) of the second side plate, the first rolling groove (14) is a rectangular groove and is located on one side close to the left end face of the second side plate (13), the center line of the first rolling groove (14) is parallel to the upper end face (C3) of the second side plate, and one end of the first rolling groove penetrates through the left end face of the second side plate (13); a fourth side plate groove (26) is arranged on the upper end surface (E3) of the fourth side plate, and the fourth side plate groove (26) is rectangular and is positioned on one side close to the right end surface (E2) of the fourth side plate; a second rolling groove (36) is formed in the rear end face of the fourth side plate (16), the second rolling groove (36) is a rectangular groove and is located on the side close to the left end face of the fourth side plate (16), the center line of the second rolling groove (36) is parallel to the upper end face (E3) of the fourth side plate, and one end of the second rolling groove penetrates through the left end face of the fourth side plate (16).

The second side plate groove (6) and the fourth side plate groove (26) are the same in shape, and the central axis of the second side plate groove (6) is superposed with the central axis of the fourth side plate groove (26); the first rolling groove (14) and the second rolling groove (36) are the same in shape, the center lines of the first rolling groove and the second rolling groove are parallel to each other, and the distance from the upper end surface (F3) of the base bottom plate is equal.

The middle position of the first base bottom plate (18) is provided with a base through hole (34).

The horizontal position adjusting device consists of a first motor (21), a planetary gear mechanism, a connecting flange device, a horizontal position adjusting device base, a ball (59) and a thrust bearing (60).

As shown in fig. 8, 15-16, 21-22, the planet carrier is composed of a first bottom plate (38), 3 planet carrier connecting columns (52), 3 planet gear shafts (56) and a second bottom plate (61); the first bottom plate (38) and the second bottom plate (61) are both cylindrical structures, a first motor shaft hole (67) is formed in the middle of the first bottom plate (38), the central axis of the first motor shaft hole (67) is overlapped with the central axis of the first bottom plate (38), and 6 fourth threaded holes (68) are uniformly arranged on the periphery of the first motor shaft hole (67); and 3 second planet gear shaft mounting holes (65) and 3 third threaded holes (66) are uniformly arranged on the outer side of the upper end surface (L1) of the first base plate, and 3 uniformly arranged fifth threaded holes (69) are arranged around each second planet gear shaft mounting hole (65).

3 first planet gear shaft mounting holes (64) and 3 seventh threaded holes (71) are uniformly formed in the outer side of the upper end surface (J1) of the second bottom plate, the first planet gear shaft mounting holes (64) are blind holes, and the seventh threaded holes (71) are through holes; the center axis of each first planetary gear shaft mounting hole (64) coincides with the center axis of the corresponding second planetary gear shaft mounting hole (65), and the center axis of each seventh threaded hole (71) coincides with the center axis of the corresponding third threaded hole (66).

The planet carrier connecting column (52) is of a columnar structure, a sixth threaded hole (70) is formed in the middle of the planet carrier connecting column, and the central axes of the sixth threaded holes (70) are respectively superposed with the central axes of the corresponding third threaded holes (66).

And 3 first bolts (20) sequentially penetrate through the third threaded hole (66), the sixth threaded hole (70) and the seventh threaded hole (71) to fixedly connect the first bottom plate (38), the planet carrier connecting column (52) and the second bottom plate (61).

The planet gear shafts (56) penetrate through second planet gear shaft mounting holes (65), one ends of the planet gear shafts are arranged in the first planet gear shaft mounting holes (64), the other ends of the planet gear shafts are arranged in the second planet gear shaft mounting holes (65) and fixed by cover plates (19), and the cover plates (19) are fixed on the first base plate (38) through 3 second bolts (39); a planet gear bearing (57) is arranged on the planet gear shaft (56), a planet gear (50) is arranged outside the planet gear bearing (57), and the planet gear (50) is simultaneously meshed with the ring gear (49) and the sun gear (53).

