KR101358392B1 - Method and Apparatus for Driving Plate-shape Member Using Three Wires, Solar Tracking Apparatus and Sunlight Reflecting Apparatus Using the Same - Google Patents

Abstract

The method and apparatus for driving a plate member according to the present invention connects and fixes a total of three lines of wires, one line at three points each forming a triangle, on a bottom surface of the plate member installed to be inclined in an arbitrary direction about a center point. By independently increasing or decreasing the length of each of these three rows of wires (by unwinding or winding the wires), the plate member is tilted in any desired direction. According to the present invention, it is possible to significantly simplify the plate member driving unit, which can greatly reduce the installation cost as well as the cost of the device itself, and by precisely driving the three lines of wires independently, it is possible to precisely drive without causing problems such as backlash. This is possible.

Description

Method and apparatus for driving a plate member using three wires, and a solar tracking device and a solar reflector using the same {Method and Apparatus for Driving Plate-shape Member Using Three Wires, Solar Tracking Apparatus and Sunlight Reflecting Apparatus Using the Same}

The present invention relates to a technique for driving and controlling a plate member. Here, the 'plate member' is a concept that includes a circular or polygonal flat plate member such as a solar panel or a reflecting plate, and a concave plate member such as a concave reflector or a parabola antenna, and the present invention is directed such that the plate member faces the desired direction. A method and apparatus for driving, controlling, and a solar tracking device for driving and controlling a member for collecting, collecting, or reflecting sunlight or solar heat by moving the same according to the azimuth and altitude angles of the sun.

The above-described plate member is generally fixed to a supporting structure such as a cradle or a support, and may be fixed to face a certain direction depending on the application, but if necessary, the plate member should be driven and controlled intermittently or continuously to face a specific direction. In some cases. Hereinafter, although the plate-shaped member, such as a solar panel, a heat collecting plate, and a reflecting plate used for the use of the solar energy which attracts attention as a plate-shaped member, is demonstrated as an example, this invention is applied also to other plate-like members, such as a parabolic antenna in general.

Solar panels used for photovoltaic power generation or solar panels used for solar heating or reflecting plates are typically installed on a large site or rooftop of a building where it can be well protected by sunlight or solar heat. do.

However, since the azimuth and elevation angles of the sun change continuously throughout the year and throughout the day according to the rotation and rotation of the earth, if the solar panel, the heat collecting plate or the reflecting plate is fixedly installed, the utilization efficiency of solar energy is very low. Therefore, conventionally, a solar tracking device for driving and controlling the solar panel to move according to the azimuth and elevation angles of the sun has been proposed.

For example, Patent Literature 1 provides a first rotational axis for rotating the solar panel to follow the altitude angle of the sun and a second rotational axis and the rotational plate for rotating so as to follow the azimuth angle of the sun. There is disclosed a photovoltaic device that rotates a solar panel around its center and rotates a solar panel (rotating plate) around a second axis of rotation using a motor and a gear. In addition, Patent Document 2 provides a north-south driving axis corresponding to the first rotation axis of Patent Document 1 and an east-west driving axis corresponding to the second rotation axis, respectively, and the solar cell is driven from the north-south driving and the east-west driving with wires (hence, two lines of A solar tracking device using a wire is disclosed.

However, Patent Literatures 1 and 2 use motors and gear groups for rotation of a rotating plate or winding and unwinding wires. In this case, expensive motors are required for precise control, and the backlash generated between the gears is reduced. In order to achieve this, expensive gears with high precision are required. In addition, parts such as gears and rotating plates have a heavy weight, which makes it difficult to simplify the apparatus and requires a lot of cost and effort for installation and maintenance. In addition, since the device of Patent Document 2 uses a pulley and a belt to slow down the rotation of the motor, it is inevitable to reduce the durability due to the deterioration of the belt when used outdoors for a long time, and the wire middle part is wound around the pulley (pulle) The bidirectional length of the wire is adjusted by rotating, but even when the pulley does not rotate, if the wire is pulled strongly in one direction by an external force such as a strong wind, the wire and the pulley slide together and the solar panel is in an undesired direction. There is a problem moving.

Patent Document 1: Publication No. 10-2011-0102706 Patent Document 2: Published Utility Model Publication No. 20-2009-0009733

Solar energy is clean but requires no fuel and post-treatment, which means lower maintenance costs but higher initial installation costs. In particular, although the effect of improving the utilization efficiency of solar energy by the solar tracking device is widely recognized, it is not widely used due to the cost of the device itself and the installation cost.

The present invention has been made in view of such circumstances, and an object thereof is to provide a solar tracking device capable of precise driving while greatly reducing the cost and installation cost of the device itself by simplifying the driving unit of the solar tracking device.

Another object of the present invention is to provide a method capable of accurately driving and controlling a plate member in a desired direction in a robust and simple manner.

A driving method of a plate member according to the present invention for achieving the above object is a method of driving a plate member installed in an arbitrary direction about a center point to be in a desired direction. One end of each of three lines of wires is connected to each of the three points that form a triangle on the surface, and each other end of each of the three lines of wires is spaced apart from one surface of the plate-like member at any one point. It is fixed to, but the three wires are provided to adjust the length from each end to the other end, and the length from one end to the other end of each of the three wires so that the plate-like member is directed in the desired direction Adjusting.

In addition, the drive device of the plate-like member according to the present invention, the universal joint is formed in the upper end and the support is fixed to the ground or fixed structure; A plate member having a center of one surface coupled to the universal joint to enable inclined driving in an arbitrary direction; Three rows of wires, one end of which is fixed to three points forming a triangle on one surface of the plate-like member, and the other end of which is fixed to the support; A drive unit installed between both ends or both ends of each of the three rows of wires, the drive unit including three bobbins rotatable to wind or unwind each of the three rows of wires, and three motors to rotate each of the three bobbins; And a control unit which transmits a signal for adjusting the length of each of the three wires to the driving unit so that the plate member faces the desired direction and rotates each of the three bobbins.

Here, adjusting the length of each of the three wires may be implemented in three ways.

First, a current direction detection sensor is installed in the plate member to detect a direction in which the plate member is currently facing, and (a) detecting a direction in which the plate member is currently facing using the current direction detection sensor; (b) comparing the current direction of the plate member detected in the step (a) with the desired direction; (c) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (b) coincides; And (d) repeating steps (a) to (c) for each of the three rows of wires until the difference is within a predetermined error range as a result of the comparison in step (b). Can be implemented.

Here, the present direction detection sensor is two angle sensors for detecting the angle that the plate member is rotated about two axes perpendicular to the plane on which the plate member is installed, and in the step (a), the plate plate The azimuth and elevation angles of the normal vector perpendicular to the other surface of the plate member at the center of the plate member, which is the direction the member is currently facing, can be calculated from the angles of rotation of the plate member detected by the two angle sensors, respectively. Can be.

Second, on the other surface of the plate member the current of the object relative to the plane formed by the plate member by detecting the intensity of at least one of light, thermal, electrical and magnetic signals from an object to be tracked by the plate member. Installing an object direction detection sensor for detecting a direction; (a) detecting a current direction of the object with respect to a plane formed by the plate member by using the object direction detection sensor; (b) comparing a current direction of the object detected in step (a) with a direction perpendicular to a plane formed by the plate member; (c) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (b) coincides; (d) repeating steps (a) to (c) for each of the three rows of wires until the difference is within a predetermined error range as a result of the comparison in step (b). Can be.

Third, a wire length detection sensor is provided in each of the three wires to detect the current length of each of the three wires, and (a) each of the three wires when the plate member faces the desired direction. Calculating a target length that is a length of; (b) detecting a current length of each of the three wires using the wire length detection sensor; (c) comparing, for each of the three rows of wires, a target length calculated in step (a) with a current length detected in step (b); (d) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (c) coincides; And (e) repeating steps (b) to (d) for each of the three rows of wires until the difference is within a predetermined error range as a result of the comparison in step (c). Can be implemented.

