CN215449994U

CN215449994U - Light direction tracking system based on multi-sensor information

Info

Publication number: CN215449994U
Application number: CN202121738450.2U
Authority: CN
Inventors: 石梦珂; 石海平
Original assignee: Guangzhou Wangli Energy Saving Technology Co ltd
Current assignee: Guangzhou Wangli Energy Saving Technology Co ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2022-01-07
Anticipated expiration: 2031-07-28

Abstract

The utility model discloses a light is tracking system and drive control algorithm based on multisensor information, including light sensing board, controller, drive arrangement, deflection mechanism, supporting mechanism and light-shading piece, except that being equipped with four light sensor around the centre ring on the light sensing board, still be equipped with fifth light sensor at central point, this light is tracking system and drive control algorithm based on multisensor information has outstanding beneficial effect: the four optical sensors arranged in a ring are used for outputting pairwise comparison, firstly, the fast rough adjustment is carried out, then, the accurate fine adjustment is carried out on the self-output comparison of the fifth optical sensor in the center at different time and positions, the inherent output error existing between different sensors and the inherent read-in error existing between different input circuits can be thoroughly eliminated, and therefore the fast and continuous accurate tracking in place is realized.

Description

Light direction tracking system based on multi-sensor information

Technical Field

The utility model relates to the technical field of photovoltaic application, in particular to a light direction tracking system based on multi-sensor information.

Background

In order to maximize the light energy received by the solar energy application device (including but not limited to solar power generation device, solar thermal collector, etc., the same shall apply hereinafter), the light tracking and control of the solar energy application device are required to ensure that the solar energy application device always faces the actual direction of the solar ray with the largest area.

The method for implementing the light tracking and control of the solar energy application device mainly comprises passive tracking for detecting the incident angle of sunlight in real time and active tracking for calculating the position of the sun according to astronomical knowledge. The former is not affected by calculation error and throttle change, and can meet the requirement of the light control of the solar energy application device as long as the detection precision of the light detection device is high enough. The latter needs to perform complex mathematical calculation and also needs to be supported by complex astronomical knowledge, the control precision of the solar energy application device is limited by the accuracy of the calculation result and the elimination of the accumulated error of the drive control, and is greatly influenced by the change of the solar term, and the solar energy application device runs according to the control track of the solar energy application device at the moment regardless of the weather, so that energy waste and unnecessary wear of equipment are caused, and if the solar energy application device needs to perform proper adjustment control, other detection and control means need to be supplemented.

The prior art of passive tracking, or various devices for shielding light, increases the complexity of the structure; or increased cost due to the use of complex distributed optoelectronic devices, which are not accurate enough and increase the complexity of the detection circuitry; or because different photoelectric devices have inherent output variation errors when being illuminated simultaneously, the tiny change of light direction cannot be accurately distinguished, and no matter how the different detection circuits are precisely adjusted and matched, the detected values also have inherent errors among each other, and the like; in order to solve these drawbacks, the conventional passive tracking technology needs other complicated auxiliary means, which greatly increases the cost, and even cannot completely solve the problems.

In the prior art of passive tracking, a specially-made four-quadrant photodetector is mostly adopted, the inherent difference of output signals of different sensors when the sensors are subjected to the same illumination and the inherent read-in difference of different input circuits are difficult to overcome, the inherent difference of the sensors is quite large when the general sensors are used, the actual accurate tracking cannot be realized through accurate judgment, the accuracy needs to be improved from a device to solve, and the cost of a special four-quadrant photodetector is high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems, designs a light direction tracking system based on multi-sensor information and a driving control algorithm thereof, and solves the problems of the prior art.

The technical scheme of the utility model for realizing the aim is as follows: a light direction tracking system based on multi-sensor information comprises a light sensing plate, a controller, a driving device, a deflection mechanism, a supporting mechanism and a shading piece, wherein the light sensing plate is provided with four light sensors around a center ring, and is also provided with a middle position light sensor at the center position, the four light sensors arranged around the center ring can be arranged into a high position light sensor and a low position light sensor which are parallel to a deflection direction and an initial position light sensor and a final position light sensor which are vertical to the deflection direction, the middle position light sensor can be replaced by two or more parallel light sensors arranged outside the vertical center line of the light sensing plate, the center of the light sensing plate is provided with the shading piece, the periphery of the light sensing plate is additionally provided with the controller, the light sensing plate is fixed on one side of a lighting surface of the deflection mechanism facing the sun, and the high angle deflection limit position and the azimuth angle rotation limit position of the light sensing plate are respectively provided with a high limit position sensor, The deflection mechanism is connected with a deflection driving device and a rotation driving device.

The controller is in signal connection with the high-position optical sensor, the low-position optical sensor, the initial-position optical sensor, the final-position optical sensor and the middle-position optical sensor through analog-to-digital converters, the controller is in signal connection with the deflection driving device and the rotation driving device through the motor driving power amplifier, and the controller is in signal connection with the high-limit position sensor, the low-limit position sensor, the initial-limit position sensor and the final-limit position sensor through I/O interfaces.

The optical sensing plate is a solar cell panel, a photodiode plate, a photoelectric triode plate, a photoresistance plate or a silicon photocell plate, and the high-order optical sensor, the low-order optical sensor, the initial-order optical sensor, the final-order optical sensor and the middle-order optical sensor are solar cells, photodiodes, phototransistors, photoresistors or silicon photocells.

The deflection driving device controls the height angle adjustment of the deflection mechanism, and the rotation driving device controls the azimuth angle adjustment of the deflection mechanism.

The deflection mechanism is mounted on the support mechanism.

