CN112713852B - Automatic sun tracking device on water - Google Patents
Automatic sun tracking device on water Download PDFInfo
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- CN112713852B CN112713852B CN202011461012.6A CN202011461012A CN112713852B CN 112713852 B CN112713852 B CN 112713852B CN 202011461012 A CN202011461012 A CN 202011461012A CN 112713852 B CN112713852 B CN 112713852B
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- 238000000034 method Methods 0.000 claims description 17
- 229940075875 delta d3 Drugs 0.000 claims description 12
- 238000006073 displacement reaction Methods 0.000 claims description 12
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 4
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- 238000006243 chemical reaction Methods 0.000 description 3
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S20/00—Supporting structures for PV modules
- H02S20/30—Supporting structures being movable or adjustable, e.g. for angle adjustment
- H02S20/32—Supporting structures being movable or adjustable, e.g. for angle adjustment specially adapted for solar tracking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/44—Floating buildings, stores, drilling platforms, or workshops, e.g. carrying water-oil separating devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S30/00—Structural details of PV modules other than those related to light conversion
- H02S30/10—Frame structures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S2030/10—Special components
- F24S2030/11—Driving means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S2030/10—Special components
- F24S2030/19—Movement dampening means; Braking means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Sustainable Development (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Architecture (AREA)
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- Thermal Sciences (AREA)
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- Control Of Position Or Direction (AREA)
Abstract
The invention discloses an automatic sun tracking device on water, which belongs to the technical field of solar batteries and comprises an annular floating body, a base and a solar panel bracket, wherein the base is fixedly arranged on the annular floating body, a first electric push rod, a second electric push rod, a third electric push rod, a fourth electric push rod, a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod are sequentially arranged on the upper side of the base at intervals along the circumferential direction, and 4 fixed seats are arranged on the solar panel bracket, so that the technical problem of light tracking of a solar panel on the water surface is solved. The action amplitude is small, the influence on the water surface floating body is small, and the stable work of the solar cell panel is facilitated.
Description
Technical Field
The invention belongs to the technical field of solar cells, and particularly relates to an automatic solar tracking device on water.
Background
Solar energy farm on water is solar cell panel's an important application scene, for solar energy farm on land, solar energy farm on water has the arable land that can not occupy large tracts of land, and the shelter is few, and sunshine time is longer, the higher characteristics of generating efficiency, and in summer wait temperature hot period, temperature on water will be lower than the temperature on the land in addition, more is favorable to guaranteeing the efficiency of output electricity, and the overheated condition can not appear in the battery.
Traditional solar cell panel need drive solar cell panel's support through the cloud platform when chasing after light and rotate to realize chasing after light the function, nevertheless the solar cell panel who sets up on the surface of water, if adopt traditional cloud platform of chasing after light to chase after light, when the cloud platform is rotatory, can produce reaction force, make the body that bears solar cell panel move to the opposite direction, be unfavorable for solar cell panel's stability.
Disclosure of Invention
The invention aims to provide a device for automatically tracking the sun on water, which solves the technical problem of light following of a solar cell panel on the water surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic solar tracking device on water comprises an annular floating body, a base and a solar cell panel support, wherein the base is fixedly arranged on the annular floating body, a first electric push rod, a second electric push rod, a third electric push rod, a fourth electric push rod, a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod are sequentially arranged on the upper side of the base at intervals along the circumferential direction, and 4 fixed seats are arranged on the solar cell panel support;
the method comprises the following steps that 4 solar panels are arranged on a solar panel support, the middle point of the solar panel support is used as an original point, the plane where the solar panel support is located is used as the plane where an x axis and a y axis are located, namely an xy plane, and a coordinate system oxyz is established, wherein the z axis is perpendicular to the plane where the solar panel support is located, and the 4 solar panels are respectively located in 4 quadrants on the xy plane;
the fifth electric push rod drives the bottom of the first electric push rod through a sliding block, and the top of the first electric push rod is connected with a fixed seat through a spherical pair mechanism;
the fifth electric push rod is hinged with the bottom of the first electric push rod through a sliding block, and the top of the first electric push rod is connected with a fixed seat through a spherical pair mechanism;
the sixth electric push rod is hinged to the bottom of the second electric push rod through a sliding block, and the top of the second electric push rod is connected with a fixed seat through a spherical pair mechanism;