The first motor (21) penetrates through the base through hole (34) and is fixedly connected with the first bottom plate (38) through 6 third bolts (40) and a fixing flange (41), and a first motor rotating shaft (54) is fixedly connected with the sun wheel (53) through a first key (55).

As shown in fig. 9-20, the connecting flange device is composed of a connecting flange (42) and a flange ring (58), both the connecting flange (42) and the flange ring (58) are circular, the inner hole diameter of the connecting flange (42) is equal to that of the flange ring (58), the outer diameter of the connecting flange (42) is larger than that of the flange ring (58), the upper end surface of the flange ring (58) is fixedly connected with the lower end surface (G1) of the connecting flange, and the central axes of the two are overlapped; 8 second threaded holes (51) are uniformly distributed in the lower end face (G1) of the connecting flange, and the second threaded holes (51) are through holes and do not interfere with the flange ring (58); a first semicircular groove (63) is formed in the outer end face (H3) of the flange ring; the outer end face (I1) of the gear ring is fixedly connected with the inner hole face (H2) of the flange circular ring, the gear ring (49) is overlapped with the central axis of the flange circular ring (58), and the gear ring (49) is meshed with the planetary gear (50); the 8 fourth bolts (43) fixedly connect the connecting flange (42) with the first base bottom plate (18) through second threaded holes (51); the lower end surface (H1) of the flange ring is in contact with one end of the thrust bearing (60).

As shown in fig. 9-16 and fig. 23-25, the base of the horizontal position adjusting device is composed of 3 first foot seats (44), a second base bottom plate (45), a second base shell (46) and a second base boss (62); the second base bottom plate (45) is of a cylindrical structure; the 3 first foot seats (44) are fixedly connected with the outer side surface (M1) of the bottom plate of the second base; the first foot seat (44) is provided with a first threaded hole (48) for being fixedly connected with a vehicle body; the second base shell (46) is of a circular ring structure, a second semicircular groove (74) is formed in one end of the second base shell, an eighth threaded hole (72) is formed in the second semicircular groove (74), and the eighth threaded hole (72) is a through hole and is sealed through a fifth bolt (47); the second semicircular groove (74) is close to the upper plane (N2) of the second base shell, the second base shell (46) is fixedly connected with the upper plane (M2) of the second base bottom plate through the lower plane opposite to the upper plane (N2) of the second base shell, and the projection of the outer side surface (N1) of the second base shell and the outer side surface (M1) of the second base bottom plate on the top view is superposed; the second base boss (62) is of a cylindrical structure, 3 ninth threaded holes (73) are uniformly distributed on an upper plane (O2) of the second base boss, the second base boss (62) is fixedly connected with an upper plane (M2) of the second base bottom plate through a lower plane, and the central axes of the second base bottom plate (45), the second base shell (46) and the second base boss (62) are overlapped; a second base groove (75) is formed between the outer side surface (O1) of the second base boss and the inner side surface (N3) of the second base shell, and the thrust bearing (60) is installed in the second base groove (75); the central axis of each ninth threaded hole (73) is respectively superposed with the central axes of each third threaded hole (66), each sixth threaded hole (70) and each seventh threaded hole (71); 3 first bolts (20) sequentially penetrate through the third threaded holes (66), the sixth threaded holes (70) and the seventh threaded holes (71), and fixedly connect the first base plate (38), the planet carrier connecting column (52), the second base plate (61) and the second base boss (62) together through the ninth threaded holes (73); the first semicircular groove (63) and the second semicircular groove (74) are equal in radius and coincide in central axis, the first semicircular groove (63) and the second semicircular groove (74) are matched to form a circular raceway of the ball (59), and the flange circular ring (58) can rotate around the central axis of the flange circular ring (58) through the ball (59).

As shown in fig. 3, 26-42, the vertical position adjusting device is composed of a second motor (29) and a transmission device; the second motor (29) is a rotating motor and is fixed on the first base bottom plate (18) through a second motor foot seat (81) and a seventh bolt (87); the transmission device comprises a speed reducer, a first push rod device and a second push rod device.