A multi-sensor information based drive control algorithm for a light tracking system, comprising the following algorithms: algorithm 1, algorithm 2, algorithm 3, algorithm 4, and algorithm 5;

the algorithm 1, namely at night, the light direction tracking system is in a homing waiting state, and comprises the following steps: the rotary driving device drives the deflection mechanism to be in a signal triggering position of the initial limit position sensor, the deflection driving device drives the deflection mechanism to be in a signal triggering position of the low limit position sensor, the former is the initial limit position, and the latter is the low limit position;

the algorithm 2, namely before the first tracking in place is not performed in the daytime, the algorithm starts the fast coarse adjustment at a proper time interval, such as each adjustment point, and then the slow fine adjustment, comprises the following steps: step 1, step 2, step 3, step 4, step 5, step 6, step 7, step 8, step 9 and step 10;

step 1: the controller controls the deflection driving device to rapidly deflect and raise the deflection driving device from the low limit position to a certain degree, such as the actual solar altitude at a corresponding time point, and simultaneously stores the deflection quantity at the moment; wherein the deflection amount is set to zero at a low limit position, a specific amount of deflection drive command data when the controller controls the deflection drive device to deflect the deflection mechanism from the low limit position toward the high limit position is added to the deflection amount, and a specific amount of deflection drive command data when the controller controls the deflection drive device to deflect the deflection mechanism from the high limit position toward the low limit position is subtracted from the deflection amount, and the change in the rotation amount is similar thereto;

step 2: the controller controls the rotation driving device to rotate from the initial limit position to the final limit position quickly, the signals of the optical sensor are read once when the optical sensor rotates for a certain angle, meanwhile, the maximum value of the group of signals and the rotation number at the moment are stored temporarily and compared with the stored maximum value of the front signals of the optical sensor, if the maximum value of the group of signals is larger, the maximum value of the group of signals is used for replacing the maximum value of the front signals and updating the rotation number corresponding to the maximum value of the signals, and if the maximum value of the front signals and the rotation number corresponding to the maximum value of the signals are not exceeded, the maximum value of the front signals and the rotation number corresponding to the maximum value of the front signals are kept unchanged; upon reaching the final limit position, the controller controls the rotary driving device to rotate in a reverse direction from the final limit position rapidly and return to the maximum value of the previous signal, and then reads the signal of the optical sensor, if the maximum value of the set of signals is not less than the low threshold, step 3 or step 4 of the present algorithm 2 is continuously executed, otherwise, if the maximum value of the set of signals is less than the low threshold, the algorithm 5 described later is executed; the data of the low threshold value is obtained from a signal value of the median optical sensor under the condition that certain illumination is available and is aligned with the optical sensing plate, and the certain illumination refers to that under the illumination intensity, the solar energy which can be collected, converted and utilized by the solar energy application device in the normal operation process is not less than the integral loss or loss of the light to the tracking system and the solar energy application device in the normal operation process;

and step 3: if the signal value of the high-order photosensor is still larger than the signal value of the low-order photosensor after subtracting the maximum deviation of the photosensor signal value (otherwise, skipping to execute the next step), the controller controls the deflection driving device to make the deflection mechanism rapidly deflect towards the direction of the high-position optical sensor, and signal values of the middle-position optical sensor, the high-position optical sensor and the low-position optical sensor are read at intervals, simultaneously, comparing the signal values of the high-position optical sensor and the low-position optical sensor, comparing and storing the maximum signal value of the middle-position optical sensor and the deflection quantity corresponding to the maximum signal value until the signal value of the high-position optical sensor is smaller than the signal value of the low-position optical sensor after subtracting the maximum deflection of the signal value of the optical sensor, and then quickly deflecting in the reverse direction to return to the maximum signal value of the middle-position optical sensor found in the quick deflection process; vice versa (particularly: the maximum deviation of the signal value of the optical sensor subtracted from the signal value of the low-position optical sensor is still larger than the signal value of the high-position optical sensor), so that the first quick rough adjustment of the altitude angle direction is completed, and then the steps are all switched to step 5; wherein the maximum deviation of the signal value of the light sensor refers to a standard technology maximum possible deviation value of the light sensor;

and 4, step 4: if the signal value of the high-order photosensor is greater than the signal value of the low-order photosensor but the signal value of the high-order photosensor is not greater than the signal value of the low-order photosensor after subtracting the maximum deviation of the photosensor signal value, the controller controls the deflection driving device to deflect the deflection mechanism toward the high-order photosensor at a medium speed, reads the signal values of the medium-order photosensor, the high-order photosensor and the low-order photosensor at intervals, compares the signal values of the high-order photosensor and the low-order photosensor, compares the signal values of the medium-order photosensor with the signal values of the low-order photosensor, stores the maximum signal value of the medium-order photosensor and the deflection number corresponding to the maximum signal value of the medium-order photosensor until the signal value of the high-order photosensor is smaller than the signal value of the low-order photosensor after subtracting the maximum deviation of the photosensor signal value, and then quickly reversely deflects and returns to the maximum signal value of the medium-order photosensor found during the medium-speed deflection At a value; then the controller controls the deflection driving device to continue to deflect in the same direction at a medium speed along the direction of the returned maximum value, and the signal values of the middle position light sensor, the high position light sensor and the low position light sensor are read at intervals, meanwhile, the signal values of the high position light sensor and the low position light sensor are compared, the maximum value of the signal of the middle position light sensor and the corresponding deflection quantity are stored, until the signal value of the high position light sensor is still larger than the signal value of the low position light sensor after subtracting the maximum deviation of the signal value of the light sensor, and then the signal value of the low position light sensor returns to the maximum value of the signal of the middle position light sensor found in the medium speed deflection process in the direction after fast reverse deflection again, and vice versa (in particular: although the signal value of the low position light sensor is larger than the signal value of the high position light sensor, after the maximum deviation of the signal value of the optical sensor is subtracted from the signal value of the low-position optical sensor, the signal value of the low-position optical sensor is not larger than the signal value of the high-position optical sensor, and the first quick coarse adjustment of the altitude angle direction is completed;

and 5: the controller controls the deflection driving device to perform pulsating deflection in one direction, wherein the pulsating deflection refers to a regular slow deflection mode with interval interruption after short-time fast deflection, and a signal value of the middle position optical sensor is read when a gap is driven; comparing and storing the maximum signal value of the middle position optical sensor and the deflection quantity corresponding to the maximum signal value until the maximum signal value of the middle position optical sensor is continuously updated for a plurality of times, such as continuously updated for more than ten times, and then quickly returning to the maximum signal value of the middle position optical sensor found in the direction pulse deflection process; then, the controller controls the deflection driving device to perform pulsating deflection in the other direction, reads the signal value of the middle position optical sensor in the driving gap, compares the signal value and stores the maximum value and the corresponding deflection quantity of the middle position optical sensor until the signal value of the middle position optical sensor is continuously updated for a plurality of times, such as continuously more than ten times without the maximum value, and finally returns to the position of the signal maximum value of the middle position optical sensor found in the pulsating deflection process in the direction quickly to finish the first slow fine adjustment in the height angle direction;