the seventh electric push rod is hinged to the bottom of the third electric push rod through a sliding block, and the top of the seventh electric push rod is connected with a fixed seat through a spherical pair mechanism;
the eighth electric push rod is hinged to the bottom of the fourth electric push rod through a sliding block, and the top of the fourth electric push rod is connected with a fixed seat through a spherical pair mechanism;
the base is also provided with a control box, a circuit board is arranged in the control box, the circuit board is provided with an MCU, a stepping motor driver A, a stepping motor driver B, a stepping motor driver C, a stepping motor driver D, a stepping motor driver A1, a stepping motor driver B1, a stepping motor driver C1, a stepping motor driver D1, an LORA module, a sun tracking sensor, a voltage acquisition circuit A, a voltage acquisition circuit B, a voltage acquisition circuit C and a voltage acquisition circuit D, the stepping motor driver A, the stepping motor driver B, the stepping motor driver C, the stepping motor driver D, the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1, the stepping motor driver D1, the LORA module, the sun tracking sensor, the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are all connected with the MCU;
the stepping motor driver A, the stepping motor driver B, the stepping motor driver C and the stepping motor driver D are respectively used for driving the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod;
the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1 and the stepping motor driver D1 are respectively used for driving a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod;
the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are respectively used for measuring the voltage U1 of the solar panel positioned in the first quadrant, the voltage U2 of the solar panel positioned in the second quadrant, the voltage U3 of the solar panel positioned in the third quadrant and the voltage U4 of the solar panel positioned in the fourth quadrant;
when the stepping motor driver A drives the first electric push rod, controlling the movement displacement of the first electric push rod to be a fixed preset value d each time;
when the stepping motor driver B drives the second electric push rod, controlling the movement displacement of the second electric push rod to be the fixed preset value d each time;
when the stepping motor driver C drives the third electric push rod, controlling the movement displacement of the third electric push rod to be the fixed preset value d each time;
when the stepping motor driver D drives the fourth electric push rod, controlling the movement displacement of the fourth electric push rod to be the fixed preset value D each time;
the stepping motor driver a1, the stepping motor driver B1, the stepping motor driver C1, and the stepping motor driver D1 are synchronous drives.
Preferably, the spherical pair mechanism is a joint bearing.
Preferably, a plurality of pairs of guide rails are arranged on the upper side of the base, and each sliding block is correspondingly and slidably connected to one pair of guide rails;
a connecting shaft is fixedly arranged at the lower side of the fixed seat, the joint bearing comprises an inner ring body and an outer ring body, and the connecting shaft is inserted into the inner ring body of the joint bearing and is fixedly connected with the inner ring body;
a plurality of bulges are uniformly distributed along the surface of the inner ring of the annular floating body at intervals in sequence, and each bulge is connected to the lower side of the base by a screw;
the fixed seat is fixedly connected with the frame of the solar cell panel bracket;
the bottom end of the fifth electric push rod, the bottom end of the sixth electric push rod, the bottom end of the seventh electric push rod and the bottom end of the eighth electric push rod are respectively hinged with a sliding block through a pin shaft.
Preferably, the sun tracking sensor adopts a barrier type sun position sensor and is used for judging the position of the sun;
the LORA module is used for communicating with an upper computer to acquire meteorological information.
Preferably, the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D all adopt sampling resistance circuits to acquire corresponding voltage values of the solar cell panel.
Preferably, the first electric push rod, the second electric push rod, the third electric push rod, the fourth electric push rod, the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod all adopt non-advancing electric push rod devices, and a motor for driving the push rods is a stepping motor.
The invention relates to an automatic sun tracking device on water, which solves the technical problem of light tracking of a solar cell panel on the water surface, greatly simplifies the software design of a light tracking system by controlling the motion stroke of an electric push rod in a segmented manner, reduces the workload of secondary development, does not generate reaction force, does not drive a floating body to rotate reversely, is suitable for being used on the water surface, has high action speed and small action amplitude, has small influence on the floating body on the water surface, and is favorable for stable work of the solar cell panel.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic block diagram of a circuit board of the present invention;
FIG. 4 is a schematic structural view of a solar panel support of the present invention;
FIG. 5 is a schematic view of the mathematical model of the present invention in the windbreak mode;
FIG. 6 is a schematic view of the mathematical model of the invention after light chasing;
annular floating body 1, bulge 2, base 3, guide rail 4, fixing base 6, joint bearing 8, slider 9, round pin axle 10, connecting axle 12, inner circle body 13, solar cell panel support 21, solar cell panel 22, first electric putter 112, second electric putter 111, third electric putter 113, fourth electric putter 114, fifth electric putter 52, sixth electric putter 53, seventh electric putter 51, eighth electric putter 54.