The speed reducer consists of an upper shell (3), a lower shell (80), a first push rod connecting shaft (108), a second push rod connecting shaft (109), a first gear (110), a second gear (111), a third gear (112), a gear shaft (113), a fourth gear (114), a first bearing (115), a second bearing (116), a third bearing (117), a second key (118), a third key (119), a fourth key (120), a fourth bearing (121), a fifth key (122), a fifth bearing (123) and a sixth bearing (124); the lower shell (80) is fixed on the first base bottom plate (18), and the upper shell (3) is fixedly connected with the lower shell (80) through a sixth bolt (86).

The inside of the upper shell (3) is an upper shell inner groove (95), and the section of the upper shell inner groove (95) on the lower end surface (P3) of the upper shell is rectangular; an upper shell first bearing seat (83), an upper shell second bearing seat (84) and an upper shell third bearing seat (85) are sequentially arranged on the upper shell lower end surface (P3) on the upper shell front end surface (P1) side, and a second motor rotating shaft first mounting hole (89) is formed between the upper shell second bearing seat (84) and the upper shell third bearing seat (85); an upper shell fourth bearing seat (90), an upper shell fifth bearing seat (92) and an upper shell sixth bearing seat (94) are sequentially arranged on the lower end surface (P3) of the upper shell on the side of the rear end surface (P2) of the upper shell, a second push rod shaft first mounting hole (91) is formed between the upper shell fourth bearing seat (90) and the rear end surface (P2) of the upper shell, and a first push rod shaft first mounting hole (93) is formed between the upper shell sixth bearing seat (94) and the rear end surface (P2) of the upper shell; the cross sections of the upper shell first bearing seat (83), the upper shell second bearing seat (84), the upper shell third bearing seat (85), the second motor rotating shaft first mounting hole (89), the upper shell fourth bearing seat (90), the upper shell fifth bearing seat (92), the upper shell sixth bearing seat (94), the second push rod shaft first mounting hole (91) and the first push rod shaft first mounting hole (93) are semicircular; the first mounting hole (91) of the second push rod shaft and the first mounting hole (93) of the first push rod shaft are through holes.

The radiuses of the upper shell first bearing seat (83) and the upper shell sixth bearing seat (94) are equal, and the central axes of the upper shell first bearing seat (83), the upper shell sixth bearing seat (94) and the first push rod shaft first mounting hole (93) are superposed; the radius of the upper shell second bearing seat (84) is equal to that of the upper shell fifth bearing seat (92), and the central axes of the upper shell second bearing seat (84) and the upper shell fifth bearing seat (92) are superposed and parallel to the central axis of the first mounting hole (89) of the rotating shaft of the second motor; the radius of the upper shell third bearing seat (85) is equal to that of the upper shell fourth bearing seat (90), and the central axes of the upper shell third bearing seat (85), the upper shell fourth bearing seat (90) and the second push rod shaft first mounting hole (91) are coincided and are parallel to the central axis of the second motor rotating shaft first mounting hole (89).

The interior of the lower shell (80) is a lower shell internal groove (106), and the section of the lower shell internal groove (106) on the upper end surface (Q3) of the lower shell is rectangular; the lower end surface (P3) of the upper shell and the upper end surface (Q3) of the lower shell have the same shape and are overlapped after being installed; the section of the upper shell inner groove (95) on the lower end surface (P3) of the upper shell is the same as the section of the lower shell inner groove (106) on the upper end surface (Q3) of the lower shell in shape, and the upper shell inner groove and the lower shell inner groove are overlapped after installation; a lower shell first bearing seat (97), a lower shell second bearing seat (98) and a lower shell third bearing seat (100) are sequentially arranged on the front end surface (Q1) side of the lower shell and the upper end surface (Q3) of the lower shell, and a second motor rotating shaft second mounting hole (99) is formed between the lower shell second bearing seat (98) and the lower shell third bearing seat (100); a lower shell fourth bearing seat (101), a lower shell fifth bearing seat (103) and a lower shell sixth bearing seat (105) are sequentially arranged on the upper end surface (Q3) of the lower shell on the side of the rear end surface (Q2) of the lower shell, a second push rod shaft second mounting hole (102) is formed between the lower shell fourth bearing seat (101) and the rear end surface (Q2) of the lower shell, and a first push rod shaft second mounting hole (104) is formed between the lower shell sixth bearing seat (105) and the rear end surface (Q2) of the lower shell; the cross sections of the lower shell first bearing seat (97), the lower shell second bearing seat (98), the lower shell third bearing seat (100), the second motor rotating shaft second mounting hole (99), the lower shell fourth bearing seat (101), the lower shell fifth bearing seat (103), the lower shell sixth bearing seat (105), the second push rod shaft second mounting hole (102) and the first push rod shaft second mounting hole (104) are semicircular; the second mounting hole (102) of the second push rod shaft and the second mounting hole (104) of the first push rod shaft are through holes.

