CN114142797B - Posture adjustment method and device for photovoltaic cell panel and photovoltaic cell panel assembly - Google Patents
Posture adjustment method and device for photovoltaic cell panel and photovoltaic cell panel assembly Download PDFInfo
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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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- 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
- H02S50/00—Monitoring or testing of PV systems, e.g. load balancing or fault identification
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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
- Y02E10/50—Photovoltaic [PV] energy
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Abstract
The application provides a posture adjustment method and device of a photovoltaic cell panel and a photovoltaic cell panel assembly, and relates to the technical field of photoelectricity, wherein the posture adjustment method of the photovoltaic cell panel comprises the following steps: acquiring the current time of a real-time clock in the IMU; acquiring current attitude information of the photovoltaic cell panel through the IMU; calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain sun position information; and carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the sun position information. It can be seen that the implementation of this embodiment can improve the solar energy utilization rate of the photovoltaic cell panel.
Description
Technical Field
The application relates to the technical field of photoelectricity, in particular to a posture adjustment method and device of a photovoltaic cell panel and a photovoltaic cell panel assembly.
Background
With the rapid development of photovoltaic technology, the application range of photovoltaic power generation technology is becoming wider and wider. At present, most photovoltaic cell panels in the market are fixedly installed at a designated place, so that a certain deviation exists between the angle of the photovoltaic cell panel and the sunlight direct angle, and the energy utilization rate is low.
Disclosure of Invention
The application aims to provide a posture adjustment method and device for a photovoltaic cell panel and a photovoltaic cell panel assembly, which can improve the utilization rate of solar energy by the photovoltaic cell panel.
The application provides a posture adjustment method of a photovoltaic cell panel, which comprises the following steps:
Acquiring the current time of a real-time clock in the IMU;
acquiring current attitude information of the photovoltaic cell panel through the IMU;
Calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
and carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information.
In the implementation process, the method can obtain the current time and the current posture of the photovoltaic cell panel through the IMU, calculate the local sun position according to the current time, and then adjust the posture of the photovoltaic cell panel in real time through the motor so that the photovoltaic cell panel is aligned to the sun, thereby ensuring that the photovoltaic cell panel can receive direct irradiation of sunlight. Therefore, by implementing the embodiment, the posture of the photovoltaic cell panel corresponds to the direct solar angle, so that the photovoltaic cell panel is ensured to receive direct solar energy, and the solar energy receiving and utilizing efficiency of the photovoltaic cell panel can be improved.
Further, after the step of obtaining the current time of the real-time clock in the IMU, the method further includes:
Judging whether the current time of the real-time clock in the IMU is preset timing time or not;
and when the current time is the timing time, executing the step of acquiring the current posture information of the photovoltaic cell panel through the IMU.
Further, before the step of calculating according to the current time and longitude and latitude information of the position of the photovoltaic panel to obtain solar position information, the method further includes:
When the installation of the photovoltaic cell panel is completed, positioning the current position to obtain longitude and latitude information of the position of the photovoltaic cell panel;
and storing the longitude and latitude information to an internal memory of the IMU.
Further, before the step of obtaining the current time of the real-time clock in the IMU, the method further includes:
the real-time clock of the IMU is calibrated.
In the implementation process, the method can position the installation position of the photovoltaic cell panel when the installation of the photovoltaic cell panel is completed, so that longitude and latitude information of the current position can be stored in a memory of the IMU, and the subsequent calculation of the sun position is convenient; and meanwhile, the real-time clock of the IMU is calibrated, so that the subsequent punctual calculation is facilitated, and the sun position calculation misalignment caused by time errors is avoided. Therefore, by implementing the implementation mode, the calculation accuracy of the subsequent sun position can be effectively ensured, and the accurate regulation and control of the photovoltaic cell panel are facilitated.
Further, the step of obtaining, by the IMU, current posture information of the photovoltaic panel includes:
acquiring current state data of the IMU;
and calculating according to the current state data to obtain the current posture information of the photovoltaic cell panel.
In the implementation process, the method can acquire all data information of the three single-axis accelerometers and the three single-axis gyroscopes in the IMU, and then calculate the current gesture of the photovoltaic cell panel according to the information. Therefore, by implementing the embodiment, the current posture of the photovoltaic cell panel can be accurately obtained, so that the initial posture of the photovoltaic cell panel adjustment can be determined, and further the follow-up adjustment of the photovoltaic cell panel is facilitated.