Detailed Description
As shown in fig. 1 to 6, an automatic solar tracking device on water comprises an annular floating body 1, a base 3 fixedly arranged on the annular floating body 1, and a solar panel support 21, wherein a first electric push rod 112, a second electric push rod 111, a third electric push rod 113, a fourth electric push rod 114, a fifth electric push rod 52, a sixth electric push rod 53, a seventh electric push rod 51, and an eighth electric push rod 54 are sequentially arranged at intervals along the circumferential direction on the upper side of the base 3, and 4 fixed seats are arranged on the solar panel support 21;
the annular floating body 1 is annular, and the base 3 is disc-shaped and is fixedly arranged on the upper side of the annular floating body 1. The inner circle surface along annular body 1 interval equipartition in proper order sets up several bulge 2, bulge 2 and annular body 1 formula structure as an organic whole, and every 2 equal screw connections of bulge are at 3 downside of base.
The solar cell panel support 21 is provided with 4 solar cell panels 22, the middle point of the solar cell panel support 21 is used as an origin, the plane where the solar cell panel support 21 is located is used as the plane where the x axis and the y axis are located, namely, the xy plane, and a coordinate system oxyz is established, wherein the z axis is vertical to the plane where the solar cell panel support 21 is located, and the 4 solar cell panels 22 are respectively located in 4 quadrants on the xy plane;
the fifth electric push rod 52 drives the bottom of the first electric push rod 112 through a slide block 9, and the top of the first electric push rod 112 is connected with a fixed seat 6 through a spherical pair mechanism;
the fifth electric push rod 52 is hinged with the bottom of the first electric push rod 112 through a slide block 9, and the top of the first electric push rod 112 is connected with a fixed seat through a spherical pair mechanism;
the sixth electric push rod 53 is hinged to the bottom of the second electric push rod 111 through a slide block 9, and the top of the second electric push rod 111 is connected with a fixed seat through a spherical pair mechanism;
the seventh electric push rod 51 is hinged with the bottom of the third electric push rod 113 through a slide block 9, and the top of the seventh electric push rod 51 is connected with a fixed seat through a spherical pair mechanism;
the eighth electric push rod 54 is hinged to the bottom of the fourth electric push rod 114 through a slide block 9, and the top of the fourth electric push rod 114 is connected with a fixed seat through a spherical pair mechanism;
the base 3 is also provided with a control box, a circuit board is arranged in the control box, the circuit board is provided with an MCU, a stepping motor driver A, a stepping motor driver B, a stepping motor driver C, a stepping motor driver D, a stepping motor driver A1, a stepping motor driver B1, a stepping motor driver C1, a stepping motor driver D1, an LORA module, a sun tracking sensor, a voltage acquisition circuit A, a voltage acquisition circuit B, a voltage acquisition circuit C and a voltage acquisition circuit D, the stepping motor driver A, the stepping motor driver B, the stepping motor driver C, the stepping motor driver D, the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1, the stepping motor driver D1, the LORA module, the sun tracking sensor, the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are all connected with the MCU;
the stepping motor driver A, the stepping motor driver B, the stepping motor driver C and the stepping motor driver D are respectively used for driving the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114;
the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1 and the stepping motor driver D1 are respectively used for driving the fifth electric push rod 52, the sixth electric push rod 53, the seventh electric push rod 51 and the eighth electric push rod 54;
the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are respectively used for measuring the voltage U1 of the solar panel 22 positioned in the first quadrant, the voltage U2 of the solar panel 22 positioned in the second quadrant, the voltage U3 of the solar panel 22 positioned in the third quadrant and the voltage U4 of the solar panel 22 positioned in the fourth quadrant;
when the stepping motor driver A drives the first electric push rod 112, the displacement of the first electric push rod 112 is controlled to be a fixed preset value d each time;
when the stepping motor driver B drives the second electric push rod 111, controlling the displacement of the second electric push rod 111 to move to be the fixed preset value d each time;
when the stepping motor driver C drives the third electric push rod 113, the displacement of the third electric push rod 113 is controlled to be the fixed preset value d each time;
when the stepping motor driver D drives the fourth electric push rod 114, the displacement amount of the fourth electric push rod 114 is controlled to be the fixed preset value D each time;
the stepping motor driver a1, the stepping motor driver B1, the stepping motor driver C1, and the stepping motor driver D1 are synchronous drives.