The first mounting hole (89) of the second motor rotating shaft has the same radius as the second mounting hole (99) of the second motor rotating shaft, and the central axes of the first mounting hole and the second mounting hole coincide with each other after mounting; the first push rod shaft first mounting hole (93) and the first push rod shaft second mounting hole (104) are equal in radius, and the central axes of the first push rod shaft first mounting hole and the first push rod shaft second mounting hole are overlapped after the first push rod shaft first mounting hole and the first push rod shaft second mounting hole are mounted; the first mounting hole (91) of the second push rod shaft and the second mounting hole (102) of the second push rod shaft have the same radius, and the central axes of the first mounting hole and the second mounting hole coincide with each other after mounting.

The radiuses of the lower shell first bearing seat (97), the lower shell sixth bearing seat (105) and the upper shell sixth bearing seat (94) are equal, and the central axes of the lower shell first bearing seat (97), the lower shell sixth bearing seat (105), the first push rod shaft second mounting hole (104) and the upper shell sixth bearing seat (94) are superposed; the radiuses of the lower shell second bearing seat (98) and the lower shell fifth bearing seat (103) are equal to the radius of the upper shell fifth bearing seat (92), and the central axes of the lower shell second bearing seat (98) and the lower shell fifth bearing seat (103) are superposed and parallel to the central axis of a second motor rotating shaft second mounting hole (99); the radiuses of the lower shell third bearing seat (100), the lower shell fourth bearing seat (101) and the upper shell third bearing seat (85) are equal, and the central axes of the lower shell third bearing seat (100), the lower shell fourth bearing seat (101), the second push rod shaft second mounting hole (102) and the upper shell third bearing seat (85) are superposed; a first bearing (115) is mounted between the upper housing first bearing seat (83) and the lower housing first bearing seat (97); a second bearing (116) mounted between the upper housing second bearing block (84) and the lower housing second bearing block (98); a third bearing (117) is mounted between the upper housing third bearing seat (85) and the lower housing third bearing seat (100); the fourth bearing (121) is arranged between the fourth bearing seat (90) of the upper shell and the fourth bearing seat (101) of the lower shell; the fifth bearing (123) is arranged between the fifth bearing seat (92) of the upper shell and the fifth bearing seat (103) of the lower shell; the sixth bearing (124) is mounted between the upper housing sixth bearing seat (94) and the lower housing sixth bearing seat (105).

One end of the first push rod connecting shaft (108) is fixedly connected with the first push rod shaft (2), the first push rod shaft (2) is arranged on the outer side of the rear end face (Q2) of the lower shell and is not contacted with the lower shell (80), the other end of the first push rod connecting shaft (108) sequentially penetrates through the sixth bearing (124), the fourth gear (114) and the first bearing (115), and the fourth gear (114) is fixedly connected with the first push rod connecting shaft (108) through the second key (118).

The gear shaft (113) sequentially penetrates through the fifth bearing (123), the third gear (112) and the second bearing (116), and the third gear (112) is fixedly connected with the gear shaft (113) through a third key (119).

The second gear (111) is fixedly connected with the second motor rotating shaft (107) through a fourth key (120).