Further, the step of obtaining current state data of the IMU includes:
And waking up the MCU through the RTC at fixed time, and reading the current state data of the IMU through the MCU.
Further, the step of calculating according to the current state data to obtain the current posture information of the photovoltaic panel includes:
extracting three angle values corresponding to a triaxial angular velocity sensor in the current state data;
calculating current attitude information of the IMU according to the three angle values;
and determining the current posture information of the IMU as the current posture information of the photovoltaic cell panel.
Further, the step of performing posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information includes:
According to the longitude and latitude information and the sun position information, determining ideal posture information of the photovoltaic cell panel;
Carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information; the real-time state data acquired by the IMU is attitude adjustment feedback quantity.
In the implementation process, the method can calculate the direct solar point of the sun and the current position preferentially according to the sun position information, and then determine the ideal posture information of the photovoltaic cell panel according to the direct solar point; after the ideal posture information of the photovoltaic cell panel is obtained, dynamic posture adjustment is carried out according to the current posture information and the ideal posture information, so that the current posture of the photovoltaic cell panel is adjusted to the ideal posture. It can be seen that by implementing this embodiment, real-time dynamic adjustment of the photovoltaic panel can be performed by the current pose and the ideal pose.
Further, the step of determining ideal posture information of the photovoltaic panel according to the latitude and longitude information and the sun position information includes:
extracting a solar azimuth angle and a solar horizontal direction in the solar position information;
Taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
Taking the solar horizontal direction as an ideal horizontal direction of the photovoltaic cell panel;
And combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
Further, the posture of the photovoltaic cell panel is adjusted according to the current posture information and the ideal posture information; the step of acquiring real-time state data by the IMU as attitude adjustment feedback quantity comprises the following steps:
Calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
Substituting the posture adjustment parameters into a preset PID algorithm to obtain a posture adjustment scheme;
And acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the posture adjustment scheme in real time according to the real-time state data, and adjusting the posture of the photovoltaic cell panel according to the posture adjustment scheme which is adjusted in real time.
Further, after the step of performing posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information, the method further includes:
And controlling the mechanical structure of the photovoltaic cell panel to carry out locking operation on the adjusted posture, and controlling the IMU to enter a dormant state.
In the implementation process, the method can lock the mechanical structure of the photovoltaic cell panel after the photovoltaic cell panel is adjusted, and touch the IMU to be in a dormant state to wait for the next awakening. Therefore, by implementing the embodiment, the photovoltaic cell panel can be locked after the posture of the photovoltaic cell panel is adjusted, so that the photovoltaic cell panel is prevented from shaking or deviating in other forms, and the photovoltaic cell panel is further ensured to receive direct solar radiation.
The second aspect of the present application provides a posture adjustment device for a photovoltaic cell panel, the posture adjustment device comprising:
The acquisition unit is used for acquiring the current time of the real-time clock in the IMU;
the acquisition unit is further used for acquiring current attitude information of the photovoltaic cell panel through the IMU;
The calculating unit is used for calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
and the adjusting unit is used for adjusting the posture of the photovoltaic cell panel according to the current posture information and the solar position information.
Further, the posture adjustment apparatus further includes:
the judging unit is used for judging whether the current time of the real-time clock in the IMU is preset timing time or not;
The obtaining unit is specifically configured to obtain, by using the IMU, current posture information of the photovoltaic panel when the current time is the timing time.
Further, the posture adjustment apparatus further includes:
the positioning unit is used for positioning the current position when the installation of the photovoltaic cell panel is completed, so as to obtain longitude and latitude information of the position of the photovoltaic cell panel;
the positioning unit is also used for storing the longitude and latitude information into an internal memory of the IMU.
Further, the posture adjustment apparatus further includes:
and the calibration unit is used for calibrating the real-time clock of the IMU.
Further, the acquisition unit includes:
an acquisition subunit, configured to acquire current state data of the IMU;
And the calculating subunit is used for calculating according to the current state data to obtain the current posture information of the photovoltaic cell panel.