Moreover, the solar tracking apparatus which concerns on this invention contains said plate-shaped member drive apparatus, The said plate-shaped member is a plate-shaped member which collects, condenses, or reflects the solar energy from the sun, The said control part is the elevation angle of the sun. And control the drive unit such that the plate member tracks the sun and faces the desired direction according to an azimuth angle.

The control unit may include a clock that counts a current date and time; And a memory for storing the altitude and azimuth angle of the sun according to a date and time, wherein the controller is configured to read the altitude and azimuth angle of the sun according to a current date and time from the memory to calculate the desired direction. Can be.

The control unit may further include a look-up table for storing the length of each of three lines of wires that allow the plate-shaped member to track the sun in a desired direction for each altitude and azimuth angle of the sun, and the control unit includes the look-up table. It may be configured to read a length of each of the three lines of wires corresponding to the altitude and azimuth of the current sun from the current to transmit a signal for adjusting the length of each of the three lines of wire to the drive.

The controller may further include a clock that counts a current date and time; And a look-up table for storing the length of each of the three lines of wires to allow the plate member to track the sun and face the desired direction by date and time. The control unit includes a current date and time from the look-up table. The length of each of the three lines of wire corresponding to the read may be configured to deliver to the drive.

The control unit may be configured to rotate the angle of rotation of the plate member about two rotation axes of the universal joint to track the sun in a desired direction for each altitude and azimuth angle of the sun. And a lookup table for storing the length of each of the three rows of wires according to an angle, wherein the controller is configured to rotate the angle of rotation of the plate member corresponding to the altitude and azimuth angle of the current sun from the lookup table. The length of each wire may be read to transmit a signal for adjusting the length of each of the three wires to the driving unit.

Further, the control unit, the clock for counting the current date and time; And a rotation angle of the plate member about the two rotational axes of the universal joint for tracking the sun and pointing the sun in a desired direction by date and time, and each of the three rows of wires according to the rotation angle. The lookup table for storing the length of the; The control unit reads the rotation angle of the plate-like member and the length of each of the three lines of wires corresponding to the current date and time from the lookup table to the drive unit 3 It may be configured to carry a signal that adjusts the length of each wire of the string.

Specifically, the plate member may be a solar panel or a heat collecting plate, and may be utilized by driving control so that an optimal direction of the plate member is in line with the direction of the sun.

In addition, the present invention is specifically, the plate member is a heat collecting plate for collecting and condensing solar energy, a light collecting plate or a solar cell plate, it can be utilized by drive control so that the direction that the plate member wants to be in line with the direction of the sun.

In addition, the present invention, the plate member is a reflecting plate for reflecting the sunlight to a point spaced apart from the sun tracking device, the direction that the plate member wants to face, the sun, the center of the reflecting plate and the angle formed by the one point It can be utilized by the drive control so that the direction of bisector.

In this case, the solar reflector includes a plurality of the above-described solar tracking device, the reflector of each of the plurality of solar tracking device may be configured and applied to reflect the sunlight to the one point.

According to the present invention, the drive member of the drive device for the plate member can be significantly simplified by supporting and inclining the plate member using three rows of wires. Therefore, not only the cost of the device itself but also the installation cost can be greatly reduced. In particular, when the present invention is applied to a solar light reflecting device, it can greatly contribute to the spread of not only a large-scale solar power plant but also a small-scale solar / solar using device.

In addition, according to the present invention, by independently driving three lines of wires, precise driving is possible without causing problems such as backlash.

In addition, the drive device and method of the plate member of the present invention is a three-point support structure by using three rows of wires, resulting in a highly mechanically stable structure. Therefore, it can be stably used even in environments such as strong winds and typhoons, which are inevitable when exposed to the outdoors.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description of the invention given below, serve to further the understanding of the technical idea of the invention. And should not be construed as limiting.
1 is a schematic perspective view from above of a sun tracking device according to an embodiment of the present invention.
FIG. 2 is a schematic perspective view from below of the sun tracking device shown in FIG. 1. FIG.
3 is an enlarged perspective view illustrating the inside of a driving unit of the solar tracking device shown in FIG. 1.
4 (a) and 4 (b) are diagrams for comparing driving principles of bobbins and pulleys, which are wire driving units according to the present invention and the prior art, respectively.
5 and 6 are diagrams for explaining the driving mechanism (the driving method of the plate member) of the sun tracking device shown in FIG.
7 is a view schematically showing a sun tracking device according to another embodiment of the present invention.
8 is a front view schematically showing a sun tracking device according to another embodiment of the present invention.
FIG. 9 is an enlarged perspective view illustrating a driving unit of the solar tracking device illustrated in FIG. 8.
FIG. 10 is an enlarged perspective view showing in detail the structure connected by the universal joint in the solar tracking device shown in FIG.
FIG. 11 is a view for explaining a driving mechanism (drive method of the plate member) of the solar tracking device shown in FIG. 8.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Here, the terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary meanings, but should be construed as meaning and concept consistent with the technical idea of the present invention.

Incidentally, hereinafter, the sun tracking device will be described as an embodiment, but the present invention is not limited to the sun tracking device and the method thereof. It can be applied to direct the direction.

1 and 2 are schematic perspective views of the sun tracking device according to an embodiment of the present invention viewed from above and below, respectively, and FIG. 3 is an enlarged perspective view showing the inside of a driving unit of the sun tracking device according to the present embodiment.

1 to 3, a solar tracking device according to an embodiment of the present invention includes a support 10 fixed to a fixed structure such as a ground or a building roof, a plate member 20 that receives solar energy from the sun, Three wires (31, 32, 33), the drive unit 40 for independently adjusting the length of each of the three lines of wire, and a control unit 50 for controlling the drive unit 40.

The strut 10 is a rod-shaped member having a structure that can be fixed to the ground while supporting the upper structure, that is, the plate member 20, the wires 31, 32, and 33, the driving unit 40, and the control unit 50. The post 10 is typically made of steel rods, but the material is not particularly limited as long as it can support the upper structure and is durable in an outdoor environment. On the other hand, the upper end of the support 10 is formed with a universal joint 11 is connected to the plate-like member 20 to be able to move inclined in any direction. Herein, the universal joint refers to two members connected to each other such as a joint member rotatable about two rotation axes in a direction intersecting each other as shown in FIG. 2, or a ball joint composed of a ball and a member surrounding the ball. If it can move also in the direction, the specific type is not limited. However, in the case of using a ball joint, the plate member 20 rotates around the support 10 by an external force such as a strong wind, so that the wires 31, 32, and 33 are twisted or the plate member 20 may be damaged in severe cases. Therefore, when used in an environment exposed to strong wind or the like, it is preferable to use a universal joint having a structure that can be rotated around the two rotation shafts described above but does not rotate about the support 10.

In addition, in the present embodiment, the support 10 is made of a single pillar for the purpose of simplifying the structure, but if necessary, it may further include a side additional pillar of the structure supporting the central support 10 from the side.

The plate member 20 is a solar panel or a heat collecting plate for collecting solar heat in which a plurality of solar cells are generated by receiving solar power in this embodiment, or in another embodiment described later reflecting plate reflecting sunlight to a third point to be. The plate member 20 is typically in the form of a disk, but may be made of a polygon such as a quadrilateral or a hexagon. On the other hand, the plate-like member 20 is coupled to the support 10 through the above-described universal joint 11 at the bottom center thereof. Moreover, the sensor which detects the altitude and azimuth angle of the sun, or the sensor which detects the inclination direction and inclination angle of the plate-shaped member 20 may be arrange | positioned on the upper surface of the plate-shaped member 20.