One end of the second push rod connecting shaft (109) is fixedly connected with the second push rod shaft (4), the second push rod shaft (4) is arranged on the outer side of the rear end face (Q2) of the lower shell and is not in contact with the lower shell (80), the other end of the second push rod connecting shaft (109) sequentially penetrates through the fourth bearing (121), the first gear (110) and the third bearing (117), and the first gear (110) is fixedly connected with the second push rod connecting shaft (109) through the fifth key (122).

The first gear (110), the second gear (111), the third gear (112) and the fourth gear (114) are all arranged in the upper shell inner groove (95) and the lower shell inner groove (106) and are not in contact with the upper shell inner groove (95) and the lower shell inner groove (106); the first gear (110) is meshed with the second gear (111); the second gear (111) is meshed with the first gear (110) and the third gear (112) simultaneously; the third gear (112) is meshed with the second gear (111) and the fourth gear (114) simultaneously; the fourth gear (114) meshes with the third gear (112).

The number of teeth of the first gear (110) is the same as that of the fourth gear (114); the number of teeth of the second gear (111) is the same as the number of teeth of the third gear (112).

The first push rod device is composed of a first push rod shaft (2), a first push rod connecting shaft neck (76) and a first push rod head (77), the first push rod head (77) is of a spherical structure, the first push rod connecting shaft neck (76) is of a cylindrical structure, the first push rod head (77) is fixedly connected with one end of the first push rod connecting shaft neck (76), the other end of the first push rod connecting shaft neck (76) is fixedly connected with one end of the first push rod shaft (2), and the other end of the first push rod shaft (2) is fixedly connected with one end of a first push rod connecting shaft (108).

The second push rod device is by second push rod axle (4), second push rod connects axle journal (79) and second push rod head (78) to constitute, second push rod head (78) are spherical structure, second push rod connects axle journal (79) and is cylindrical structure, second push rod head (78) and the one end fixed connection of second push rod connection axle journal (79), the other end of second push rod connection axle journal (79) and the one end fixed connection of second push rod axle (4), the other end of second push rod axle (4) and the one end fixed connection of second push rod connecting axle (109).

As shown in fig. 3, 43-47, the solar panel mounting substrate is composed of a first slide rail (5), a mounting substrate (17), a second slide rail (7), a first roller mounting shaft (126), a second roller mounting shaft (127), and a roller device; the mounting substrate (17) is of a cuboid structure; the solar cell panel (12) is fixed on the upper plane (R1) of the mounting substrate; a first roller mounting shaft (126) is fixed on one side of the right end surface (R3) of the mounting substrate, which is close to the rear end surface (R4) of the mounting substrate; a second roller mounting shaft (127) is fixed on one side of the left end surface (R5) of the mounting substrate, which is close to the rear end surface (R4) of the mounting substrate; the first roller mounting shaft (126) and the second roller mounting shaft (127) are both cylindrical, the central axes of the first roller mounting shaft and the second roller mounting shaft are superposed, and the central axes are parallel to the rear end surface (R4) of the mounting base plate; a first slide rail (5) and a second slide rail (7) are respectively fixed on one side of the lower plane (R6) of the mounting substrate, which is close to the front end surface (R2) of the mounting substrate; the first slide rail (5) and the second slide rail (7) are both of cuboid structures, and the central lines of the first slide rail and the second slide rail are superposed and parallel to the front end surface (R2) of the mounting substrate; a first slide rail groove (128) is formed in the first slide rail (5), the section of the first slide rail groove (128) is in an arc shape, and the center line of the first slide rail groove (128) is parallel to the center line of the first slide rail (5); a second slide rail groove (129) is formed in the second slide rail (7), the section of the second slide rail groove (129) is in an arc shape, and the center line of the second slide rail groove (129) is parallel to the center line of the second slide rail (7); the first putter head (77) is disposed in the second slide groove (129); the second putter head (78) is disposed in the first slide groove (128); a set of roller devices are respectively arranged on the first roller mounting shaft (126) and the second roller mounting shaft (127), each roller device consists of a roller inner ring (130), a roller wheel body (131) and roller balls (132), the roller balls (132) are arranged between the roller inner rings (130) and the roller wheel bodies (131), and the first roller mounting shaft (126) and the second roller mounting shaft (127) are respectively matched with the corresponding roller inner rings (130); the roller device mounted on the first roller mounting axle (126) is disposed in the first rolling groove (14) and the roller device mounted on the second roller mounting axle (127) is disposed in the second rolling groove (36).