Further, the obtaining subunit is specifically configured to wake up the MCU at regular time through the RTC when the current time is the timing time, and read current state data of the IMU through the MCU.
Further, the obtaining subunit is specifically configured to wake up the MCU at regular time through the RTC, and read current state data of the IMU through the MCU.
Further, the computing subunit includes:
the first extraction module is used for extracting three angle values corresponding to the triaxial angular velocity sensor in the current state data;
the first calculation module is used for calculating the current attitude information of the IMU according to the three angle values;
And the first determining module is used for determining the current posture information of the IMU as the current posture information of the photovoltaic cell panel.
Further, the adjusting unit includes:
The determining subunit is used for determining ideal posture information of the photovoltaic cell panel according to the longitude and latitude information and the sun position information;
The adjusting subunit is used for carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information; the real-time state data acquired by the IMU is attitude adjustment feedback quantity.
Further, the determining subunit includes:
The second extraction module is used for extracting the sun azimuth angle and the sun horizontal direction in the sun position information;
The second determining module is used for taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
The second determining module is further used for taking the solar horizontal direction as an ideal horizontal direction of the photovoltaic cell panel;
And the combination module is used for combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
Further, the adjustment subunit includes:
The second calculation module is used for calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
The second calculation module is further configured to substitute the posture adjustment parameter into a preset PID algorithm to obtain a posture adjustment scheme;
The adjusting module is used for acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the gesture adjusting scheme in real time according to the real-time state data, and adjusting the gesture of the photovoltaic cell panel according to the gesture adjusting scheme which is adjusted in real time.
Further, the posture adjustment apparatus further includes:
And the control unit is used for controlling the mechanical structure of the photovoltaic cell panel to carry out locking operation on the adjusted gesture and controlling the IMU to enter a dormant state.
The third aspect of the application provides a photovoltaic cell panel assembly comprising a photovoltaic cell panel, an IMU and a drive means, wherein,
The IMU is arranged on the photovoltaic cell panel; the IMU comprises an MCU, a memory, an RTC clock, an accelerometer and a gyroscope;
The MCU is connected with the memory, the RTC clock, the accelerometer, the gyroscope and the driving device;
The driving device is connected with the MCU, the memory, the RTC clock, the accelerometer and the gyroscope;
the IMU is used for always acquiring the current time through the RTC;
The IMU is further used for acquiring current attitude information of the photovoltaic cell panel through the accelerometer and the gyroscope;
The memory is used for pre-storing longitude and latitude information of the position of the photovoltaic cell panel;
The MCU is used for calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
And the MCU is also used for carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information.
A fourth aspect of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to cause the electronic device to execute the method for adjusting the posture of the photovoltaic panel according to any one of the first aspect of the embodiments of the present application.
A fifth aspect of the present application provides a computer readable storage medium storing computer program instructions which, when read and executed by a processor, perform the method for adjusting the posture of a photovoltaic panel according to any one of the first aspect of the embodiments of this application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for adjusting the posture of a photovoltaic cell panel according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another posture adjustment method for a photovoltaic panel according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an attitude adjusting device for a photovoltaic panel according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another posture adjustment device for a photovoltaic panel according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for adjusting the posture of a photovoltaic panel according to an embodiment of the present application. The attitude adjustment method of the photovoltaic cell panel comprises the following steps:
S101, acquiring the current time of a real-time clock in the IMU.
In this embodiment, the method obtains the current time through the RTC in the IMU.
S102, acquiring current posture information of the photovoltaic cell panel through the IMU.
In the embodiment, the system wakes the MCU to read the current state data of the IMU through the RTC at fixed time, and calculates the posture of the photovoltaic cell panel.
And S103, calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information.
In this embodiment, the IMU includes an RTC clock and Flash. The longitude and latitude information of the position of the photovoltaic cell panel is stored in Flash.
In this embodiment, the method may read the RTC clock and the latitude and longitude information in Flash at the same time, and calculate the sun position.
And S104, carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the sun position information.
In this embodiment, the method may determine ideal posture information of the IMU according to the calculated solar position information, and then compare the current posture information with the ideal posture information to obtain a comparison result. Then based on the comparison result, driving a motor to adjust the position through a PID algorithm; the gyroscope data is used as speed feedback quantity, the accelerometer data is used as position feedback quantity, and the speed feedback quantity and the position feedback quantity form attitude adjustment feedback quantity.