step 6: if the last signal maximum value of the middle position light sensor is not smaller than the low threshold value, continuing to sequentially execute the next step, otherwise, executing an algorithm 5 to be described later;

and 7: finishing fast rough adjustment and slow fine adjustment in the azimuth direction by referring to steps 3 to 5 of the algorithm 2, and then sequentially executing the next step if the final signal maximum value of the middle position optical sensor is not less than the low threshold value, otherwise, executing the algorithm 5;

and 8: referring to the steps 3 to 5 of the algorithm 2, the second quick coarse adjustment and the second quick fine adjustment in the elevation angle direction are completed;

and step 9: if the maximum value of the last signal of the middle position light sensor is not less than the high threshold value, continuing to sequentially execute the next step, otherwise, executing an algorithm 5 which is described later; wherein, the data of the high threshold value is taken from the signal value of the median photosensor under the condition that enough illumination is available and aligned with the photosensor plate, and the enough illumination means that under the illumination intensity, the solar energy collected, converted and utilized exceeds the proper amplitude of the overall loss or loss in the normal operation of the light tracking system and the solar energy application device in the normal operation process of the solar energy application device;

step 10: setting and storing the first tracking in-place judgment bit as the existing first tracking in-place.

The algorithm 3 comprises the following steps: step 1, step 2, step 3, step 4 and step 5;

step 1: after the tracking is in place for the first time in the daytime, and after the tracking is in place for the last time, the next step is sequentially executed after the illumination is found in the way of waiting for no illumination within a certain long time, such as five minutes, or within a certain long time, such as fifteen minutes, or the started corresponding waiting is continued;

step 2: completing the first slow fine adjustment of the elevation angle direction in the same step 5 of the algorithm 2;

and step 3: if the last signal maximum value of the middle position light sensor is not smaller than the low threshold value, continuing to sequentially execute the next step, otherwise, executing an algorithm 4 to be described later;

and 4, step 4: finishing the slow fine tuning in the azimuth direction with reference to step 2 of the present algorithm 3; if the last signal maximum value of the middle position light sensor is not smaller than the low threshold value, the next step is executed continuously, and if not, the algorithm 4 is executed;

and 5: completing the secondary slow fine adjustment in the elevation angle direction in the same step 2 of the algorithm 3; and then, if the last maximum signal value of the middle position light sensor is smaller than the low threshold value, executing an algorithm 4 to be described later, and otherwise, entering a step 1 of waiting for a certain short time, such as five minutes, and then executing the algorithm 3.

The algorithm 4 comprises the following steps: step 1, step 2 and step 3;

step 1: if the position is tracked in the daytime but the maximum value of the last signal of the middle position optical sensor is smaller than the low threshold value, the method enters a certain long time, such as fifteen minutes for waiting, and if certain illumination is found, namely the maximum value of the optical sensor signal group read at intervals is not smaller than the low threshold value, the method returns to execute the algorithm 3;

on the contrary, if the illumination is always insufficient in the period, namely the maximum values of the optical sensor signal groups read at intervals are always smaller than the low threshold value, the first-time in-tracking judgment bit is cleared to be not already tracked in place for the first time, and the following steps are continuously executed;

step 2: the controller controls the rotary driving device to return to the initial limit position and then controls the deflection driving device to return to the low limit position;

and step 3: if the time is night, returning to execute the algorithm 1; if the day still exists, the algorithm 2 is executed again.

The algorithm 5 comprises the following steps: step 1, step 2 and step 3;

step 1: if the maximum value of the optical sensor signal group read at a certain illumination time, namely at an interval is not less than the low threshold value, the method returns to step 3 of executing the algorithm 2 to start executing;

otherwise, if the illumination is always insufficient, that is, the maximum values of the optical sensor signal groups read at intervals are always smaller than the low threshold value, continuing to execute the following steps;

The light direction tracking system based on multi-sensor information and the driving control algorithm thereof manufactured by the technical scheme of the utility model have the following outstanding beneficial effects: the silicon photocell has good shielding effect, interference resistance, waterproofness and weather resistance, a general sensor is additionally arranged for comparing the four-quadrant photoelectric detector, the fifth photoelectric sensor is accurately and precisely adjusted in self-output comparison at different time and positions, inherent output errors existing between different sensors and inherent read-in errors existing between different input circuits can be thoroughly eliminated, and therefore the silicon photocell can be quickly and continuously accurately tracked in place

Drawings

Fig. 1 is a schematic view of the incident angle of sunlight.

FIG. 2 is a schematic diagram of the connection between each sensor and the driving device of the multi-sensor information-based light direction tracking system and the driving control algorithm thereof according to the present invention.

FIG. 3 is a schematic diagram of a side view structure of a multi-sensor information-based light direction tracking system and a driving control algorithm thereof according to the present invention.

FIG. 4 is a schematic top view of a multi-sensor information-based light tracking system and a driving control algorithm thereof according to the present invention.

FIG. 5 is a schematic diagram of a partial enlarged structure of the multi-sensor information-based light tracking system and the driving control algorithm thereof according to the present invention shown in FIG. 3.

FIG. 6 is a schematic diagram of a partially enlarged structure of the multi-sensor information-based light tracking system and the driving control algorithm thereof according to the present invention shown in FIG. 4.

In the figure: 1. a light sensing plate; 10. a neutral position light sensor; 11. a high-order photosensor; 12. a low-level photosensor; 13. an initial position optical sensor; 14. a final position light sensor; 2. a position sensor; 21. a low limit position sensor; 22. a high limit position sensor; 23. a primary limit position sensor; 24. a final limit position sensor; 3. a drive device; 31. a deflection drive device; 32. a rotation driving device; 4. a controller; 5. a deflection mechanism; 6. a support mechanism; 7. a light shielding member.

Detailed Description

The present invention will now be described in detail with reference to the accompanying drawings, as shown in fig. 1 to 6.