Preferably, the spherical pair mechanism is a joint bearing 8. The spherical plain bearing 8 is conventional and will not be described in detail.
Preferably, a plurality of pairs of guide rails 4 are arranged on the upper side of the base 3, and each slide block 9 is correspondingly connected to the pair of guide rails 4 in a sliding manner;
the guide rail 4 is a T-shaped guide rail 4, namely the cross section of the guide rail 44 is T-shaped, the sliding block 9 is correspondingly provided with two guide grooves, the cross section of each guide groove is T-shaped, the two guide rails 4 respectively penetrate through the two guide grooves of the sliding block 9, and the sliding block 9 can slide along the two guide rails 4; when the electric push rod of the electric push rod is completely extended, the two guide rails 4 are respectively arranged on two sides of the electric push rod in parallel at intervals.
A connecting shaft 12 is fixedly arranged at the lower side of the fixed seat 6, the joint bearing 8 comprises an inner ring body 13 and an outer ring body, and the connecting shaft 12 is inserted into the inner ring body 13 of the joint bearing 8 and is fixedly connected with the inner ring body 13;
a plurality of bulges 2 are uniformly distributed along the surface of the inner ring of the annular floating body 1 at intervals in sequence, and each bulge 2 is connected to the lower side of the base 3 by a screw;
the fixed seat 6 is fixedly connected with the frame of the solar cell panel bracket 21;
the bottom end of the fifth electric push rod 52, the bottom end of the sixth electric push rod 53, the bottom end of the seventh electric push rod 51 and the bottom end of the eighth electric push rod 54 are respectively hinged with a slide block 9 through a pin shaft 10.
Preferably, the sun tracking sensor adopts a barrier type sun position sensor and is used for judging the position of the sun;
the LORA module is used for communicating with an upper computer to acquire meteorological information.
Preferably, the voltage acquisition circuit a, the voltage acquisition circuit B, the voltage acquisition circuit C, and the voltage acquisition circuit D all adopt sampling resistance circuits to acquire the voltage value of the corresponding solar cell panel 22.
Preferably, the first electric push rod 112, the second electric push rod 111, the third electric push rod 113, the fourth electric push rod 114, the fifth electric push rod 52, the sixth electric push rod 53, the seventh electric push rod 51 and the eighth electric push rod 54 are all non-progressive electric push rods, and a motor for driving the push rods is a stepping motor.
Fig. 5 is a mathematical model diagram of the present invention, wherein a coordinate system oxyz is a coordinate system where the solar panel support 21 is located, a plane where the solar panel support 21 is located is a plane where an x axis and a y axis are located, that is, an xy plane, and the z axis is perpendicular to the xy plane;
the coordinate system o 'x' y 'z' is the coordinate system of the base 3, o 'is the origin, the plane of the base 3 is the plane of the x' axis and the y 'axis, i.e. the x' y 'plane, and the z' axis is perpendicular to the x 'y' plane; the origin o' is the midpoint of the base 3.
In the figure, the stroke d1, the stroke d2, the stroke d3 and the stroke d4 are respectively working positions of the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114, for example, the first electric push rod 112 moves to the d1 position in the normal working mode.
In this embodiment, the MCU may also adopt a PLC controller.