In this embodiment, since the ground balls perform rotation and revolution, most of the time in a year of the illumination surface of the photovoltaic panel fixedly installed at a fixed position may not fully utilize solar energy, resulting in low photoelectric conversion efficiency. In order to solve the problem, a method for controlling the illumination surface by detecting the illumination intensity is proposed, but the method can cause misjudgment to the detection of the illumination intensity under a certain condition due to external factors such as weather, season alternation, regional difference, external light interference and the like, so that the control angle is not right, and the photoelectric conversion efficiency is still in a lower state. Because of these factors, the present application proposes a more versatile posture adjustment method, so that all the above-mentioned technical problems can be solved to some extent.
In the embodiment of the present application, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In the embodiment of the present application, the execution body of the method may also be an intelligent device such as a smart phone, a tablet computer, etc., which is not limited in this embodiment.
Therefore, by implementing the posture adjustment method of the photovoltaic cell panel described in the embodiment, the current time and the current posture of the photovoltaic cell panel can be obtained preferentially through the IMU, the local solar position is calculated according to the current time, and then the posture of the photovoltaic cell panel is adjusted in real time, so that the photovoltaic cell panel faces the sun, and the photovoltaic cell panel can receive direct sunlight. Therefore, by implementing the embodiment, the posture of the photovoltaic cell panel corresponds to the direct solar angle, so that the photovoltaic cell panel is ensured to receive direct solar energy, and the solar energy receiving and utilizing efficiency of the photovoltaic cell panel can be improved.
Example 2
Referring to fig. 2, fig. 2 is a flow chart of a method for adjusting the posture of a photovoltaic panel according to an embodiment of the present application. As shown in fig. 2, the method for adjusting the posture of the photovoltaic cell panel includes:
And S201, when the installation of the photovoltaic cell panel is completed, positioning the current position to obtain longitude and latitude information of the position of the photovoltaic cell panel.
In this embodiment, the photovoltaic cell panel may be mounted above the metal support, the IMU may be mounted below the photovoltaic cell panel, and the motor may be mounted between the support and the photovoltaic cell panel for adjusting the angle of the photovoltaic cell panel. Wherein, photovoltaic cell board and IMU both interconnect, and synchronous motion.
In this embodiment, after the whole device is installed, the method may obtain the current position through map or mobile phone positioning, and then determine longitude and latitude information of the current position.
S202, storing longitude and latitude information into an internal memory of the IMU, and calibrating a real-time clock of the IMU.
In this embodiment, the method may write the latitude and longitude information into the Flash memory of the IMU for storage.
In this embodiment, the time detection accuracy can be ensured by calibrating the RTC internal clock of the IMU (the real-time clock of the IMU).
S203, judging whether the current time of the real-time clock in the IMU is the preset timing time, if so, executing steps S204-S209; if not, the process is ended.
In this embodiment, the method determines whether the current time is a timing time by the RTC.
In this embodiment, the timing time is used to indicate the set time. Wherein the timing time may be set when it is desired that the photovoltaic panel make an attitude adjustment at a specified time. And (3) performing posture adjustment on the photovoltaic cell panel at 12 points at regular time. Meanwhile, when it is desired that the photovoltaic panel makes a posture adjustment once at intervals, the timing time may be a time point corresponding to each adjustment, and the time difference of the plurality of timing times is the above-described "at intervals".
S204, waking up the MCU through the RTC at fixed time, and reading the current state data of the IMU through the MCU.
And S205, calculating according to the current state data to obtain the current posture information of the photovoltaic cell panel.
In this embodiment, this step can calculate the posture of the photovoltaic panel.
As an optional implementation manner, the step of calculating according to the current state data to obtain the current posture information of the photovoltaic panel includes:
Extracting three angle values corresponding to the triaxial angular velocity sensor in the current state data;
calculating current attitude information of the IMU according to the three angle values;
And determining the current posture information of the IMU as the current posture information of the photovoltaic cell panel.
S206, calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information.
In this embodiment, the method may read the RTC clock and the latitude and longitude information in Flash at the same time, and calculate the sun position.
S207, determining ideal posture information of the photovoltaic cell panel according to longitude and latitude information and sun position information.