As shown in FIG. 2, the three wires 31, 32, and 33 have one end connected to three points A1, A2, and A3 that form a triangle on the bottom of the plate member 20, and the other end thereof. Silver is fixed to each of the three bobbin (43) provided in the drive unit 40, the length can be independently adjusted by winding or unwinding independently. Therefore, the plate member 20 can be inclined in an arbitrary direction in the north, south, east, and west directions by independently adjusting the lengths of the three wires 31, 32, and 33. On the other hand, the three wires (31, 32, 33) is typically made of a steel wire, but the material is not particularly limited as long as it can support the plate member 20 to withstand the external force, such as wind.

The three points A1, A2, and A3, to which one end of each of the three wires 31, 32, and 33 are connected at the bottom of the plate member 20, are not essential, but simplify the control and balance the power. In consideration, it is preferable to form an equilateral triangle with the same distance from the center O of the plate member 20. Further, in consideration of the simplification of control and the balance of power, the other end extension lines of the three wires 31, 32, and 33 are converged to a common driving point, which is one point spaced from the origin to the bottom surface of the member. It is preferable.

The driving unit 40 is fixed to the support 10 at the lower portion of the plate member 20, and pulls or releases each of the three wires 31, 32, and 33, so that the three wires 31, 32, and 33 are pulled out. Adjust the length of each. In detail, the driving unit 40 includes three bobbins 43, the other end of each of the three wires 31, 32, and 33, which are fixed or wound, and three motors that rotate each of the three bobbins 43, respectively. 41 is provided. Here, the motor 41 may be a servo motor provided with a sensor such as a rotation decoder to enable closed loop control. A stepping motor or a DC motor using an open loop control method may also be used.

On the other hand, it is necessary to use a motor having a large reduction ratio so that the plate member 20 does not move by the external force such as wind and the wires 31, 32, 33 do not loosen. For this purpose, an expensive servo motor having a large reduction ratio may be used, but a power transmission mechanism 42 for switching the rotation direction or rotation ratio of the motor and bobbin between each of the three motors 41 and each of the three bobbins 43. It can be used, the geared (geared) DC motor. However, when the gear is used, additional means or expensive gears are required to prevent backlash, but according to the present invention, the disadvantages of backlash and the like are effectively overcome even in the case of using the conventional gear (to be described later). In the present invention, a motor of a large reduction ratio is implemented at low cost.

In FIG. 3, reference numeral 44 denotes a partition wall, and the motor 41, the bobbin 43, and the power transmission mechanism 42 constituting each group are stably fixed to the respective partition walls 44.

The controller 50 may include a driving unit for adjusting the length of each of the three wires 31, 32, and 33 so that the plate member 20 tracks the sun and faces the desired direction according to the sun's altitude and azimuth angle ( 40). The control unit 50 typically includes a program including a control algorithm, a memory for storing various data required for control, and the like, and a microprocessor. The substantial structure and operation | movement of the control part 50 are demonstrated by the wire drive mechanism (drive method of a plate member) of this invention mentioned later.

Meanwhile, in FIG. 3, the controller 50 is installed in a space in which the driving unit 40, that is, the motor 41, the power transmission mechanism 42, and the bobbin 43 are mounted, but the installation position of the control unit is illustrated in FIG. 3. It is not limited to the example shown in. In addition, in FIGS. 1 to 3, the driving unit 40 is spaced apart from the ground at a predetermined distance and is fixed to the support 10, which is to prevent the driving unit 40 from being flooded, and the driving unit 40. If it is configured to be waterproof, the driving unit 40 may be fixed in close contact with the ground.

Meanwhile, when the motor 41, the controller 50, and the sensor described above are provided, power required for the operation of the sensor may be directly supplied from a building in which the sun tracking device is installed or an independent battery may be used. In addition, when the plate member 20 is a solar panel, power can be directly supplied therefrom, and when the plate member 20 is a heat collecting plate or a reflecting plate, the capacity required for the motor 41 and the controller 50 may be adjusted. The solar cell may be arranged at a predetermined position of the plate member 20 to receive power therefrom.

Here, before describing the specific configuration of the control unit 50, that is, the operation of the sun tracking device according to the present embodiment, the advantages and effects of the sun tracking device of the present embodiment configured as described above will be described.

First, according to this embodiment, the sun tracking device can be significantly simplified and the cost can be drastically reduced.

In other words, in the present embodiment, the driving unit comprises a motor 41, a bobbin 43, and a power transmission mechanism 42 having only a minimum gear for driving the three lines of wires 31, 32, and 33, respectively. In comparison with the prior art including Patent Documents 1 and 2, the apparatus is significantly simplified. In particular, the motor 41 in the present embodiment can significantly reduce the cost by using a motor having a large deceleration ratio at a low cost rather than an expensive servo motor or other expensive linear motor used in the related art. In addition, the capacity of the motor 41 of the present embodiment may be a smaller capacity than that of the prior art, which has three points A1, A2, A3 to which three wires 31, 32, and 33 are connected. This is because the plate-like member 20 can be inclinedly driven precisely even with a small force because it is located at almost the end in the radial direction of the member 20.

Further, in this embodiment, it is not necessary to use gears with high precision in order to reduce backlash. Backlash refers to a phenomenon in which other gears move even when one gear does not move when two gears move together. In particular, when the number of gears increases as in the prior art, such backlash accumulates and control error Increase rapidly. In order to reduce such backlash, it is considered to use a gear having a high precision or to bias the gear only in one direction at all times, which is an additional cost. That is, a high-precision gear is higher in price than a general gear, and in order to always bias the gear in one direction, the power for the bias is always consumed even when the gear is not driven.

On the other hand, in the present embodiment, driving of three lines of wires is independently performed, and precise driving is possible without causing problems such as backlash. That is, in the apparatus of the present embodiment, when driving three rows of wires 31, 32, 33 to incline the plate member 20 in any direction, only the drive motor of the wire to be pulled (that is, wound) The drive motor of the wire on the one side rotating and loosening can be loosened with only a small torque (power). Thus, the motor 41 is driven substantially in only one direction and therefore the gear is also biased in substantially one direction so that backlash is essentially eliminated.

More specifically, Fig. 4 shows a wire driving mechanism (a) of the present embodiment and a wire driving mechanism (b) in the prior art including patent documents 1 and 2, but in the case of this embodiment (a) The bobbin 43 is rotated only in the direction of pulling (ie winding) the wire 31, and when the wire 31 is released, the other wire is easily released by the force of the winding with only a small torque (power). On the other hand, in the case of the prior art (b), when one wire 31 'is wound around the pulley (pulle) 43' and the pulley is rotated in one direction, one wire 31 'is unwound in one direction. The other direction is winding. On the other hand, as described above, in the present embodiment, the motor can be driven substantially in only one direction, so that the gear is also biased in only one direction so that the backlash is essentially eliminated, but in the prior art, the motor must be driven in both directions. As a result, gears cannot be biased in only one direction, and backlash is inevitable.

In addition, in the case of the prior art (b), since the wire 31 'is merely fixed to the pulley 43' and is not fixed, the wire 31 'is strongly pulled in one direction by an external force such as a strong wind. Even if the pulley does not rotate, the wire 31 ′ slips on the surface of the pulley and thus the solar panel may rotate in an undesired direction. On the other hand, in the case of (a) of the present embodiment, the other end of the wire 31 is fixed to the bobbin 43, so that the problem of the wire 31 slipping off the surface of the bobbin 43 is essentially solved.

In addition, in this embodiment, since the support | pillar 10 is comprised by a single pillar, there is almost no restriction | limiting in the inclination drive range of the plate-shaped member 20. FIG. That is, when the side additional pillar of the structure which supports the support | pillar 10 from the side is further provided, the inclination possible range of the plate-shaped member 20 is limited by the side structure, but there is no such concern in this embodiment. The tiltable range of the plate member 20 is only a range that can follow the altitude and azimuth angle of the sun in view of the utilization efficiency of the solar energy, but especially when the plate member 20 is installed in a snowy area, the plate member 20 is inclined as much as possible. This is an important factor to consider in that snow should not accumulate.