In this embodiment, the following steps are adopted to perform the following light control:
step S1: the MCU is communicated with the upper computer through the LORA module, acquires meteorological information from the upper computer, and executes the step S3 when the wind speed information in the meteorological information is within a preset range; otherwise, executing step S2;
step S2: entering a wind-proof mode, namely, the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114 are all contracted to the minimum movement range, so that the solar panel support 21 is lowered to the lowest position, and strong wind is placed to blow and overturn the solar panel support 21;
acquiring weather information regularly, and executing step S1;
step S3: entering a normal working mode, namely, the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114 respectively move for a distance of a stroke d1, a stroke d2, a stroke d3 and a stroke d4 to reach a normal working position, wherein the stroke d1, the stroke d2, the stroke d3 and the stroke d4 are respectively half of the full stroke of the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114;
in this embodiment, the first electric putter 112, the second electric putter 111, the third electric putter 113, and the fourth electric putter 114 all use stepper motor putters with the same signal, and their strokes are the same, and when applied, the default stroke d1, stroke d2, stroke d3, and stroke d4 are equal;
step S4: the MCU acquires the approximate position of the sun through the sun tracking sensor, namely the sun is positioned on the west surface or the east surface, in the embodiment, the sun is positioned on the east surface, namely the sun is positioned in the second quadrant and the third quadrant of the xy plane, and the sun is positioned on the west surface, namely the sun is positioned in the first quadrant and the fourth quadrant of the xy plane;
step S5: after the MCU delays for a preset time, the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are used for respectively detecting the output voltage U1 of the solar panel 22 positioned in the first quadrant, the output voltage U2 of the solar panel 22 positioned in the second quadrant, the output voltage U3 of the solar panel 22 positioned in the third quadrant and the output voltage U4 of the solar panel 22 positioned in the fourth quadrant;
step S6: judging which quadrant the position of the sun is biased to, i.e. the sun shift position, according to the maximum value of the judgments U1, U2, U3 and U4, e.g. when U1 is the maximum value of 4 voltage values, judging that the position of the sun at this time is biased to the first quadrant;
in this embodiment, a voltage threshold Δ U is first set, and when the voltage value of U1 is greater than Δ U, it is determined that the position of the sun is biased to the first quadrant, and if U1 is less than Δ U, it is determined that the sun is almost directly incident on the xy plane;
step S7: according to the offset position of the sun, the direct sunlight and the xy plane are enabled by controlling the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114, and the specific steps are as follows:
step S701: when the sun shift position is in a third quadrant, controlling the first electric push rod 112 to move upwards by a fixed increment Δ d1, and simultaneously controlling the third electric push rod 113 to move downwards by a fixed increment Δ d3, wherein Δ d1 is equal to Δ d3, and values of the fixed increment Δ d1 and the fixed increment Δ d3 are both the fixed preset value d;
step S702: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S701, namely, adjusting the solar panel bracket 21;
step S703: repeatedly executing the steps S701 and S702 until U1, U2, U3 and U4 are all smaller than the voltage threshold value delta U, namely the sunlight is directly incident on the xy plane;
step S704: when the sun shift position is in the first quadrant, controlling the first electric push rod 112 to move downwards by a fixed increment Δ d1, and simultaneously controlling the third electric push rod 113 to move upwards by a fixed increment Δ d3, where Δ d1 is equal to Δ d3, and values of the fixed increment Δ d1 and the fixed increment Δ d3 are both the fixed preset value d;
step S705: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S704, namely, adjusting the solar panel support 21;
the adjustment calculation formulas of the first quadrant and the third quadrant are as follows:
d1+(Δd1)×N；
d3+(Δd3)×N；
wherein N is the number of times of adjustment, and the value of N is a positive integer;
step S706: repeatedly executing the steps S704 and S705 until all of U1, U2, U3 and U4 are smaller than the voltage threshold value delta U, namely the sunlight is directly incident on the xy plane;
step S707: when the sun shift position is in the second quadrant, controlling the second electric push rod 111 to move downwards by a fixed increment Δ d2, and simultaneously controlling the fourth electric push rod 114 to move upwards by a fixed increment Δ d4, where Δ d2 is equal to Δ d4, and values of the fixed increment Δ d2 and the fixed increment Δ d4 are both the fixed preset value d;
step S708: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S707, namely, adjusting the solar panel support 21;
step S709: repeatedly executing the step S707 and the step S708 until U1, U2, U3 and U4 are all smaller than the voltage threshold value delta U, namely the direct sunlight is in the xy plane;
step S710: when the sun shift position is in the fourth quadrant, controlling the second electric push rod 111 to move upwards by a fixed increment Δ d2, and simultaneously controlling the fourth electric push rod 114 to move downwards by a fixed increment Δ d4, where Δ d2 is equal to Δ d4, and values of the fixed increment Δ d2 and the fixed increment Δ d4 are both the fixed preset value d;
step S711: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S710, namely, adjusting the solar panel bracket 21;
step S712: repeatedly executing the step S710 and the step S711 until all of U1, U2, U3 and U4 are smaller than the voltage threshold Δ U, that is, the sun is directly incident on the xy plane;
the adjustment calculation formula of the second quadrant and the fourth quadrant is as follows:
d2+(Δd2)×N；
d4+(Δd4)×N；
wherein N is the number of times of adjustment, and the value of N is a positive integer;
in the invention, when in a normal working mode, namely when the light tracking is adjusted, the position of the origin o in the coordinate system oxyz is always unchanged, only when in a wind-proof mode, the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114 all descend to change the position of the origin o of the coordinate system oxyz, when in the wind-proof mode, after the first electric push rod 112, the second electric push rod 111, the third electric push rod 113 and the fourth electric push rod 114 all descend to the formed minimum value, the x ' y ' plane of the coordinate system o ' x ' y ' z ' is parallel to the xy plane of the coordinate system oxyz, and the distance between the origin o and the origin o ' is the shortest.