In the embodiment, the method can calculate the ideal posture information of the photovoltaic cell plate facing the sun at the moment according to the sun position information.
As an alternative embodiment, the step of determining the ideal posture information of the photovoltaic cell panel according to the latitude and longitude information and the sun position information includes:
extracting a solar azimuth angle and a solar horizontal direction in the solar position information;
Taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
taking the horizontal direction of the sun as the ideal horizontal direction of the photovoltaic cell panel;
and combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
S208, carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information; the real-time state data acquired by the IMU is attitude adjustment feedback quantity.
In the embodiment, the photovoltaic cell panel can be adjusted through a PID algorithm, so that the adjustment accuracy is ensured.
As an optional implementation manner, the posture of the photovoltaic cell panel is adjusted according to the current posture information and the ideal posture information; the step of acquiring real-time state data by the IMU as the gesture adjustment feedback quantity comprises the following steps:
Calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
substituting the posture adjustment parameters into a preset PID algorithm to obtain a posture adjustment scheme;
And acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting an attitude adjustment scheme in real time according to the real-time state data, and adjusting the attitude of the photovoltaic cell panel according to the attitude adjustment scheme adjusted in real time.
S209, controlling the mechanical structure of the photovoltaic cell panel to lock the adjusted gesture, and controlling the IMU to enter a dormant state.
In this embodiment, after the readjustment is completed, the present position is locked by the mechanical structure, and the IMU is brought into the sleep state by touching.
In this embodiment, the IMU system may be composed of a power management module, a Flash memory, an RTC clock, a 3-axis gyroscope, a 3-axis accelerometer, and a motor driving module.
Therefore, by implementing the posture adjustment method of the photovoltaic cell panel described in the embodiment, the angle of the photovoltaic cell panel can be adjusted through the IMU to achieve the maximum illumination intensity within one year, so that the photoelectric conversion efficiency is improved.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of an attitude adjusting device for a photovoltaic panel according to an embodiment of the present application. As shown in fig. 3, the posture adjustment device of the photovoltaic panel includes:
an obtaining unit 310, configured to obtain a current time of a real-time clock in the IMU;
The obtaining unit 310 is further configured to obtain current posture information of the photovoltaic cell panel through the IMU;
The calculating unit 320 is configured to calculate according to the current time and longitude and latitude information of the position where the photovoltaic panel is located, so as to obtain solar position information;
And the adjusting unit 330 is used for adjusting the posture of the photovoltaic cell panel according to the current posture information and the sun position information.
In the embodiment of the present application, the explanation of the posture adjustment device of the photovoltaic cell panel may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, by implementing the posture adjustment device for the photovoltaic cell panel described in the embodiment, the posture of the photovoltaic cell panel can be corresponding to the direct solar angle, so that the photovoltaic cell panel is ensured to receive direct solar energy, and the solar energy receiving and utilizing efficiency of the photovoltaic cell panel can be improved.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of an attitude adjusting device for a photovoltaic panel according to an embodiment of the application. The posture adjustment device of the photovoltaic cell panel shown in fig. 4 is obtained by optimizing the posture adjustment device of the photovoltaic cell panel shown in fig. 3. As shown in fig. 4, the posture adjustment apparatus further includes:
A judging unit 340, configured to judge whether the current time of the real-time clock in the IMU is a preset timing time;
the obtaining unit 310 is specifically configured to obtain, by using the IMU, current posture information of the photovoltaic panel when the current time is the timing time.
As an alternative embodiment, the posture adjustment device further includes:
the positioning unit 350 is configured to, when the installation of the photovoltaic panel is completed, position the current position to obtain longitude and latitude information of the position where the photovoltaic panel is located;
the positioning unit 350 is further configured to store the latitude and longitude information to an internal memory of the IMU.
As an alternative embodiment, the posture adjustment device further includes:
And a calibration unit 360 for calibrating the real-time clock of the IMU.
As an alternative embodiment, the acquisition unit 310 includes:
An obtaining subunit 311, configured to obtain current state data of the IMU;
and the calculating subunit 312 is configured to calculate according to the current state data, so as to obtain current posture information of the photovoltaic panel.
As an optional implementation manner, the obtaining subunit 311 is specifically configured to wake up the MCU through the RTC at fixed time, and read the current state data of the IMU through the MCU.