Furthermore, in the present embodiment, a three-point support structure for pulling and holding the plate member 20 with three wires 31, 32, and 33 is supported. Therefore, the structure is very stable and robust mechanically, and can be used steadily and stably against strong winds that are inevitable when exposed to the outdoors.

As described above, according to the embodiment of the present invention, as well as the cost of the device itself, which is an obstacle to the use of solar energy, as well as the installation and operation costs can be significantly reduced, not only a large-scale solar power plant but also a small solar / solar device It can greatly contribute to the spread of.

Next, the operation of the apparatus and the controller 50 and the plate member in accordance with the present embodiment will be described by explaining a mechanism for independently driving and controlling three lines of wires 31, 32, and 33 in the solar tracking device according to the present embodiment. The method will be described in detail.

First, the solar tracking device according to the present embodiment can be simplified as shown in FIG. 5 in view of driving control. As shown in FIG. 5, when the center of the plate member 20 is represented by a three-dimensional rectangular coordinate with the origin O (0,0,0), one end of each of the three lines of wires 31, 32, and 33 at an arbitrary point in time. The three points on the bottom surface of the plate member 20 to be fixed are A1 (x ₁ , y ₁ , z ₁ ), A2 (x ₂ , y ₂ , z ₂ ), and A3 (x ₃ , y ₃ , z ₃ ), respectively. do. Here, it is not necessarily required, but it is assumed that the three points A1, A2, and A3 are located at the same distance R from the origin O in order to simplify the control and to balance the force. In addition, the extension lines of the other ends of each of the three wires 31, 32, and 33 converge to a common driving point, which is a point M on the support 10, and the distance between the point M and the origin O is L The coordinate of M is M (0,0, -L). The length of each of the three wires 31, 32, and 33 is referred to as l ₁ , l ₂ , and l ₃ .

로 나타낼 수 있고, 이 법선 벡터

을 지면 즉, XY 평면에 투영하면, 도 6에 도시된 바와 같이, 지면(도 6에서 EWSN이 이루는 평면)에 대해 방위각 A와 고도각 h를 갖는 벡터가 된다.In addition, the direction currently facing the plate member 20 is a normal vector with respect to the plane which three points A1, A2, A3 make, as shown in FIG.

, And this normal vector

Is projected on the ground, i.e., the XY plane, as shown in FIG. 6, which results in a vector having an azimuth A and an elevation angle h with respect to the ground (the plane formed by EWSN in FIG. 6).

Then, in this embodiment in which the plate member 20 is a solar panel or a heat collecting plate, drive control may be performed so that the plate member 20 faces the current sun. That is, each of the three rows of wires 31, 32, 33 are loosened by rotating their respective bobbins so that the elevation angle h and the azimuth A with respect to the ground of the normal vector coincide with the current elevation and azimuth angle of the current sun. It is enough to wind up.

의 현재 방향(즉, 판상 부재가 현재 향하고 있는 방향)이 도 6에 도시된 바와 같이 동남쪽 하늘을 향하고 있다고 하자. 그리고, 현재 태양의 방향은 서남쪽이라 하자. 그러면, 현재 동남쪽을 향하고 있는 판상 부재(20)를 현재 태양의 방향인 서남쪽을 향하도록 하기 위해서는, 제1 와이어(31)는 그대로 두고(태양의 현재 고도각과 법선 벡터의 현재 고도각이 일치하는 경우. 만약 이 두 고도각이 일치하지 않는다면 그에 따라 제1 와이어(31)도 그 길이 l₁이 증가 또는 감소하도록 제1 와이어(31)가 감겨져 있는 보빈을 풀거나 감으면 된다), 제2 와이어(32)는 그 길이 l₂가 감소하도록 제2 와이어(32)가 감겨져 있는 보빈은 감고, 제3 와이어(33)는 그 길이 l₃가 증가하도록 제3 와이어(33)가 감겨져 있는 보빈을 풀면 된다. 이러한 조작(구동)은 수동으로 이루어질 수도 있지만, 판상 부재(20)가 현재 향하고 있는 방향과 태양의 현재 방향을 비교함으로써 자동으로 이루어지게 할 수 있다. 이러한 자동화된 구동 제어는 구체적으로 다음과 같이 몇 가지 방법으로 구현할 수 있다.For example, in FIGS. 5 and 6, the point A1 connected to the plate member 20 is orthogonally facing about the origin O, and the second wire 32 is connected to the plate member 20. Point A2 is south-westward with respect to origin O, and point A3 with third wire 33 connected to plate member 20 is southeast with origin O and is normal vector

Assume that the current direction of (ie, the direction in which the plate member is currently facing) is directed toward the southeast sky as shown in FIG. And the direction of the sun is now southwest. Then, to direct the plate member 20 currently facing southeast toward southwest, which is the direction of the current sun, leave the first wire 31 as it is (when the current elevation angle of the sun and the current elevation angle of the normal vector coincide). If these two elevation angles do not coincide, the first wire 31 can also be unwound or wound with the bobbin on which the first wire 31 is wound so that its length l ₁ increases or decreases. 32, the bobbin in which the second wire 32 is wound is wound so that the length l ₂ is reduced, and the third wire 33 is loosened in the bobbin in which the third wire 33 is wound so that the length l ₃ is increased. . This operation (drive) may be made manually, but can be made automatically by comparing the current direction of the sun with the direction the plate member 20 is currently facing. This automated drive control can be implemented in several ways, specifically as follows.

First, a sensor is installed in the plate member 20 to detect a direction in which the plate member 20 is currently facing by detecting an inclination direction and an inclination angle of the plate member (that is, the azimuth angle and the elevation angle of the normal vector). Compare the current direction of the plate member detected by the sensor with the desired direction (i.e., the current direction of the sun) and wind the wires to be unwound among the first to third wires 31, 32, 33 in a direction in which the difference is reduced. Determine the wire to be Thus, after determining the unwinding or winding direction of each wire (31, 32, 33) and rotate the respective bobbin accordingly, the plate member 20 is gradually directed in the desired direction. At a fixed time interval or at a constant bobbin rotation amount, the current direction of the plate member is detected by the sensor, the comparison with the desired direction and the bobbin rotation are repeated so that the difference between the current direction and the desired direction of the plate member is within a predetermined error range. When it enters, drive control ends.

Here, the desired direction, that is, the current altitude and azimuth of the sun may be measured each time with a separate sensor, but the clock counting the current date and time in the controller 50, and the altitude of the sun according to the date and time. And a memory for storing azimuth angles, which can read and use values according to the current date and time.

In addition, the sensor which detects the present direction of a plate-shaped member typically uses the inclination sensor with respect to gravity, or the sensor which measures the inclination angle and inclination direction of the support | pillar 10 and the plate-shaped member 20 may be used.

Another method of automated drive control is to provide a sensor for detecting the current position (direction) of the sun on the upper surface of the plate member 20, and the current position of the sun detected by the sensor is placed on the plate member 20. The drive control is performed so as to be a specific angle (vertical in this embodiment).

Specifically, the current position detection sensor of the sun detects the intensity of light or heat from the sun in three dimensions, so that the sun is currently on the plane formed by the plate member 20 (that is, on the plane formed by the plate member). The altitude and azimuth of the Sun. After determining the unwinding and winding directions of the wires 31, 32, and 33 in a direction in which the elevation angle of the sun with respect to the plane of the plate member thus detected becomes a specific angle (vertical), the respective bobbin is rotated accordingly, and the plate member ( 20 gradually becomes the desired direction (the direction of the sun). At regular time intervals or at constant bobbin rotations, the sensor detects the current direction of the sun, compares whether it is perpendicular to the plane of the plate member, and repeats the bobbin rotation accordingly, so that the difference between the direction of the sun and the direction perpendicular to the plate member is preset. The drive control ends when it falls within the specified error range.

In such a method of detecting and controlling the current direction of the sun, the apparatus simplifies the apparatus by eliminating the need for a clock and a memory for storing the current direction of the sun, as compared with the method of detecting and controlling the current direction of the plate-like member described above. do.