When the step S7 is executed, the fixed preset value d is used as the stroke increment of the electric push rod, the electric push rod is controlled in a segmented mode, the electric push rod is controlled to move by a fixed increment each time, the follow-up control flow of the electric push rod is greatly simplified, and convenience is brought to secondary development.
The invention relates to an automatic sun tracking device on water, which solves the technical problem of light tracking of a solar cell panel 22 on the water surface, greatly simplifies the software design of a light tracking system by controlling the motion stroke of an electric push rod in a segmented manner, reduces the workload of secondary development, does not generate reaction force, does not drive a floating body to rotate reversely, is suitable for being used on the water surface, has high action speed and small action amplitude, has small influence on the floating body on the water surface, and is favorable for stable work of the solar cell panel 22.
In the present invention, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. A more specific example, non-exhaustive list of computer-readable media includes the following: an electronic device having one or more electrical connections for wiring, a portable computer diskette drive, a random access memory RAM, a read-only memory ROM, an erasable programmable read-only memory EPROM or flash memory, an optical fiber device, and a portable compact disc read-only memory CDROM. Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a programmable gate array PGA, a field programmable gate array FPGA, or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. The utility model provides an automatic tracking sun device on water which characterized in that: the solar cell panel bracket comprises an annular floating body, a base and a solar cell panel bracket, wherein the base is fixedly arranged on the annular floating body, a first electric push rod, a second electric push rod, a third electric push rod, a fourth electric push rod, a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod are sequentially arranged on the upper side of the base at intervals along the circumferential direction, and 4 fixed seats are arranged on the solar cell panel bracket;
the method comprises the following steps that 4 solar panels are arranged on a solar panel support, the middle point of the solar panel support is used as an original point, the plane where the solar panel support is located is used as the plane where an x axis and a y axis are located, namely an xy plane, and a coordinate system oxyz is established, wherein the z axis is perpendicular to the plane where the solar panel support is located, and the 4 solar panels are respectively located in 4 quadrants on the xy plane;
the fifth electric push rod drives the bottom of the first electric push rod through a sliding block, and the top of the first electric push rod is connected with a fixed seat through a spherical pair mechanism;
the fifth electric push rod is hinged with the bottom of the first electric push rod through a sliding block, and the top of the first electric push rod is connected with a fixed seat through a spherical pair mechanism;
the sixth electric push rod is hinged to the bottom of the second electric push rod through a sliding block, and the top of the second electric push rod is connected with a fixed seat through a spherical pair mechanism;
the seventh electric push rod is hinged to the bottom of the third electric push rod through a sliding block, and the top of the seventh electric push rod is connected with a fixed seat through a spherical pair mechanism;
the eighth electric push rod is hinged to the bottom of the fourth electric push rod through a sliding block, and the top of the fourth electric push rod is connected with a fixed seat through a spherical pair mechanism;
the base is also provided with a control box, a circuit board is arranged in the control box, the circuit board is provided with an MCU, a stepping motor driver A, a stepping motor driver B, a stepping motor driver C, a stepping motor driver D, a stepping motor driver A1, a stepping motor driver B1, a stepping motor driver C1, a stepping motor driver D1, an LORA module, a sun tracking sensor, a voltage acquisition circuit A, a voltage acquisition circuit B, a voltage acquisition circuit C and a voltage acquisition circuit D, the stepping motor driver A, the stepping motor driver B, the stepping motor driver C, the stepping motor driver D, the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1, the stepping motor driver D1, the LORA module, the sun tracking sensor, the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are all connected with the MCU;
the stepping motor driver A, the stepping motor driver B, the stepping motor driver C and the stepping motor driver D are respectively used for driving the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod;