As an alternative embodiment, the computing subunit 312 includes:
The first extraction module is used for extracting three angle values corresponding to the triaxial angular velocity sensor in the current state data;
The first calculation module is used for calculating the current attitude information of the IMU according to the three angle values;
the first determining module is used for determining the current gesture information of the IMU as the current gesture information of the photovoltaic cell panel.
As an alternative embodiment, the adjusting unit 330 includes:
the determining subunit 331 is configured to determine ideal posture information of the photovoltaic panel according to latitude and longitude information and sun position information;
an adjustment subunit 332, configured to perform an attitude adjustment on the photovoltaic panel according to the current attitude information and the ideal attitude information; the real-time state data acquired by the IMU is attitude adjustment feedback quantity.
As an alternative embodiment, the determining subunit 331 includes:
The second extraction module is used for extracting the sun azimuth angle and the sun horizontal direction in the sun position information;
the second determining module is used for taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
the second determining module is also used for taking the horizontal direction of the sun as the ideal horizontal direction of the photovoltaic cell panel;
And the combination module is used for combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
As an alternative embodiment, the adjustment subunit 332 includes:
The second calculation module is used for calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
the second calculation module is also used for substituting the gesture adjustment parameters into a preset PID algorithm to obtain a gesture adjustment scheme;
The adjusting module is used for acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the posture adjusting scheme in real time according to the real-time state data, and adjusting the posture of the photovoltaic cell panel according to the posture adjusting scheme which is adjusted in real time.
As an alternative embodiment, the posture adjustment device further includes:
and the control unit 370 is used for controlling the mechanical structure of the photovoltaic cell panel to carry out locking operation on the adjusted posture and controlling the IMU to enter a dormant state.
In the embodiment of the present application, the explanation of the posture adjustment device of the photovoltaic cell panel may refer to the description in embodiment 1 or embodiment 2, and no redundant description is given in this embodiment.
Therefore, by implementing the posture adjustment device for the photovoltaic cell panel described in the embodiment, the posture of the photovoltaic cell panel can be corresponding to the direct solar angle, so that the photovoltaic cell panel is ensured to receive direct solar energy, and the solar energy receiving and utilizing efficiency of the photovoltaic cell panel can be improved.
The embodiment of the application provides a photovoltaic cell panel assembly, which comprises a photovoltaic cell panel, an IMU and a driving device, wherein,
The IMU is arranged on the photovoltaic cell panel; the IMU comprises an MCU, a memory, an RTC clock, an accelerometer and a gyroscope;
the MCU is connected with the memory, the RTC clock, the accelerometer, the gyroscope and the driving device;
The driving device is connected with the MCU, the memory, the RTC clock, the accelerometer and the gyroscope;
the IMU is used for always acquiring the current time through the RTC;
The IMU is also used for acquiring the current attitude information of the photovoltaic cell panel through the accelerometer and the gyroscope;
the memory is used for pre-storing longitude and latitude information of the position of the photovoltaic cell panel;
the MCU is used for calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain sun position information;
and the MCU is also used for carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the sun position information.
The embodiment of the application provides electronic equipment, which comprises a memory and a processor, wherein the memory is used for storing a computer program, and the processor runs the computer program to enable the electronic equipment to execute the posture adjustment method of the photovoltaic cell panel in any one of embodiment 1 or embodiment 2 of the application.