Another method of automated drive control is to install a sensor (rotation decoder) on each of the three bobbins 43 to detect the current length of each of the three wires 31, 32, 33 by detecting the angle of rotation of the bobbin. After calculating the target length of each of the three wires 31, 32 and 33 when the plate member 20 faces the desired direction (i.e., the current direction of the sun), the three wires detected by the sensor It is to drive control the plate member 20 by unwinding or winding each bobbin in a direction in which the current length and the target length of each of the wires 31, 32, and 33 correspond to each other.

In other words, by comparing the current length and the target length of each of the three wires (31, 32, 33) detected by the sensor, the unwinding or winding of each wire (31, 32, 33) in the direction that the difference is reduced After determining the direction and rotating the respective bobbins accordingly, the plate member 20 gradually faces the desired direction (the direction of the sun). At regular time intervals or at constant bobbin turns, the current length of each of the three wires 31, 32, and 33 by the sensor is detected, compared with the target length, and the bobbin rotation accordingly is repeated to determine the current length and the target length. When the difference is within a predetermined error range, the drive control ends.

Here, the desired direction, that is, the current altitude and azimuth of the sun may be measured each time with a separate sensor, but the clock counting the current date and time in the controller 50, and the altitude of the sun according to the date and time. And a memory for storing azimuth angles, which can read and use values according to the current date and time.

In addition, the target length of each of the three wires 31, 32 and 33 along the desired direction is the coordinates of three points A1, A2 and A3 around the origin O, the length L from the origin O to the driving point M, From the relationship between the normal vectors perpendicular to the upper surface of the plate member at the origin O, the altitude angle h and the azimuth angle A of the desired direction, and the length l ₁ , l ₂ , l ₃ from _one end of each of the three wires to the bobbin It can calculate, specifically, as follows.

First, the following relationship holds between these variables and constants.

로 나타낼 수 있다. 여기서, 이 법선 벡터는 원점 O에서 3점 A1, A2, A3를 향하는 각각의 벡터

,

,

와의 각 내적이 0이 되어, 다음의 수식을 만족한다.In addition, the direction currently facing the plate member 20 is a normal vector with respect to the plane which three points A1, A2, A3 make, as shown in FIG.

. Here, this normal vector is defined as a vector corresponding to each vector pointing from the origin O to three points A1, A2, and A3

,

,

And the inner product of " and " becomes 0, and the following expression is satisfied.

In addition, since the normal vector is a unit vector, the following relation is satisfied.

을 지면 즉, XY 평면에 투영하면, 도 6에 도시된 바와 같이, 지면(도 6에서 EWSN이 이루는 평면)에 대해 방위각 A와 고도각 h를 갖는 벡터가 되고, 이 방위각 A와 고도각 h, 및 위 i, j, k는 다음의 관계를 만족한다.On the other hand, the normal vector which shows the direction which the plate member 20 currently faces

Is projected on the ground, that is, the XY plane, as shown in FIG. 6, it becomes a vector having an azimuth A and an elevation angle h with respect to the ground (the plane formed by the EWSN in FIG. 6), and the azimuth A and the elevation angle h, And i, j, k satisfy the following relationship.

Then, in this embodiment in which the plate member 20 is a solar panel or a heat collecting plate, drive control may be performed so that the plate member 20 faces the current sun. That is, the lengths of the three lines of wires 31, 32, 33 when the elevation angle h and the azimuth A with respect to the ground of the normal vector coincide with the current elevation and azimuth angles of the current sun l ₁ , l ₂ , l _What is necessary is just to drive the drive part 40 so that ₃ may be obtained and the length of the three wires 31, 32, and 33 may be increased or shortened. Specifically, the current altitude angle and the azimuth angle of the current sun are substituted into h and A of Equation (4), respectively, and the values of i and j are obtained. Substituting this into Equation (3) as pum and simultaneous six equations of equation (1) to (6) of the three equations and the equation obtained by substituting the formula (2), three points A1, A2, coordinates A3 that is, x _1, y _1, z ₁ , x ₂ , y ₂ , z ₂ , x ₃ , y ₃ , z ₃ . Thus substituting the determined _{x 1, y 1, z 1} , x 2, y 2, z 2, x 3, y 3, z 3 in the formula (7) to (9), of equation (1), each of the three lines of wire Obtain the target lengths l ₁ , l ₂ , l ₃ .

In such a method of detecting and driving the present length of each wire, the wire length can be controlled very precisely compared to the method of detecting and controlling the present direction of the plate member or the present direction of the sun. Inclination drive of 20 can be controlled very precisely. In addition, the sensor for detecting the length of the wire can be disposed in the drive unit 40, so that the wiring exposed outside the drive unit is minimized, so it is structurally simple and safe.

However, in the driving control of the wire length detection method, there is a disadvantage that detection and control are concentrated on the wire length, and it is difficult to appropriately cope with an emergency situation such as cutting of a wire. On the other hand, in the other manner described above, since the plate member 20 appears to be abnormally operated when the wire is cut, it is easily detected and can easily cope with this problem.

The operation of the control unit 50 according to the three driving control methods described above may be performed by the operation unit in the control unit 50, and the above control process may be programmed and implemented as a microprocessor in the control unit 50.

The above control process may be repeated at regular time intervals (for example, 5 minutes) for the time from sunrise to sunset, so that the plate member 20 tracks the sun at this constant time interval.

On the other hand, in the drive control of the wire length detection method, the calculation unit performs the calculation every time using the above equations, but the plate member 20 is directed toward the sun for each of the above calculation results, that is, the altitude and azimuth angle of the sun. A lookup table for storing the target lengths l ₁ , l ₂ , l ₃ of each of the three rows of wires 31, 32, and 33 is stored in a memory in the controller 50, and the altitude angle of the current sun from the lookup table. And outputting the target length of each of the three lines of wires corresponding to the azimuth angle, it is possible to simplify the configuration of the control unit 50 hardware.

Further, the lookup table may be set to the target lengths l ₁ , l ₂ , l ₃ of each of the three rows of wires 31, 32, and 33 that direct the plate member 20 toward the sun by the current date and time. This saves the algorithm by simplifying the calculation of the sun's elevation and azimuth angles.

The above is an embodiment in which the solar tracking device of the present invention is applied to the solar panel or the heat collecting plate to track the sun, but the solar tracking device of the present invention is a reflecting plate in which the plate member 20 reflects sunlight to a certain point. It can also be applied. 7 is a diagram showing the configuration of a sun tracking device according to another embodiment of the present invention in which the plate member 20 is used as a reflecting plate.

Referring to FIG. 7, the basic configuration of the sun tracking device according to the present embodiment is the same as the above-described embodiment, but the plate member 20 is a point P at which the sunlight from the sun S is separated from the sun tracking device. Since it is different from the reflecting plate reflecting, the description of the overlapping configuration and effects will be omitted and described with respect to the other points as follows.

을 중심으로, 태양광의 입사각 i와 반사각 r이 동일하게 되는 방향으로 판상 부재(20)를 경사 구동하여야 한다. 이를 위해, 구체적으로는 현재의 태양의 고도각과 방위각을 각각 상기 수학식 4의 h와 A에 대입하는 대신, 현재의 태양의 고도각과 일지점 P의 고도각의 중간값 및 현재의 태양의 방위각과 일지점 P의 방위각의 중간값을 각각 상기 수학식 4의 h와 A에 대입한다. 나머지 풀이 과정은 전술한 실시예와 동일하다. 한편, 상기 일지점 P의 방위각과 고도각은 기지의 값으로서 메모리에 저장해 두면 된다.The present embodiment differs from the above-described embodiment because the plate member 20 is a reflecting plate, so that the optimal direction that the plate member 20 wants to face is not the direction of the sun S, but the sunlight is the plate member ( 20) is the direction to be reflected to exactly one point P to enter. That is, the normal vector which shows the direction which the plate-shaped member 20 faces in this embodiment.