The embodiment of the utility model provides a light direction tracking system based on multi-sensor information, which can be mainly used in various solar energy application devices. It should be understood that solar applications may have a daylighting surface for collecting sunlight. The lighting surface may refer to an active surface of a solar cell panel, a planar solar heat collection device, or an active surface of a solar heat collection device with other shapes, and is described as a plane, which is not limited to the description. The solar energy application device can be provided with a sunlight tracking control device and a driving device in the prior art, and necessary auxiliary structures or conditions such as a matched bracket, a power supply and the like; in the embodiment of the present invention, the driving device 3 may be selected from various single-shaft or double-shaft driving devices in the art, and the controller 4 of the solar energy application device may be integrally installed in the driving device 3.

The light direction tracking system based on multi-sensor information provided by the embodiment of the utility model can comprise a light sensing plate 1, a position sensor 2, a driving device 3, a controller 4, a deflection mechanism 5, a supporting mechanism 6 and a light shielding piece 7 as shown in fig. 3. The controller 4 can control the driving device 3 to drive the lighting surface of the deflection mechanism 5 to perform the light following movement, the driving device 3 can be selected from various mechanical driving structures of the existing tracking system, and the driving device 3 can be selected to perform single-axis tracking or double-axis tracking. In addition, it should be understood by those skilled in the art that the sunlight tracking system can also be used by separately providing a controller 4 to cooperate with the controller of the existing tracking system.

In the light direction tracking system provided by the embodiment of the present invention, each optical sensor is fixed on the optical sensing plate 1, as shown in fig. 2, 3 and 4, for example, a high position optical sensor 11 and a low position optical sensor 12 which are parallel to the deflection direction, and an initial position optical sensor 13 and a final position optical sensor 14 which are perpendicular to the deflection direction are symmetrically and uniformly distributed on the periphery of the perpendicular center line, and a middle position optical sensor 10 is centered, or two or more parallel optical sensors symmetrically distributed outside the perpendicular center line are used to replace the centered middle position optical sensor 10, which is collectively referred to as a middle position optical sensor 10; the light shading part 7 is arranged in the middle of the light sensing plate 1, the light sensing plate 1 is fixed on one side, facing the sun, of a lighting surface of the deflection mechanism 5, and the light sensing plate 1 is parallel to the lighting surface, or the vertical center line of the light sensing plate 1 is superposed with the vertical center line of the lighting surface; both of the above descriptions relate primarily to differences in planar facets or other non-planar aspects such as spherical facets, and thus the primary alignment reference may be considered to be dependent on the principal optical axis of the facet (or considered to be the vertical centerline of the facet).

In the embodiment of the present invention, as shown in fig. 3 and 4, the optical sensing plate 1 is fixedly installed on the top of the fixed platform of the deflecting mechanism 5, and the vertical central axis of the optical sensing plate 1 may coincide with the main optical axis of the lighting surface of the solar energy application device, so as to accurately measure the deflection angle information of the lighting surface. And, the light sensing board 1 is actually spaced from the lighting surface by a certain distance, mainly to avoid influencing the lighting surface and the heat collection device in the middle of the solar energy application device. On the other hand, the optical sensing plate 1 is far away from the rotating shaft center of the deflection mechanism 5, the optical sensing plate has obvious position movement while deflecting the angle, the possible hysteresis of single movement can be avoided, and the sensing of the deflection angle is more accurate and sensitive.

In the embodiment of the present invention, as shown in fig. 3 and 4, the high limit position sensor 21, the low limit position sensor 22, the initial limit position sensor 23, and the final limit position sensor 24 are respectively disposed at the altitude angle deflection limit position and the azimuth angle rotation limit position, and there are one set of the driving device 3, one deflection driving device 31, and one rotation driving device 32 in each of the deflection direction and the rotation direction in the biaxial tracking, or there is only one set of the driving device 3 in the uniaxial tracking.

In the embodiment of the utility model, the optical sensor can sense that the illumination intensity is gradually reduced along with the increase of the incident angle, and vice versa, the controller 4 controls the rotation of the driving device 3 according to the signals of the optical sensor and the position sensor 2 and the driving control algorithm, the light intensity is firstly coarsely adjusted and then finely adjusted at a low speed, and the light intensity variation trend measured by the optical sensing plate 1 is used for automatically judging whether the actual light direction and the light direction are tracked in place or not quickly and accurately. As shown in fig. 1, when sunlight a is incident on the light receiving surface O, the incident angle of sunlight is an angle 2 between the sunlight a and a normal N of the light receiving surface O.

In the drive control algorithm described in the embodiment of the present invention, the different drive control algorithms based on the multi-sensor information, which correspond to the controller 4 in different time periods and conditions, include algorithm 1, algorithm 2, algorithm 3, algorithm 4, and algorithm 5.

The algorithm 1, i.e. at night, the light direction tracking system and the solar energy application device are both in a homing waiting state, as shown in fig. 3, during which the light direction tracking system and the solar energy device are both in a "sleeping" state. The method comprises the following specific steps: the rotary drive device 32 drives the deflection mechanism 5 to the signal triggering position of the initial limit position sensor 23, the deflection drive device 31 drives the deflection mechanism 5 to the signal triggering position of the low limit position sensor 21, the former is the initial limit position, the latter is the low limit position, and the other limit positions are defined similarly;

the algorithm 2 is that before the first tracking in place is not performed in the daytime, the fast coarse adjustment is started at regular intervals, for example, at each adjustment point, and then the slow fine adjustment is started at regular intervals, and the specific steps of the controller 4 controlling the driving device 3 are as follows, including step 1, step 2, step 3, step 4, step 5, step 6, step 7, step 8, step 9, and step 10:

step 1: the controller 4 controls the deflection driving device 31 to rapidly deflect and raise the solar energy from the low limit position to a certain degree, such as the actual solar altitude at the corresponding time point, and simultaneously store the deflection amount at the moment; wherein the deflection number is set to zero at the low limit position, the specific number of deflection drive command data when the controller 4 controls the deflection drive device 31 to deflect the deflection mechanism 5 from the low limit position to the high limit position is added to the deflection number, and the specific number of deflection drive command data when the controller 4 controls the deflection drive device 31 to deflect the deflection mechanism 5 from the high limit position to the low limit position is subtracted from the deflection number, similarly to the change of the rotation number;