The embodiment of the application provides a computer readable storage medium storing computer program instructions which, when read and run by a processor, perform the posture adjustment method of the photovoltaic panel of any one of embodiment 1 or embodiment 2 of the application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (13)
1. A method for adjusting the attitude of a photovoltaic panel, the method comprising:
Acquiring the current time of a real-time clock in the IMU;
acquiring current attitude information of the photovoltaic cell panel through the IMU;
Calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information;
after the step of obtaining the current time of the real-time clock in the IMU, the method further includes:
Judging whether the current time of the real-time clock in the IMU is preset timing time or not;
Executing the step of acquiring the current posture information of the photovoltaic cell panel through the IMU when the current time is the timing time;
Before the step of calculating according to the current time and longitude and latitude information of the position of the photovoltaic panel to obtain solar position information, the method further comprises the following steps:
When the installation of the photovoltaic cell panel is completed, positioning the current position to obtain longitude and latitude information of the position of the photovoltaic cell panel;
Storing the longitude and latitude information to an internal memory of an IMU;
the step of obtaining the current posture information of the photovoltaic cell panel through the IMU comprises the following steps:
acquiring current state data of the IMU;
calculating according to the current state data to obtain current posture information of the photovoltaic cell panel;
The step of obtaining the current state data of the IMU includes:
The MCU is awakened at fixed time through the RTC, and the current state data of the IMU is read through the MCU;
The step of performing posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information comprises the following steps:
According to the longitude and latitude information and the sun position information, determining ideal posture information of the photovoltaic cell panel;
carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information;
The step of carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information comprises the following steps:
Calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
Substituting the posture adjustment parameters into a preset PID algorithm to obtain a posture adjustment scheme;
Acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the posture adjustment scheme in real time according to the real-time state data, and adjusting the posture of the photovoltaic cell panel according to the posture adjustment scheme which is adjusted in real time; and the real-time state data acquired by the IMU is gesture adjustment feedback quantity.
2. The method for adjusting the posture of the photovoltaic cell panel according to claim 1, wherein before the step of obtaining the current time of the real-time clock in the IMU, the method further comprises:
the real-time clock of the IMU is calibrated.
3. The method for adjusting the posture of the photovoltaic cell panel according to claim 1, wherein the step of calculating according to the current state data to obtain the current posture information of the photovoltaic cell panel comprises the steps of:
extracting three angle values corresponding to a triaxial angular velocity sensor in the current state data;
calculating current attitude information of the IMU according to the three angle values;
and determining the current posture information of the IMU as the current posture information of the photovoltaic cell panel.
4. The method for adjusting the posture of the photovoltaic cell panel according to claim 1, wherein the step of determining ideal posture information of the photovoltaic cell panel according to the latitude and longitude information and the sun position information comprises:
extracting a solar azimuth angle and a solar horizontal direction in the solar position information;
Taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
Taking the solar horizontal direction as an ideal horizontal direction of the photovoltaic cell panel;
And combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
5. The method for adjusting the posture of the photovoltaic cell panel according to claim 1, wherein after the step of performing posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information, the method further comprises:
And controlling the mechanical structure of the photovoltaic cell panel to carry out locking operation on the adjusted posture, and controlling the IMU to enter a dormant state.
6. An attitude adjustment device of a photovoltaic cell panel, characterized in that the attitude adjustment device comprises:
The acquisition unit is used for acquiring the current time of the real-time clock in the IMU;
the acquisition unit is further used for acquiring current attitude information of the photovoltaic cell panel through the IMU;
The calculating unit is used for calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
the adjusting unit is used for adjusting the posture of the photovoltaic cell panel according to the current posture information and the solar position information;
Wherein, the gesture adjustment device further includes:
the judging unit is used for judging whether the current time of the real-time clock in the IMU is preset timing time or not;
The acquisition unit is specifically configured to acquire current posture information of the photovoltaic cell panel through the IMU when the current time is the timing time;
Wherein, the gesture adjustment device further includes:
the positioning unit is used for positioning the current position when the installation of the photovoltaic cell panel is completed, so as to obtain longitude and latitude information of the position of the photovoltaic cell panel;
The positioning unit is also used for storing the longitude and latitude information into an internal memory of the IMU;
wherein the acquisition unit includes:
an acquisition subunit, configured to acquire current state data of the IMU;
The calculating subunit is used for calculating according to the current state data to obtain the current posture information of the photovoltaic cell panel;
The acquisition subunit is specifically configured to wake up the MCU at regular time through the RTC, and read current state data of the IMU through the MCU;
Wherein the adjusting unit includes:
The determining subunit is used for determining ideal posture information of the photovoltaic cell panel according to the longitude and latitude information and the sun position information;
The adjusting subunit is used for carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information;
wherein the adjustment subunit comprises:
The second calculation module is used for calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters;
The second calculation module is further configured to substitute the posture adjustment parameter into a preset PID algorithm to obtain a posture adjustment scheme;
The adjusting module is used for acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the posture adjusting scheme in real time according to the real-time state data, and adjusting the posture of the photovoltaic cell panel according to the posture adjusting scheme which is adjusted in real time; and the real-time state data acquired by the IMU is gesture adjustment feedback quantity.