the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1 and the stepping motor driver D1 are respectively used for driving a fifth electric push rod, a sixth electric push rod, a seventh electric push rod and an eighth electric push rod;
the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D are respectively used for measuring the voltage U1 of the solar panel positioned in the first quadrant, the voltage U2 of the solar panel positioned in the second quadrant, the voltage U3 of the solar panel positioned in the third quadrant and the voltage U4 of the solar panel positioned in the fourth quadrant;
when the stepping motor driver A drives the first electric push rod, controlling the movement displacement of the first electric push rod to be a fixed preset value d each time;
when the stepping motor driver B drives the second electric push rod, controlling the movement displacement of the second electric push rod to be the fixed preset value d each time;
when the stepping motor driver C drives the third electric push rod, controlling the movement displacement of the third electric push rod to be the fixed preset value d each time;
when the stepping motor driver D drives the fourth electric push rod, controlling the movement displacement of the fourth electric push rod to be the fixed preset value D each time;
the stepping motor driver A1, the stepping motor driver B1, the stepping motor driver C1 and the stepping motor driver D1 are synchronously driven;
the following steps are adopted for light following control:
step S1: the MCU is communicated with the upper computer through the LORA module, acquires meteorological information from the upper computer, and executes the step S3 when the wind speed information in the meteorological information is within a preset range; otherwise, executing step S2;
step S2: entering a wind-proof mode, namely, the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod are all contracted to the minimum movement range, so that the solar cell panel bracket is lowered to the lowest position, and strong wind is placed to blow and overturn the solar cell panel bracket;
acquiring weather information regularly, and executing step S1;
step S3: entering a normal working mode, namely, the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod respectively move for a distance of a stroke d1, a stroke d2, a stroke d3 and a stroke d4 to reach a normal working position, wherein the stroke d1, the stroke d2, the stroke d3 and the stroke d4 are respectively half of the full stroke of the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod;
step S4: the MCU acquires the approximate position of the sun through the sun tracking sensor, namely the sun is positioned on the west surface or the east surface, namely the sun is positioned in the second quadrant and the third quadrant of the xy plane, and the sun is positioned on the west surface, namely the sun is positioned in the first quadrant and the fourth quadrant of the xy plane;
step S5: after the MCU delays for a preset time, the output voltage U1 of the solar panel positioned in the first quadrant, the output voltage U2 of the solar panel positioned in the second quadrant, the output voltage U3 of the solar panel positioned in the third quadrant and the output voltage U4 of the solar panel positioned in the fourth quadrant are respectively detected through the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D;
step S6: judging which quadrant the position of the sun is deflected to, namely the sun offset position, according to the maximum value in the judgments U1, U2, U3 and U4;
setting a voltage threshold delta U, judging that the position of the sun is biased to the first quadrant when the voltage value of U1 is greater than delta U, and judging that the sun is almost directly projected on an xy plane if U1 is less than delta U;
step S7: according to the sun offset position, the first electric push rod, the second electric push rod, the third electric push rod and the fourth electric push rod are controlled to enable the direct solar radiation to be perpendicular to the xy plane, and the specific steps are as follows:
step S701: when the sun shift position is in a third quadrant, controlling the first electric push rod to move upwards by a fixed increment delta d1, and simultaneously controlling the third electric push rod to move downwards by a fixed increment delta d3, wherein delta d1 is equal to delta d3, and values of the fixed increment delta d1 and the fixed increment delta d3 are both the fixed preset value d;
step S702: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S701, namely, adjusting the solar panel bracket;
step S703: repeatedly executing the steps S701 and S702 until U1, U2, U3 and U4 are all smaller than the voltage threshold value delta U, namely the sunlight is directly incident on the xy plane;
step S704: when the sun shift position is in a first quadrant, controlling the first electric push rod to move downwards by a fixed increment delta d1, and simultaneously controlling the third electric push rod to move upwards by a fixed increment delta d3, wherein delta d1 is equal to delta d3, and the values of the fixed increment delta d1 and the fixed increment delta d3 are both the fixed preset value d;