step 2: the controller 4 controls the rotation driving device 32 to rotate from the initial limit position to the final limit position. Reading the signal of the middle position optical sensor 10 once when rotating a certain angle, simultaneously temporarily storing the maximum value of the group of signals and the rotating number at the moment, comparing the maximum value with the stored maximum value of the front signal of the middle position optical sensor 10, if the maximum value is larger, replacing the maximum value of the front signal by the maximum value of the group of signals and updating the rotating number corresponding to the maximum value of the signal, and if the maximum value of the front signal and the rotating number corresponding to the maximum value of the signal are not exceeded, keeping the maximum value of the front signal and the rotating number corresponding to the maximum value of the signal unchanged; upon reaching the final limit position, the controller 4 controls the rotation driving device 32 to rotate in reverse from the final limit position rapidly and return to the maximum value of the previous signal, and then reads the signal of the mid-position photosensor 10, and if the maximum value of the group of signals is not less than the low threshold, step 3 or step 4 of the present algorithm 2 is continuously executed, whereas if the maximum value of the group of signals is less than the low threshold, the algorithm 5 described later is executed. Wherein, the data of the low threshold is obtained from the signal value of the mid-level photosensor 10 under the condition that certain illumination is available and is aligned with the light sensing plate 1, and the certain illumination refers to that under the illumination intensity, the solar energy which can be collected, converted and utilized by the solar energy application device in the normal operation process is not less than the integral loss or loss of the light to the tracking system and the solar energy application device in the normal operation process;

and step 3: if the signal value of the high-order photosensor 11 subtracted by the maximum deviation of the photosensor signal value is still larger than the signal value of the low-order photosensor 12 (otherwise, the next step is skipped), the controller 4 controls the deflection driving device 31 to rapidly deflect the deflection mechanism 5 toward the high-order photosensor 11, as shown in fig. 3, the signal values of the middle-order photosensor 10, the high-order photosensor 11, and the low-order photosensor 12 are read at intervals, and simultaneously, the signal values of the high-order photosensor 11 and the low-order photosensor 12 are compared and the maximum signal value of the middle-order photosensor 10 and the corresponding deflection number are stored until the signal value of the high-order photosensor 11 is smaller than the signal value of the low-order photosensor 12 subtracted by the maximum deviation of the photosensor signal value, that is, the rapid reverse deflection returns to the maximum signal value of the middle-order photosensor 10 found during the rapid deflection process At least one of (1) and (b); and vice versa (specifically, the maximum deviation of the signal value of the light sensor subtracted from the signal value of the low-position light sensor 12 is still larger than the signal value of the high-position light sensor 11), that is, the first quick rough adjustment of the altitude direction is completed, and then the step 5 is performed. The maximum deviation of the signal value of the optical sensor refers to the maximum possible deviation value of the standard technology of the optical sensor, and the comparison and judgment are carried out after the maximum deviation is introduced, so that the negative influence of inherent output signal difference of different optical sensors under the same illumination on the judgment of accurate light is properly avoided;

and 4, step 4: if the signal value of the high photo sensor 11 is larger than the signal value of the low photo sensor 12, but the signal value of the high photo sensor 11 is not larger than the signal value of the low photo sensor 12 after subtracting the maximum deviation of the photo sensor signal value, the controller 4 controls the deflection driving device 31 to deflect the deflection mechanism 5 toward the high photo sensor 11 at a medium speed, as shown in fig. 3, the signal values of the middle photo sensor 10, the high photo sensor 11 and the low photo sensor 12 are read at intervals, and simultaneously the signal values of the high photo sensor 11 and the low photo sensor 12 are compared with each other and the maximum signal value of the middle photo sensor 10 and the deflection amount corresponding thereto are stored until the signal value of the high photo sensor 11 is smaller than the signal value of the low photo sensor 12 after subtracting the maximum deviation of the photo sensor signal value, the latter, i.e. fast reverse deflection, returns to the signal maximum of said median photosensor 10 found during moderate speed deflection; the controller 4 then controls the deflection driving device 31 to continue deflecting in the same direction at a medium speed in the direction of the returned maximum value, during which the signal values of the middle photosensor 10, the high photosensor 11 and the low photosensor 12 are also read at intervals, and at the same time, the signal values of the high photosensor 11 and the low photosensor 12 are also compared and compared, and the maximum signal value of the middle photosensor 10 and the corresponding deflection amount are stored until the signal value of the high photosensor 11 is still greater than the signal value of the low photosensor 12 after subtracting the maximum photosensor signal value deviation, and then returns to the maximum signal value of the middle photosensor 10 found during deflecting in this direction at a medium speed, i.e. after rapid reverse deflection again. Vice versa (in particular: although the signal value of the low-position photosensor 12 is larger than the signal value of the high-position photosensor 11, the signal value of the low-position photosensor 12 is not larger than the signal value of the high-position photosensor 11 after subtracting the maximum deviation of the photosensor signal value), and the first coarse adjustment in the height angle direction is completed;

and 5: the controller 4 controls the deflection driving device 31 to perform pulsating deflection in one direction, wherein the pulsating deflection refers to a regular slow deflection mode with interval interruption after short-time fast deflection, and a signal value of the neutral position optical sensor 10 is read when a gap is driven; the signal value of the median photosensor 10 is read only in the driving interval, so as to reduce the noise interference of the hardware circuit of the controller 4, especially the interference which is inherent to the signal input circuit of the photosensor when the driving control command is sent out, and further ensure the accuracy and stability of the read signal value of the median photosensor 10. Meanwhile, comparing and storing the maximum signal value of the median photosensor 10 and the deflection number corresponding to the maximum signal value until the signal value of the median photosensor 10 is continuously updated for several times, for example, continuously exceeds ten times, and then quickly returning to the maximum signal value of the median photosensor 10 found in the pulsating deflection process in the direction; then, the controller 4 controls the deflection driving device 31 to perform the pulsating deflection in the other direction, reads the signal value of the middle position photosensor 10 in the driving gap, compares the signal value and stores the maximum value and the corresponding deflection number until the signal value of the middle position photosensor 10 is updated continuously for several times, such as continuously for more than ten times, and finally returns to the signal maximum value of the middle position photosensor 10 found in the pulsating deflection process in the direction, thereby completing the first slow fine adjustment in the elevation angle direction;