7. The posture adjustment device of a photovoltaic cell panel of claim 6, characterized in that the posture adjustment device further comprises:
and the calibration unit is used for calibrating the real-time clock of the IMU.
8. The attitude adjustment device of a photovoltaic panel according to claim 6, wherein the calculation subunit includes:
the first extraction module is used for extracting three angle values corresponding to the triaxial angular velocity sensor in the current state data;
the first calculation module is used for calculating the current attitude information of the IMU according to the three angle values;
And the first determining module is used for determining the current posture information of the IMU as the current posture information of the photovoltaic cell panel.
9. The posture adjustment device of a photovoltaic cell panel according to claim 6, characterized in that the determination subunit comprises:
The second extraction module is used for extracting the sun azimuth angle and the sun horizontal direction in the sun position information;
The second determining module is used for taking the solar azimuth angle as an ideal elevation angle of the photovoltaic cell panel;
The second determining module is further used for taking the solar horizontal direction as an ideal horizontal direction of the photovoltaic cell panel;
And the combination module is used for combining the ideal elevation angle and the ideal horizontal orientation to obtain the ideal attitude information of the photovoltaic cell panel.
10. The posture adjustment device of a photovoltaic cell panel of claim 6, characterized in that the posture adjustment device further comprises:
And the control unit is used for controlling the mechanical structure of the photovoltaic cell panel to carry out locking operation on the adjusted gesture and controlling the IMU to enter a dormant state.
11. A photovoltaic cell panel assembly is characterized in that the photovoltaic cell panel assembly comprises a photovoltaic cell panel, an IMU and a driving device, wherein,
The IMU is arranged on the photovoltaic cell panel; the IMU comprises an MCU, a memory, an RTC clock, an accelerometer and a gyroscope;
The MCU is connected with the memory, the RTC clock, the accelerometer, the gyroscope and the driving device;
The driving device is connected with the MCU, the memory, the RTC clock, the accelerometer and the gyroscope;
the IMU is used for acquiring the current time through the RTC clock;
The IMU is further used for acquiring current attitude information of the photovoltaic cell panel through the accelerometer and the gyroscope;
The memory is used for pre-storing longitude and latitude information of the position of the photovoltaic cell panel;
The MCU is used for calculating according to the current time and longitude and latitude information of the position of the photovoltaic cell panel to obtain solar position information;
The MCU is further used for carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the solar position information;
the IMU is further used for judging whether the current time of the real-time clock in the IMU is preset timing time or not;
the IMU is further used for acquiring current posture information of the photovoltaic cell panel through the accelerometer and the gyroscope when the current time is the timing time;
The IMU is further used for positioning the current position when the installation of the photovoltaic cell panel is completed, so as to obtain longitude and latitude information of the position of the photovoltaic cell panel;
the IMU is further used for storing the longitude and latitude information to an internal memory of the IMU;
the IMU is specifically configured to obtain current state data of the IMU; calculating according to the current state data to obtain current posture information of the photovoltaic cell panel;
The IMU is specifically used for waking up the MCU at fixed time through the RTC, and reading current state data of the IMU through the MCU;
the MCU is specifically used for determining ideal posture information of the photovoltaic cell panel according to the longitude and latitude information and the solar position information; carrying out posture adjustment on the photovoltaic cell panel according to the current posture information and the ideal posture information;
The MCU is specifically used for calculating according to the current posture information and the ideal posture information to obtain posture adjustment parameters; substituting the posture adjustment parameters into a preset PID algorithm to obtain a posture adjustment scheme; acquiring real-time state data of the photovoltaic cell panel through the IMU, adjusting the posture adjustment scheme in real time according to the real-time state data, and adjusting the posture of the photovoltaic cell panel according to the posture adjustment scheme which is adjusted in real time; and the real-time state data acquired by the IMU is gesture adjustment feedback quantity.
12. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the method of attitude adjustment of the photovoltaic panel according to any one of claims 1 to 5.
13. A readable storage medium, wherein computer program instructions are stored in the readable storage medium, which when read and executed by a processor, perform the method of adjusting the attitude of a photovoltaic panel according to any one of claims 1 to 5.
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