The actuator sensor system includes: the wind speed sensor (8), the solar panel angle sensor (11), the photoelectric detection sensor (10), the solar panel first limit sensor (32) and the solar panel second limit sensor (33); the wind speed sensor (8) 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 (10) is fixed on an upper plane (R1) of the mounting substrate, is close to a front end surface (R2) of the mounting substrate, and has equal distance from a right end surface (R3) of the mounting substrate and a left end surface (R5) of the mounting substrate; the solar panel angle sensor (11) is fixed on the mounting substrate upper plane (R1) and is close to the mounting substrate front end surface (R2).

A data port of the wind speed sensor (8) is connected with an AD1 port of the control unit (28) through a first wire harness (9) and outputs wind speed information to the control unit (28); four data ports of the photoelectric detection sensor (10) are respectively connected with AD2, AD3, AD4 and AD5 ports of the control unit (28) through a first wiring harness (9), and angle information of sunlight and the solar panel (12) is output to the control unit (28); a data port of the solar panel angle sensor (11) is respectively connected with I/O7 and I/O8 ports of the control unit (28) through a first wiring harness (9), and the included angle between the solar panel (12) and the horizontal plane is output to the control unit (28); the first limit sensor (32) of the solar panel is fixed at one end of the first rolling groove (14), a data port of the first limit sensor is connected with an I/O10 port of the control unit (28) through a third wiring harness (23), the second limit sensor (33) of the solar panel is fixed at the other end of the first rolling groove (14), and a data port of the second limit sensor is connected with an I/O11 port of the control unit (28) through a second wiring harness (22).

The motor driving system comprises a horizontal direction motor driver and a vertical direction motor driver, wherein the horizontal direction motor driver is connected with the first motor (21) through a fourth wiring harness (24), and the vertical direction motor driver is connected with the second motor (29) through a fifth wiring harness (27); the enabling port of the horizontal orientation motor driver is connected with the I/O13 port of the control unit (28) through a seventh wiring harness (35), and the control signal port is connected with the FTM1 port of the control unit (28) through the seventh wiring harness (35); the enabling port of the vertical orientation motor driver is connected with the I/O14 port of the control unit (28) through a seventh wiring harness (35), and the control signal port is connected with the FTM2 port of the control unit (28) through the seventh wiring harness (35); the horizontal orientation motor driver and the vertical orientation motor driver are fixed in a motor driver shell (25), and the motor driver shell (25) is fixed on the first base bottom plate (18).

The energy supply system comprises a storage battery, a solar panel (12) and a DC/DC converter, wherein the solar panel (12) is connected with the storage battery through a power line and can charge the storage battery; the battery is connected to VCC ports of the horizontal orientation motor driver, the vertical orientation motor driver and the control unit (28) through DC/DC converters, respectively, and can provide energy for the horizontal orientation motor driver, the vertical orientation motor driver and the control unit (28).

Referring to fig. 2, a working flow of a solar cell panel two-dimensional position adjustment system of 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, entering data acquisition if the enabling switch is turned on, stopping charging if the enabling switch is turned off, and resetting the solar cell panel (12).

Step S2: data acquisition: the method for acquiring signals of the sensors specifically comprises the following steps: the longitude and latitude information of the location of the automobile output by the vehicle-mounted GPS sensor and the current date and time output by the vehicle-mounted clock module; the yaw angle of the whole vehicle is output by the vehicle-mounted gyroscope; rainfall information output by the vehicle-mounted rainfall sensor; wind speed information output by a wind speed sensor (8); the photoelectric detection sensor (10) outputs the voltage values of the four photoresistors; the position information of the solar cell panel (12) output by the first solar cell panel limiting sensor (32) and the second solar cell panel limiting sensor (33).