step 6: if the last maximum signal value of the middle position light sensor 10 is not less than the low threshold, continuing to sequentially execute the next step, otherwise, executing the algorithm 5;

and 7: similar to steps 3 to 5 of the present algorithm 2, the fast coarse adjustment and the slow fine adjustment in the azimuth direction are completed as shown in fig. 4. Then, if the last maximum signal value of the middle position optical sensor 10 is not smaller than the low threshold, continuing to sequentially execute the next step, otherwise, executing the algorithm 5;

and 8: similar to steps 3 to 5 of the present algorithm 2, as shown in fig. 3, the fast rough adjustment and the slow fine adjustment are performed again in the altitude direction;

and step 9: if the last maximum signal value of the mid-level photosensor 10 is not less than the high threshold, the next step is executed continuously, otherwise, the algorithm 5 described later is executed. Wherein, the data of the high threshold is taken from the signal value of the median photosensor 10 under the condition that enough illumination is available and aligned with the light sensing plate 1, and the enough illumination means that under the illumination intensity, the solar energy collected, converted and utilized exceeds the proper amplitude of the overall loss or loss in the normal operation of the light tracking system and the solar energy application device in the normal operation process of the solar energy application device;

The algorithm 3 specifically comprises the following steps of step 1, step 2, step 3, step 4 and step 5:

step 1: after the tracking is in place for the first time in the daytime, and after the tracking is in place for the last time, the next step is sequentially executed after the illumination is found in the way of waiting for no illumination for a certain long time, such as five minutes, or no illumination for a certain long time, such as fifteen minutes, or the started corresponding waiting is continued;

and step 3: if the last maximum signal value of the middle position light sensor 10 is not less than the low threshold, continuing to sequentially execute the next step, otherwise, executing the algorithm 4;

and 4, step 4: similar to step 2 of the present algorithm 3, the slow fine tuning of the azimuth direction is completed. Then, if the last maximum signal value of the middle position optical sensor 10 is not smaller than the low threshold, continuing to sequentially execute the next step, otherwise, executing the algorithm 4 to be described later;

and 5: the same as step 2 of the algorithm 3, the slow fine adjustment in the elevation angle direction is completed again. If the last maximum signal value of the mid-position photosensor 10 is smaller than the low threshold, then the algorithm 4 described later is executed, otherwise, the algorithm 3 is executed after waiting for a certain short time, such as five minutes.

The specific steps of the algorithm 4 are as follows, including step 1, step 2, and step 3:

step 1: if the position is tracked in the daytime but the maximum value of the last signal of the middle position optical sensor 10 is smaller than the low threshold value, the method enters a certain long time, for example, fifteen minutes for waiting, and if certain illumination is found, that is, the maximum value of the optical sensor signal group read at the interval is not smaller than the low threshold value, the method returns to execute the algorithm 3;

step 2: the controller 4 controls the rotation driving device 32 to return to the initial limit position, and then controls the deflection driving device 31 to return to the low limit position, as shown in fig. 3 and 4;

and step 3: if the night comes, returning to execute the algorithm 1; if the day still exists, the algorithm 2 is executed again.

The specific steps of the algorithm 5 are as follows, including step 1, step 2, and step 3:

step 1: if the maximum value of the optical sensor signal set read at a certain time interval is not less than the low threshold value, the algorithm returns to step 3 of executing the algorithm 2 and starts to execute;

In the conventional tracking control, the device under the active tracking strategy has a problem that the device cannot flexibly meet the actual situation, and the timing driving mechanism of the device also determines that the device has angular deviation, especially accumulated error, most of the time. However, the conventional device under the passive tracking strategy is similar to the controlled release strategy, which is based on the quantity change for control, and can only realize discontinuous tracking at unit time intervals, and the nodes with the quantity change to quality caused by illumination are difficult to realize accurate tracking due to more influenced factors. In the device similar to the photoelectric solar tracking strategy, because a plurality of devices are required to participate in the detection circuit, even if the error of each device is controlled within 1%, the error rate after superposition still has an error rate of 5% or more.

In the slow fine adjustment in the final stage provided by the embodiment of the present invention, since only the self data comparison of the middle position optical sensor 10 and the detection signal thereof at different time and positions is performed, the error conditions before and after the time of a single detection circuit are basically the same, the comparison result is not affected by the inherent errors of each relevant device and the read-in circuit thereof, and the influence caused by various inherent errors can be thoroughly eliminated. The detection precision of the utility model basically depends on the precision of a digital-to-analog converter for reading the input signal, and the 8-bit digital-to-analog converter of a common singlechip can control the reading value error within 1% or higher, namely the detection tracking control precision of the utility model can be greatly improved to more than 99% when the singlechip is in slow fine adjustment, thereby more accurately realizing real-time accurate detection and accurate tracking control of sunlight under the condition of low cost.

It should be understood that, the multi-sensor information-based light tracking system and the driving control algorithm thereof provided in the embodiments of the present invention may be matched with an existing passive or active sunlight tracking system to implement accurate tracking control, and may also be considered to implement fast and accurate tracking control in combination with the multi-sensor information-based light tracking system and the driving control algorithm thereof provided in the embodiments of the present invention after a basic timing tracking operation rule of a lighting surface is built in an existing controller.

It will be appreciated that the controller of a conventional basic tracking system may be based on a passive or active solar tracking strategy to control the direction and amount of tracking that is based. Active tracking strategies are, for example, clock-type, program-controlled; the passive solar tracking strategy is, for example, a differential pressure type, a controlled release type solar tracking strategy or a photoelectric type solar tracking strategy.

The clock type sun tracking strategy is an active tracking strategy, and has two modes of a single shaft and a double shaft, and the control method is a timing method. And according to the movement angle of the sun in the sky in unit time, calculating the angle of the receiving surface which should rotate in unit time, thereby determining the driving operation amplitude of the driving device in unit time and enabling the solar energy application device to correspondingly change according to the position of the sun.