step S705: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S704, namely, adjusting the solar panel bracket;
the adjustment calculation formulas of the first quadrant and the third quadrant are as follows:
d1+(Δd1)×N；
d3+(Δd3)×N；
wherein N is the number of times of adjustment, and the value of N is a positive integer;
step S706: repeatedly executing the steps S704 and S705 until all of U1, U2, U3 and U4 are smaller than the voltage threshold value delta U, namely the sunlight is directly incident on the xy plane;
step S707: when the sun shift position is in a second quadrant, controlling the second electric push rod to move downwards by a fixed increment delta d2, and simultaneously controlling the fourth electric push rod to move upwards by a fixed increment delta d4, wherein delta d2 is equal to delta d4, and values of the fixed increment delta d2 and the fixed increment delta d4 are both the fixed preset value d;
step S708: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method in the step S707, namely, adjusting the solar panel bracket;
step S709: repeatedly executing the step S707 and the step S708 until U1, U2, U3 and U4 are all smaller than the voltage threshold value delta U, namely the direct sunlight is in the xy plane;
step S710: when the sun shift position is in the fourth quadrant, controlling the second electric push rod to move upwards by a fixed increment delta d2, and simultaneously controlling the fourth electric push rod to move downwards by a fixed increment delta d4, wherein delta d2 is equal to delta d4, and the values of the fixed increment delta d2 and the fixed increment delta d4 are both the fixed preset value d;
step S711: after a certain time delay, continuing to measure U1, U2, U3 and U4 so as to judge the offset position of the sun, and adjusting the xy plane again according to the method of the step S710, namely, adjusting the solar panel bracket;
step S712: repeatedly executing the step S710 and the step S711 until all of U1, U2, U3 and U4 are smaller than the voltage threshold Δ U, that is, the sun is directly incident on the xy plane;
the adjustment calculation formula of the second quadrant and the fourth quadrant is as follows:
d2+(Δd2)×N；
d4+(Δd4)×N；
wherein N is the number of times of adjustment, and the value of N is a positive integer.
2. An automatic sun tracking device on water as claimed in claim 1, wherein: the spherical pair mechanism is a joint bearing.
3. An automatic sun tracking device on water as claimed in claim 2, wherein: a plurality of pairs of guide rails are arranged on the upper side of the base, and each sliding block is correspondingly and slidably connected to the pair of guide rails;
a connecting shaft is fixedly arranged at the lower side of the fixed seat, the joint bearing comprises an inner ring body and an outer ring body, and the connecting shaft is inserted into the inner ring body of the joint bearing and is fixedly connected with the inner ring body;
a plurality of bulges are uniformly distributed along the surface of the inner ring of the annular floating body at intervals in sequence, and each bulge is connected to the lower side of the base by a screw;
the fixed seat is fixedly connected with the frame of the solar cell panel bracket;
the bottom end of the fifth electric push rod, the bottom end of the sixth electric push rod, the bottom end of the seventh electric push rod and the bottom end of the eighth electric push rod are respectively hinged with a sliding block through a pin shaft.
4. An automatic sun tracking device on water as claimed in claim 1, wherein: the sun tracking sensor adopts a clapboard type sun position sensor and is used for judging the position of the sun;
the LORA module is used for communicating with an upper computer to acquire meteorological information.
5. An automatic sun tracking device on water as claimed in claim 1, wherein: the voltage acquisition circuit A, the voltage acquisition circuit B, the voltage acquisition circuit C and the voltage acquisition circuit D all adopt sampling resistance circuits to acquire corresponding voltage values of the solar cell panel.
6. An automatic sun tracking device on water as claimed in claim 1, wherein: the first electric push rod, the second electric push rod, the third electric push rod, the fourth electric push rod, the fifth electric push rod, the sixth electric push rod, the seventh electric push rod and the eighth electric push rod all adopt non-propulsion electric push rod devices, and a motor for driving the push rods is a stepping motor.
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| KR20180015481A (en) * | 2016-08-03 | 2018-02-13 | 조용빈 | Solar tracking devices that uses a illuminance sensor |
| CN107867373A (en) * | 2017-10-27 | 2018-04-03 | 山东大学 | A kind of rotary photovoltaic tracking waterborne and vaporization prevention screen device and its method |
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