The plate member 20 should be inclinedly driven in the direction in which the incident angle i of the sunlight and the reflection angle r become the same. To this end, instead of substituting the altitude and azimuth angles of the current sun into h and A of Equation 4, respectively, the median of the altitude angle of the current sun and the altitude of one point P and the azimuth angle of the current sun The median of the azimuth angle of one point P is substituted into h and A of Equation 4, respectively. The remaining solution process is the same as in the above-described embodiment. On the other hand, the azimuth and elevation angles of the one point P may be stored in the memory as known values.

In the present embodiment, the solar cell or the heat collecting member is disposed at the point P to convert the solar energy into other forms of energy such as electric energy or thermal energy that can be utilized. Alternatively, a sun-dried object such as laundry or dried food or a sun-disinfected object may be disposed at the point P, and the sunlight reflected from the apparatus of the present embodiment may be used for sun-drying or sun-light disinfection. Furthermore, the one point P may be indoors of houses, buildings, factories, and the like. In this case, the sunlight reflected from the apparatus according to the present embodiment can be used for room lighting. On the other hand, the one point P is written as a 'point', but should not be interpreted as including a region having a certain area or pattern, but rather a 'point' in a strict sense.

On the other hand, the present embodiment can be particularly suitably applied to a photovoltaic power generation system that collects sunlight at a point P using a plurality of reflecting plates. That is, in FIG. 7, a plurality of sun tracking devices including the reflecting plate 20 may be provided at different positions, and each reflecting plate 20 may be configured to reflect sunlight at a point P. Each sun tracking device including 20 may drive control as in the case of using one sun tracking device, or may centrally drive control a plurality of sun tracking devices.

8 is a front view schematically showing a sun tracking device according to another embodiment of the present invention, FIG. 9 is an enlarged perspective view showing a driving unit of the sun tracking device of the present embodiment, and FIG. 10 is a sun tracking device of the present embodiment. Is an enlarged perspective view showing in detail the structure connected by the universal joint in.

8 to 10, the solar tracking device of the present embodiment will be described with reference to differences from the solar tracking device of the above-described embodiment described with reference to FIGS. 1 to 3.

First, in the solar tracking device of the present embodiment, the structure and the installation position of the drive unit 40 'are different from the above-described embodiment.

That is, as shown in Figs. 8 and 9, the drive unit 40 'of the present embodiment is configured to rotate the bobbin 43' and the bobbin 43 'rotatably fixed between the drive unit frame 45. The power transmission mechanism 42 which suitably switches the rotational force and direction of the motor 41 and the motor 41, and transmits them to the bobbin 43 'is provided. Here, the spacing between the pair of wheels forming the bobbin 43 'is very narrow compared to the above-described embodiment (see FIG. 3). Therefore, in the above-described embodiment, when the wires 31, 32, 33 are wound on the bobbin 43, they may be wound in parallel along the outer circumferential surface of the wide bobbin axis or may be wound as if they are stacked on the already wound wire. An error may occur in calculating the length of the current wire according to the amount of rotation, but in this embodiment, the wire must be wound so as to be laminated when the wire is wound on the bobbin 43 ', and thus the wire according to the amount of rotation of the bobbin 43' The length can be calculated uniquely without any error.

In addition, in this embodiment, the drive part frame 45 is connected to the bottom face of the plate-shaped member 10 by the hook 22 provided in the plate-shaped member frame 21 and the hook 46 provided in the drive frame 45. That is, the driving part 40 'is provided in one end of each of the three wires 31, 32 and 33. On the other hand, the other end of the three lines of wire (31, 32, 33) is connected to the support (10) by a hook 12 provided on the support 10 and a hook 34 provided on the other end similarly to one end. . Therefore, the drive unit 40 'and the wires 31, 32, and 33 can be easily dismantled by releasing the hooks 46 and 34, thereby simplifying maintenance. In addition, since the driving unit 40 ′ is installed in the form of being suspended in the plate member 10, the drive unit 40 ′ can rotate or flow to some extent with the wires 31, 32, and 33 as the central axis, thereby driving the plate member 10. It can absorb vibrations and shocks caused by external forces such as heavy winds and the like.

Meanwhile, in the above-described embodiment, the driving unit 40 is installed at the other end of the wires 31, 32, and 33, that is, the support 10. In the present embodiment, the driving unit 40 ′ is the wires 31, 32, 33. One end, that is, provided on the plate member 20 side, but the present invention is not necessarily limited thereto. In other words, as long as the length of the wires 31, 32, and 33 can be adjusted, the driving unit may be provided at any point between the both ends as well as the ends of the wires 31, 32, and 33.

The solar tracking device of the present embodiment is different from the embodiment described above in the specific configuration of the universal joint 11 'provided at the tip of the support 10 and the driving mechanism (the driving method of the plate member) accordingly.

That is, as shown in Figure 10, the universal joint (11 ') of the present embodiment is mounted via the bracket (13) at the tip of the support (10), so as to rotate one rotational axis (X axis) relative to the bracket (13) It has a structure that can be freely rotated about the center, and can be freely rotated about another rotational axis (Y axis) orthogonal to the X plane and orthogonal to the same plane. The plate member 20 is coupled to the other rotating shaft (Y axis) via the plate member frame 21. Therefore, the plate member 20 becomes inclined in any direction with respect to the support 10. Here, the two pivot axes (X-axis and Y-axis) of the universal joint 11 'have been described as orthogonal on the same plane, but must be co-planar as in the above-described embodiment (see FIGS. 2 and 7). May be present in a twisted position. However, when the two rotation shafts are in the same plane as in the present embodiment, it is preferable that the driving force is small and the driving force is small.

Moreover, in the universal joint 11 'of this embodiment, angle sensors 15 and 16 are provided in each rotational axis (X-axis and Y-axis) in the universal joint frame 14, respectively. Accordingly, by using the angle sensors 15 and 16, the angle at which the plate member 20 is rotated about two rotation axes (X and Y axes) of the universal joint 11 ′ can be detected. In this embodiment, the angle sensors 15 and 16 use a variable resistor whose resistance value changes in proportion to the rotated angle. Of course, a variable capacitor or a rotary decoder of the same principle may be used. In addition, in the present embodiment, four angle sensors 15 and 16 are used, two for the X and Y axes, respectively, but only one for the X and Y axes is required. However, when using two by one, it is preferable because one can use the other even if one is broken or malfunctions.

Using the angle sensors 15 and 16 in this way, compared with the above-described embodiment of calculating the current length of each of the three wires 31, 32, 33 and driving the current length to match the target length, The method of driving the member 10 in the desired direction becomes simpler. That is, the plate member 20 is currently directed from the angle at which the plate member 20 detected by the angle sensors 14 and 15 is rotated about two pivot axes (X axis and Y axis) of the universal joint 11 '. The azimuth and elevation angles of the normal vectors, that is, the normal vectors, are calculated and driven so that the azimuth and elevation angles of the normal vector of the plate member 20 coincide with the current azimuth and elevation angles of the sun.

Specifically, as shown in FIG. 11, the angles at which the plate member 20 is rotated about two rotation axes (X-axis and Y-axis) of the universal joint 11 'are referred to as α and β, respectively. The azimuth angle A and the altitude angle h according to the horizontal coordinate system (xyz Cartesian coordinate system) from, β are obtained as follows.

을 길이가 1인 단위 벡터라 하고, 직교 좌표계상에서의 x, y, z 좌표값을 각각 a, b, c라 하면, a, b, c는 다음 수식으로 구해진다.Normal vector of the plate member 20

A, b, and c are x, y, and z coordinate values in the orthogonal coordinate system, respectively, a, b, and c are obtained by the following equations.

의 지평 좌표계에 따른 방위각 A와 고도각 h는 다음 수식과 같이 나타낼 수 있다.In addition,

The azimuth angle A and the altitude angle h according to the horizon coordinate system can be expressed by the following equations.