The programmed solar tracking strategy is combined with a computer. The method comprises the steps of firstly calculating the relative angular position of the sun in unit time by a set of formula through a computer, then calculating the required position of a sunlight tracking device, and finally achieving the required position through a driving transmission device to realize tracking of the solar altitude angle and the solar azimuth angle.

The controlled release type solar tracking strategy is characterized in that the controlled release type solar tracking device can select to track the azimuth angle of the sun in a one-way mode, during operation, for example, a balance weight is arranged on the west side of a lighting surface of the solar application device and used as power for the solar receiving panel to rotate towards the west, and the controlled release type automatic following device is used for controlling the release of the power, so that the lighting surface rotates along with the west deviation of the sun. The method for separating the prime power from the control part can simplify the structure of the control device, reduce energy consumption (the rotation kinetic energy of the panel comes from the potential energy of the counterweight), and create conditions for not using an external power supply. The power of the electromagnet of the release mechanism may be supplied by the solar panel. The solar panel is arranged above the lighting surface, the front of the solar panel is provided with a shading plate, and when the lighting surface is aligned with the sun, the solar panel just blocks the sunlight, so that the solar cell is positioned in a shadow area. Once the sun moves to the west, the shadow of the shading plate moves along with the sun, and the solar cell is irradiated by the sunlight and outputs a certain value of current, so that an offset signal is sent out. The signal is amplified to enable the highly sensitive relay to act, and the electromagnet is controlled to be attracted by the execution relay, so that the braking device is loosened, and the heat collecting device rotates towards the west until the sun is aligned.

Photoelectric sun tracking strategy. The photoelectric solar tracking device uses a photosensitive sensor to measure the deviation between incident solar rays and a main optical axis of the tracking device, and when the deviation exceeds a threshold value, an execution mechanism adjusts the position of the heat collecting device until the solar rays are parallel to the optical axis of the heat collecting device again, so that the tracking of the solar altitude angle and the solar azimuth angle is realized. Compared with the previous tracking devices, the photoelectric tracker can eliminate errors through feedback, is accurate in control, and is easy to realize in a circuit.

In the embodiment of the present invention, as shown in fig. 2, the controller 4 may be selected as a control board of a single chip, and an analog-to-digital converter may be integrated in the single chip or externally connected to the single chip, and receives an electrical signal generated after each optical sensor on the optical sensing board 1 is illuminated by the analog-to-digital converter; the single chip microcomputer can also integrate a motor-driven power amplifier interface or an external motor driver, and the motor-driven power amplifier interface outputs a control signal required by the driving device 3; the single chip microcomputer can also integrate an I/O interface or an external I/O interface, and receives the signal change generated by the position sensor 2 through the I/O interface.

In one embodiment, the sampling circuit may be used to detect the change of the electrical signal (voltage, current and/or power) of each optical sensor, and the sampling circuit may be a common scheme in the field, or may have a filter collator and a signal isolator to process the signal before being sent to the controller; it should be understood that the collator and signal isolator may also be integrated into an intelligent controller (single chip).

In the embodiment of the present invention, the optical sensing plate 1 may be a single-crystal silicon or polycrystalline silicon solar panel, a photodiode plate, a photo-triode plate, a photo-resistor plate or a silicon photovoltaic panel, and the optical sensor may be a solar cell, a photodiode, a photo-triode, a photo-resistor or a silicon photovoltaic cell, and may also be a photosensitive electronic component commonly used in the field such as a photodiode, a photo-triode, a photo-resistor, a CCD image sensor and a CMOS image sensor, or a combination or uniform distribution of the above electronic components.

In the embodiment of the present invention, the controller 4 controls the deflection driving device 31 and/or the rotation driving device 32 to operate, and the deflection driving device 31 and/or the rotation driving device 32 drives a fixed platform on the deflection mechanism 5 to rotate correspondingly, so as to drive the lighting surface and the fixed platform to track and align the actual light direction of the sunlight in real time.

The light tracking system based on multi-sensor information and the driving control algorithm thereof of the above-mentioned embodiment can be used by referring to the section enlarged schematic diagram part in fig. 3 and fig. 4. The high-order photosensor 11 and the low-order photosensor 12 parallel to the deflection direction are symmetrically arranged on the periphery of the vertical center line of the photosensor plate 1, when the sunlight ray direction is not perpendicular to the plane of the photosensor plate 1 (the vertical center axis of the sunlight direction is not coincident with the light ray direction), or when the light ray direction has a small change, the sunlight energy received by the high-order photosensor 11 and the low-order photosensor 12 has a certain difference, as shown in fig. 5, the sunlight energy sensed by the high-order photosensor 11 is far more than that of the low-order photosensor 12; the detection circuits corresponding to the high-position optical sensor 11 and the low-position optical sensor 12 in the controller 4, the obtained output signal of the high-position optical sensor 11 will be obviously stronger than that of the low-position optical sensor 12 (the value after the analog-to-digital conversion of the single chip microcomputer is larger). The controller 4 can thus derive a command for deflection in the direction of the high-order photosensor 11 from this signal difference. In one embodiment of the control strategy, when detecting that output signals of two corresponding optical sensors parallel to the deflection direction or perpendicular to the deflection direction are different, the optical sensors rotate in the direction of larger output signals; and when the signal deviation of the two signals is larger, a faster rotation speed can be selected, so that the fast tracking in place can be realized through fast coarse adjustment.

As shown in fig. 3, the controller 4 controls the deflection driving device 31 to perform a deflection motion toward the west side where the high-position photosensor 11 is located, and when the sunlight direction is detected and determined to be "vertical" to the plane of the photo-sensor panel 1 (the vertical central axis thereof is "coincident" with the light direction) according to the signals of the high-position photosensor 11 and the low-position photosensor 12, since the output characteristics between the high-position photosensor 11 and the low-position photosensor 12 and the detection circuit thereof inevitably have a certain inherent error, respectively, there is a high possibility that the tracking is not completely performed, and further fine adjustment confirmation is required.