Step S3: judging whether the vehicle speed is greater than 0, if so, stopping charging, and resetting the solar cell panel (12); if the vehicle speed is equal to 0, the time is further judged.

Step S4: judging whether the time is night or not, if so, stopping charging, and resetting the solar cell panel (12); if the wind speed is not night, the wind speed is further judged.

Step S5: and judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, resetting the solar panel (12), and if so, roughly adjusting the horizontal azimuth angle of the solar panel (12).

Step S6: and according to the azimuth angle of the sun and the yaw angle of the whole vehicle, the horizontal azimuth angle of the solar cell panel (12) is roughly adjusted.

Step S7: according to the absolute value | U of the voltage difference value of two photoresistors in the horizontal direction of the photoelectric detection sensor (10)_ABThe magnitude relation between the | and the threshold value delta U1 judges whether the horizontal azimuth angle of the solar panel (12) needs to be accurately adjusted, if | U |, the horizontal azimuth angle of the solar panel (12) needs to be accurately adjusted_AB|>Delta U1, the horizontal azimuth angle of the solar panel (12) is adjusted by a horizontal position adjusting device until | U_ABDelta U1 is less than or equal to | in weight percentage; if | U_ABIf the angle between the solar cell panel (12) and the horizontal plane needs to be adjusted, if the angle is less than or equal to delta U1; the threshold value Δ U1 was obtained by calibration experiments.

Step S8: judging whether the first limit sensor (32) of the solar panel outputs a high level, if so, entering a loop from the step S1 again; and if the level is low, the included angle between the solar panel (12) and the horizontal plane is adjusted.

Step S9: and roughly adjusting the included angle between the solar cell panel (12) 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 (12) and the horizontal plane.

Step S10: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor (10)_CD| and threshold value Δ U₂Judging whether the included angle between the solar cell panel (12) 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_CD|>ΔU₂Adjusting the included angle between the solar panel (12) and the horizontal plane through a vertical position adjusting device, and repeating the step S8; if | U_CD|≤ΔU₂Further judging whether to continue charging; threshold value delta U₂Obtained by calibration tests.

Step S11: 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 (12); if SOC ≦ SOCmax, the charge is continued and the loop is entered from step S1 again.

Step S12: and stopping charging, and resetting the solar cell panel (12).

Step S13: judging whether the second limit sensor (33) of the solar panel outputs a high level, if so, entering a loop from the step S12 again; if the level is low, the included angle between the solar panel (12) and the horizontal plane is continuously adjusted until the second limit sensor (33) of the solar panel outputs high level.

To further illustrate the working principle of the present invention, on the basis of the above-mentioned working process of the solar cell panel two-dimensional position adjustment system of the solar electric vehicle based on the multi-sensor fusion, the working principle of the horizontal position adjustment device and the vertical position adjustment device is described as follows: when the horizontal azimuth angle of the solar cell panel (12) needs to be adjusted, the first motor (21) is electrified, the first motor (21) rotates, the sun gear (53) is driven to rotate through the first key (55), and the first base plate (38), the planet carrier connecting column (52) and the second base plate (61) are fixedly connected with the second base boss (62) through 3 first bolts (20); the second base boss (62) and the second base bottom plate (45) are fixedly connected with the vehicle body through the first foot seat (44); therefore, the planet carrier cannot rotate, at the moment, the sun gear (53) drives the gear ring (49) to rotate through the planet gear (50), the gear ring (49) is fixedly connected with the flange ring (58), the flange ring (58) rotates around the central axis of the first motor rotating shaft (54) through the balls (59), the flange ring (58) is fixedly connected with the connecting flange (42), and the connecting flange (42) is fixedly connected with the first base bottom plate (18), so that the base and the solar cell panel (12) can be driven to rotate in the horizontal plane.