By substituting a, b, and c in Equation (5) into Equation (6), the azimuth angle A and altitude angle h can be obtained as follows.

In the present embodiment in which the plate member 20 is a solar panel or a heat collecting plate, drive control may be performed so that the azimuth angle A and the altitude angle h thus obtained coincide with the azimuth and altitude angles of the current sun. The method of detecting or calculating the current azimuth angle and elevation angle of the sun and the specific drive control operation are the same as those in the above-described embodiment.

In the present embodiment, additional features similar to those of the above-described embodiment can be added as long as they are not contradictory. For example, in the present embodiment, the azimuth angle and altitude angle of the current sun can be detected using a sensor, or read out through a memory or a lookup table, as in the above-described embodiment. Furthermore, by storing the rotation angles α and β of the plate member 20 according to the date and time in the lookup table, and reading the rotation angles α and β according to the current date and time, the plate member is immediately processed without going through the above-described calculation process. 20 can also be drive-controlled.

In addition, the solar tracking device of the present embodiment can also be used for the reflecting device as in the embodiment described with reference to FIG.

In the foregoing, preferred embodiments of the present invention have been described with reference to the accompanying drawings. It should be noted, however, that the embodiments described in the present specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

For example, in the above description, as an embodiment of the present invention, the plate-like member is described as a solar tracking device that is a heat collecting plate, a solar panel, or a reflecting plate that receives solar energy such as sunlight or solar heat, but the driving method of the plate member of the present invention. And the device is not limited to the sun tracking device and method, and can be applied as it is when driving control of the plate member in any desired direction. For example, the present invention can be applied to cases in which a specific satellite or a specific object must be followed, such as a satellite antenna or a radio telescope. In this case, the sensor for detecting the current position of the sun described above may be replaced with a sensor for detecting the position by detecting the strength of the radio wave (electrical signal) from a specific satellite or celestial body and furthermore, the magnetic signal in three dimensions. .

10: Shoring 11,11 ': Universal Joint
12, 22: hook 13: bracket
14: universal joint frame
15,16: angle sensor (current direction detection sensor)
20: plate member 21: plate member frame
31,32,33: wire 34,46: hook
40,40 ': drive portion 41: motor
42: power transmission mechanism 43,43 ': bobbin
44: partition wall 45: drive unit frame
50:

Claims (24)