After the rapid coarse adjustment is carried out in place, or when the detection judgment is close to 'tracking in place', the variation trend of the output signal of the middle position optical sensor 10 in the tracking process in one direction is analyzed, if the signal of the output signal is continuously strengthened, the controller 4 controls the driving device 3 to continuously deflect in the same direction according to the variation trend, and the real tracking in place is judged until the output signal of the middle position optical sensor 10 starts to be continuously weakened; the controller 4 then instructs the driving device 3 to reverse the fast deflection to the corresponding position at the maximum of the signal of the mid-position photosensor 10 before determining that the tracking position is actually reached.

On the contrary, if the signal of the light source is continuously weakened in the direction, the controller 4 controls the driving device 3 to change to the pulsating deflection in the other direction, and the true tracking in place is not judged until the output signal of the middle position light sensor 10 continuously becomes stronger and then continuously weakens; the controller 4 then instructs the driving device 3 to reverse the fast deflection to the corresponding position at the maximum of the signal of the mid-position photosensor 10 before determining that the tracking position is actually reached.

In addition, in the embodiment of the utility model, each tracking can comprise three stages of tracking in the altitude angle direction, tracking in the azimuth angle direction and tracking in the altitude angle direction, so that the accuracy of real-time detection of sunlight and tracking control of the sunlight can be ensured more fully.

Moreover, in the slow fine adjustment of the embodiment of the present invention, since only the historical data of the detection result of the mid-level optical sensor 10 itself is compared, the influence caused by various inherent errors can be completely eliminated, so as to more accurately realize the real-time accurate detection and tracking control of the sunlight direction.

Compared with the prior art, the light direction tracking system based on multi-sensor information and the driving control algorithm thereof have the outstanding beneficial effects that the light sensors are preferably silicon photocell combination, and the specific analysis is as follows:

in the prior art of passive tracking, a photoresistor or a photosensitive semiconductor tube (a photosensitive diode or a photosensitive triode, the same below) is mostly used as a basic detection device, and because the photoresistor and the photosensitive semiconductor tube sense the illumination intensity, the output of the photoresistor and the illumination intensity have a certain corresponding relation and do not have a corresponding relation with the light receiving incident angle, a shielding structure is generally used for assisting to detect light, so that the complexity and the cost of the structure are increased; the photoresistor and the photosensitive semiconductor tube have certain sizes, and the change curve of the received light quantity cannot be continuously and uninterruptedly detected even if the photoresistor and the photosensitive semiconductor tube are densely distributed. The utility model selects the silicon photocell as the detecting device, the output signal and the amount of received light (total light) at the same time point form the continuous curve change relationship, compared with the mode of using the photosensitive sensor (the price is up to tens of RMB when having certain precision) to realize the function, the cost of the utility model only needs RMB four-five-element, and the cost is very low.

Meanwhile, under the condition of the further fine adjustment detection analysis, the influence caused by various inherent errors can be completely eliminated because only the medium-level photosensor 10 and the historical data of the detection result are compared, and the detection precision of the utility model basically depends on the precision of an analog-to-digital converter for reading the output signal of the photosensor. For example, the reading error can be controlled within 1% by an 8-bit analog-to-digital converter of a common singlechip; the precision of detection tracking control can be greatly improved to 99% during fine adjustment, so that real-time accurate detection and tracking control of sunlight can be more accurately and rapidly realized under the condition of low cost (including cost of a silicon photocell used as a detection device and a singlechip for input and control of the silicon photocell).

In summary, the light tracking system based on multi-sensor information and the driving control algorithm thereof have the following outstanding advantages: the silicon photocell has good shielding effect, interference resistance, waterproofness and weather resistance, the output of four optical sensors which are annularly arranged is compared in pairs, and then the fast coarse adjustment is carried out firstly, the accurate fine adjustment is carried out on the self-output contrast of the fifth optical sensor at different time and positions, the inherent output error between different sensors and the inherent read-in error between different input circuits can be thoroughly eliminated, thereby realizing fast and continuous accurate tracking in place, compared with the existing four-quadrant photoelectric detection tracking mode, the structure is simpler, the cost is extremely low, the sensitivity is higher, and the accuracy is higher.

The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.

Claims

1. A light direction tracking system based on multi-sensor information comprises a light sensing plate, a controller, a driving device, a deflection mechanism, a supporting mechanism and a shading piece, and is characterized in that the light sensing plate is provided with four light sensors around a center ring, and is also provided with a middle position light sensor at the center position, the four light sensors arranged around the center ring can be arranged into a high position light sensor and a low position light sensor which are parallel to a deflection direction and an initial position light sensor and a final position light sensor which are vertical to the deflection direction, the middle position light sensor can be replaced by two or more parallel light sensors arranged outside a vertical center line of the light sensing plate, the center of the light sensing plate is provided with the shading piece, the periphery of the light sensing plate is additionally provided with the controller, the light sensing plate is fixed on one side of the deflection mechanism facing the sun, and the high-angle deflection limit position and the azimuth angle rotation limit position of the light sensing plate are respectively provided with a high-limit position sensor, The deflection mechanism is connected with a driving device, and the driving device is divided into a deflection driving device and a rotation driving device.

2. The light direction tracking system based on multi-sensor information as claimed in claim 1, wherein the controller is connected with the high position light sensor, the low position light sensor, the initial position light sensor, the final position light sensor and the middle position light sensor through analog-to-digital converters, the controller is connected with the deflection driving device and the rotation driving device through motor driving amplifiers through signals, and the controller is connected with the high limit position sensor, the low limit position sensor, the initial limit position sensor and the final limit position sensor through I/O interfaces through signals.

3. The light direction tracking system based on multi-sensor information as claimed in claim 1, wherein the light sensor panel is a solar panel, a photodiode panel, a photo triode panel, a photo resistor panel or a silicon photo cell panel, and the high position light sensor, the low position light sensor, the initial position light sensor, the final position light sensor and the middle position light sensor are solar cells, photodiodes, phototriodes, photo resistors or silicon photo cells.

4. The light tracking system based on multi-sensor information as claimed in claim 1, wherein the deflection driving means controls the elevation angle adjustment of the deflection mechanism and the rotation driving means controls the azimuth angle adjustment of the deflection mechanism.

5. The light tracking system based on multi-sensor information of claim 1, wherein the deflection mechanism is mounted on a support mechanism.