When the included angle between the solar cell panel (12) and the horizontal plane needs to be adjusted, a second motor (29) is electrified, a second motor rotating shaft (107) rotates, the second motor rotating shaft (107) drives a second gear (111) to rotate through a fourth key (120), the second gear (111) simultaneously drives a first gear (110) and a third gear (112) to rotate, the third gear (112) drives a fourth gear (114) to rotate, the first gear (110) drives a second push rod shaft (4) to rotate through a second push rod connecting shaft (109), the fourth gear (114) drives a first push rod shaft (2) to rotate through the first push rod connecting shaft (108), due to the motion transmission process from the second gear (111) to the fourth gear (114), a pair of gears is added to the transmission from the second gear (111) to the first gear (110), and the rotating direction of the first push rod shaft (2) is opposite to that of the second push rod shaft (4); and the number of teeth of the first gear (110) is the same as that of the fourth gear (114); the number of teeth of the second gear (111) is the same as that of the third gear (112), and the rotating angles of the first push rod shaft (2) and the second push rod shaft (4) are the same; thereby driving the first putter head (77) to move left and right in the second slide rail groove (129); driving the second putter head (78) to move left and right in the first slide way groove (128); the first roller mounting shaft (126) correspondingly moves back and forth in the first rolling groove (14) through the roller device, the second roller mounting shaft (127) correspondingly moves back and forth in the second rolling groove (36) through the roller device, and finally position adjustment of the first base bottom plate (18) in the vertical direction is achieved, so that the included angle between the solar panel (12) and the horizontal plane is adjusted.

Claims

1. The utility model provides a two-dimensional position control scheme of solar electric motor car solar cell panel 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 gyroscope, a vehicle-mounted enabling switch and a vehicle-mounted rainfall sensor; 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 gyroscope is connected with the I/O5 and I/O6 ports of the control unit, and the yaw angle of the whole vehicle is output to the control unit in real time; the data port of the vehicle-mounted rainfall sensor is connected with the I/O9 port of the control unit, and rainfall information is output to the control unit; the vehicle-mounted enabling switch is connected with an I/O12 port of the control unit;

2. The utility model provides a two-dimensional position control scheme of solar electric motor car solar cell panel 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, entering data acquisition if the vehicle-mounted enabling switch is turned on, and stopping charging and resetting the solar cell panel if the vehicle-mounted enabling switch is turned off;

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; the yaw angle of the whole vehicle is output by the vehicle-mounted gyroscope; 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 four 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: 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 S4: 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 S5: judging whether the wind speed is greater than 10.7m/s, if so, stopping charging, resetting the solar panel, and if not, roughly adjusting the horizontal azimuth angle of the solar panel;

step S6: according to the azimuth angle of the sun and the yaw angle of the whole vehicle, roughly adjusting the horizontal azimuth angle of the solar cell panel;

step S7: according to the absolute value | U of the voltage difference value of two photoresistors in the horizontal direction of the photoelectric detection sensor_AB| and threshold value Δ U₁Judging whether the horizontal azimuth angle of the solar cell panel needs to be accurately adjusted according to the size relation, and if the horizontal azimuth angle is U_AB|>ΔU₁And adjusting the horizontal azimuth angle of the solar panel through a horizontal position adjusting device until the horizontal azimuth angle is | U |_AB|≤ΔU₁(ii) a If | U_AB|≤ΔU₁Further judging whether the included angle between the solar cell panel and the horizontal plane needs to be adjusted; threshold value delta U₁Obtained through a calibration test;

step S8: 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 S9: 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 S10: according to the absolute value | U of the voltage difference value of two photoresistors in the vertical direction of the photoelectric detection sensor_CD| and threshold value Δ U₂Judging whether the included angle between the solar cell panel 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_CD|>ΔU₂Adjusting the included angle between the solar panel and the horizontal plane through the vertical position adjusting device, and repeating the step S8; if | U_CD|≤ΔU₂Further judging whether to continue charging; threshold value delta U₂Obtained through a calibration test;

step S11: 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 S12: stopping charging, and resetting the solar cell panel;