As a method of driving a plate-like member installed to be inclined in an arbitrary direction about a center point to face a desired direction,
One end of each of three lines of wires is connected to each of three lines forming a triangle on one surface of the plate member, and each end of each of the three lines of wires is spaced apart from one surface of the plate member. Fixed to any one point, the three wires are installed to adjust the length from each end to the other end,
Adjusting the length from one end to the other end of each of the three wires so that the plate member faces the desired direction,
The plate member is provided with a current direction detection sensor for detecting a direction in which the plate member is currently facing,
Adjusting the length of each of the three lines of wire,
(a) detecting a direction in which the plate member is currently facing by using the current direction detection sensor;
(b) comparing the current direction of the plate member detected in the step (a) with the desired direction;
(c) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (b) coincides; And
(d) repeating steps (a) to (c) for each of the three rows of wires until the difference is within a predetermined error range as a result of the comparison in step (b);
The present direction detection sensors are two angle sensors each detecting an angle of rotation of the plate member about two axes orthogonal to each other on a plane on which the plate member is installed,
In the step (a), the azimuth and elevation angles of the normal vector perpendicular to the other surface of the plate member at the center of the plate member in the direction in which the plate member is currently facing are detected by the two angle sensors, respectively. It calculates from the angle which the plate member rotated, The driving method of the plate member characterized by the above-mentioned. delete delete As a method of driving a plate-like member installed to be inclined in an arbitrary direction about a center point to face a desired direction,
One end of each of three lines of wires is connected to each of three lines forming a triangle on one surface of the plate member, and each end of each of the three lines of wires is spaced apart from one surface of the plate member. Fixed to any one point, the three wires are installed to adjust the length from each end to the other end,
Adjusting the length from one end to the other end of each of the three wires so that the plate member faces the desired direction,
On the other surface of the plate member, the current direction of the object with respect to the plane formed by the plate member is detected by detecting the intensity of at least one of light, thermal, electrical and magnetic signals from an object to be tracked by the plate member. The object direction detecting sensor to detect is installed,
Adjusting the length of each of the three lines of wire,
(a) detecting a current direction of the object with respect to a plane formed by the plate member by using the object direction detection sensor;
(b) comparing a current direction of the object detected in step (a) with a direction perpendicular to a plane formed by the plate member;
(c) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (b) coincides; And
(d) repeating steps (a) to (c) for each of the three rows of wires until the difference is within a predetermined error range as a result of the comparison in step (b). A drive method of the plate member characterized by the above-mentioned. As a method of driving a plate-like member installed to be inclined in an arbitrary direction about a center point to face a desired direction,
One end of each of three lines of wires is connected to each of three lines forming a triangle on one surface of the plate member, and each end of each of the three lines of wires is spaced apart from one surface of the plate member. Fixed to any one point, the three wires are installed to adjust the length from each end to the other end,
Adjusting the length from one end to the other end of each of the three wires so that the plate member faces the desired direction,
Each of the three rows of wires is provided with a wire length detection sensor for detecting the current length of each of the three rows of wires,
Adjusting the length of each of the three lines of wire,
(a) calculating a target length which is the length of each of the three rows of wires when the plate member faces the desired direction;
(b) detecting a current length of each of the three wires using the wire length detection sensor;
(c) comparing, for each of the three rows of wires, a target length calculated in step (a) with a current length detected in step (b);
(d) increasing or decreasing the length of each of the three rows of wires in a direction in which the comparison result of step (c) coincides; And
(e) repeating steps (b) to (d) until each of the three wires has a difference as a result of the comparison of step (c) within a predetermined error range. A drive method of the plate member characterized by the above-mentioned. 6. The method of claim 5,
When the center of the plate member is the origin, the other end extension line of each of the three wires converges to a common driving point spaced apart from the origin toward one surface of the plate member.
In the step (a), the coordinates of the three points about the origin, the length from the origin to the driving point, a normal vector perpendicular to the other surface of the plate member at the origin, and the altitude formed by the desired direction A target length of each of the three wires is calculated from the relationship between the angles and azimuth angles and the lengths from one end to the other end of each of the three wires. A post formed at the upper end of the universal joint and fixed to the ground or the fixed structure;
A plate member having a center of one surface coupled to the universal joint to enable inclined driving in an arbitrary direction;
Three rows of wires, one end of which is fixed to three points forming a triangle on one surface of the plate-like member, and the other end of which is fixed to the support;
Three bobbins rotatably installed on either or both ends of each of the three rows of wires and rotatable to wind or unwind each of the three rows of wires, and three motors for rotating each of the three bobbins. A driving unit including; And
And a control unit which transmits a signal for adjusting the length of each of the three wires to the driving unit so that the plate member faces a desired direction, and rotates each of the three bobbins.
And a current direction detection sensor for detecting a direction in which the plate member is currently facing by detecting an inclination direction and an inclination angle of the plate member.
The control unit,
And a computing unit for comparing the current direction of the plate member detected by the current direction detection sensor with the desired direction, and determining the rotation direction of each of the three bobbins in a direction in which the comparison result is coincident,
The current direction of the plate-shaped member detected by the sensor, the comparison by the calculation unit and the rotation direction of the bobbin, and the three lines of wires by the drive unit until the difference is within a predetermined error range as a result of the comparison of the calculation unit. Controlling the sensor, the calculation unit and the driving unit to repeat each length adjustment,
The current direction detecting sensor is a tilt sensor or an acceleration sensor provided in the plate member, the drive device of the plate member. delete delete A post formed at the upper end of the universal joint and fixed to the ground or the fixed structure;
A plate member having a center of one surface coupled to the universal joint to enable inclined driving in an arbitrary direction;
Three rows of wires, one end of which is fixed to three points forming a triangle on one surface of the plate-like member, and the other end of which is fixed to the support;
Three bobbins rotatably installed on either or both ends of each of the three rows of wires and rotatable to wind or unwind each of the three rows of wires, and three motors for rotating each of the three bobbins. A driving unit including; And
And a control unit which transmits a signal for adjusting the length of each of the three wires to the driving unit so that the plate member faces a desired direction, and rotates each of the three bobbins.
And a current direction detection sensor for detecting a direction in which the plate member is currently facing by detecting an inclination direction and an inclination angle of the plate member.
The control unit,
And a computing unit for comparing the current direction of the plate member detected by the current direction detection sensor with the desired direction, and determining the rotation direction of each of the three bobbins in a direction in which the comparison result is coincident,
The current direction of the plate-shaped member detected by the sensor, the comparison by the calculation unit and the rotation direction of the bobbin, and the three lines of wires by the drive unit until the difference is within a predetermined error range as a result of the comparison of the calculation unit. Controlling the sensor, the calculation unit and the driving unit to repeat each length adjustment,
And the present direction detection sensors are two angle sensors installed on two rotation shafts of the universal joint to detect angles of rotation of the plate member about the two rotation shafts. 11. The method of claim 10,
The calculation unit may include azimuth and elevation angles of a normal vector perpendicular to the other surface of the plate member at the center of the plate member, which is the direction in which the plate member is currently facing, wherein the plate member detected by the two angle sensors respectively. It calculates from the angle rotated, The drive device of the plate member characterized by the above-mentioned. A post formed at the upper end of the universal joint and fixed to the ground or the fixed structure;
A plate member having a center of one surface coupled to the universal joint to enable inclined driving in an arbitrary direction;
Three rows of wires, one end of which is fixed to three points forming a triangle on one surface of the plate-like member, and the other end of which is fixed to the support;
Three bobbins rotatably installed on either or both ends of each of the three rows of wires and rotatable to wind or unwind each of the three rows of wires, and three motors for rotating each of the three bobbins. A driving unit including; And
And a control unit which transmits a signal for adjusting the length of each of the three wires to the driving unit so that the plate member faces a desired direction, and rotates each of the three bobbins.
It is installed on the other surface of the plate member, and detects the intensity of at least one of light, heat, electrical and magnetic signals from the object to be tracked by the plate member to the plane of the object made of the plate member Further comprising; object direction detection sensor for detecting the current direction,
The control unit,
Computing unit for comparing the current direction of the object detected by the object direction detection sensor and the direction perpendicular to the plane formed by the plate-like member, and determine the rotation direction of each of the three bobbin in the direction that the comparison result is matched Including,
The current direction of the object detected by the object direction detection sensor, the comparison by the calculation unit and the rotation direction of the bobbin, and the drive unit by the drive unit until the difference is within a predetermined error range as a result of the comparison of the calculation unit. And controlling the sensor, the calculation unit and the driving unit to repeat the length adjustment of each of the three rows of wires. A post formed at the upper end of the universal joint and fixed to the ground or the fixed structure;
A plate member having a center of one surface coupled to the universal joint to enable inclined driving in an arbitrary direction;
Three rows of wires, one end of which is fixed to three points forming a triangle on one surface of the plate-like member, and the other end of which is fixed to the support;
Three bobbins rotatably installed on either or both ends of each of the three rows of wires and rotatable to wind or unwind each of the three rows of wires, and three motors for rotating each of the three bobbins. A driving unit including; And
And a control unit which transmits a signal for adjusting the length of each of the three wires to the driving unit so that the plate member faces a desired direction, and rotates each of the three bobbins.
A wire length detection sensor installed at each of the three bobbins and detecting a current length of each of the three wires by detecting a rotation angle of the bobbin;
The control unit,
Calculating a target length which is the length of each of the three wires when the plate member faces the desired direction, and calculates the target length and the present length of each of the three wires detected by the wire length detection sensor Comparing a, comprising a calculation unit for determining the rotation direction of each of the three bobbins in the direction that the comparison result is coincident,
The current length of each of the three lines of wires by the wire length detection sensor, the comparison by the calculation unit and the rotation direction determination of the bobbin until the difference is within a predetermined error range as a result of the comparison of the calculation unit, and the The sensor, the calculating part, and the driving part are controlled so that the length adjustment of each of the three lines of wires by the driving part is repeated. 14. The method of claim 13,
When the center of the plate member is the origin, the other end extension line of each of the three lines of wires converges to a common driving point spaced apart from the origin toward one surface of the plate member,
The operation unit,
The coordinates of the three points about the origin, the length from the origin to the driving point, a normal vector perpendicular to the other surface of the plate member at the origin, the elevation angle and the azimuth angle formed by the desired direction, and the three The target length of each of the three wires is calculated from the relationship between the lengths from one end to the other end of each wire of the wire. 8. The method of claim 7,
The prop is a drive device of a plate member, characterized in that consisting of a single column. The drive device of the plate-shaped member of any one of Claims 7 and 10-15,
The plate member is a plate member for collecting, condensing or reflecting solar energy from the sun,
And the control unit controls the driving unit so that the plate-shaped member tracks the sun and faces the desired direction according to the altitude and azimuth angle of the sun. 17. The method of claim 16,
The control unit includes: a clock for counting a current date and time; And a memory for storing an altitude angle and an azimuth angle of the sun according to the date and time,
And the control unit calculates the desired direction by reading the altitude and azimuth angle of the sun according to the current date and time from the memory. 17. The method of claim 16,
The control unit includes a look-up table for storing the length of each of the three rows of wires for allowing the plate-shaped member to track the sun in a desired direction for each altitude and azimuth angle of the sun.
The controller reads the length of each of the three lines of wires corresponding to the altitude and azimuth of the current sun from the lookup table, and transmits a signal for adjusting the length of each of the three lines of wires to the driving unit. Solar tracking device. 17. The method of claim 16,
The control unit includes: a clock for counting a current date and time; And a lookup table for storing the length of each of the three rows of wires for each of the date and the time, so that the plate member tracks the sun and faces the desired direction.
And the controller reads a length of each of the three lines of wires corresponding to a current date and time from the lookup table and transfers the lengths of the wires to the driving unit. 17. The method of claim 16,
The control unit, for each of the altitude and azimuth angle of the sun, the angle of rotation of the plate member about the two rotational axes of the universal joint for tracking the sun in the desired direction, and according to the angle of rotation And a lookup table for storing the length of each of the three rows of wires.
The control unit reads the rotation angle of the plate member corresponding to the altitude and azimuth angle of the current sun and the length of each of the three wires from the lookup table to adjust the length of each of the three wires in the driving unit. Solar tracker, characterized in that for transmitting a signal. 17. The method of claim 16,
The control unit includes: a clock for counting a current date and time; And a rotation angle of the plate member about the two rotational axes of the universal joint for tracking the sun and pointing the sun in a desired direction by date and time, and each of the three rows of wires according to the rotation angle. And a lookup table for storing the length of the
The control unit reads the rotation angle of the plate member corresponding to the current date and time and the length of each of the three wires from the lookup table, and transmits a signal for adjusting the length of each of the three wires to the driving unit. Sun tracking device, characterized in that. 17. The method of claim 16,
The plate member is a heat collecting plate, a light collecting plate or a solar cell plate for collecting and condensing solar energy,
Sun tracking device, characterized in that the direction in which the plate member is desired to match the direction of the sun. 17. The method of claim 16,
The plate member is a reflector reflecting sunlight to a point spaced apart from the sun tracking device,
The direction in which the plate-shaped member is desired to be directed is a direction which bisects an angle formed by the sun, the center of the reflecting plate, and the one point. Including a plurality of the sun tracking device of claim 23,
And a reflector of each of the plurality of sun trackers configured to reflect sunlight to a common point.

Images