KR20180111061A - Water floating type solar power generation system - Google Patents

Abstract

The present invention relates to a water floating type solar power generation system. The water floating type solar power generation system according to an embodiment of the present invention includes a floating structure installed on the water and receiving a plurality of solar power generation modules on a top end thereof, one or more distance measuring sensors attached to one side of the floating structure and measuring a distance between the floating structure and a water surface, one or more length-controllable robot arms whose one end is connected to one side of the floating structure and the other end is connected to a buoyancy body, and a control unit for controlling the length of the robot arm according to the distance between the floating structure and the water surface measured by the distance measuring sensor. Accordingly, the present invention can save component replacement and repair costs and prevent the reduction of generation efficiency.

Description

[0001] WATER FLOATING TYPE SOLAR POWER GENERATION SYSTEM [0002]

The present invention relates to a water floating solar power generation system.

Development using clean energy resources is rapidly spreading for the purpose of depletion of fossil fuels due to industrial development, response to environmental problems, and securing sustainable energy. In particular, solar power generation is less likely to generate pollutants during the power generation process, and there is no fear of depletion of energy supply sources, and it is attracting attention as a new clean energy resource.

2. Description of the Related Art Generally, a photovoltaic power generation facility is a facility in which a plurality of photovoltaic cells are connected in series or parallel to each other to fix a photovoltaic module including a plurality of photovoltaic modules on a support to generate sunlight to generate current, It can be used as a commercial power source by connecting to the power system. This solar power generation is proportional to the installation area of the power generation facility under the same sunshine condition, so securing the construction site of the power generation facility is significant. However, when the solar power generation facilities are installed on the ground, there are problems such as limitation of the installation area, difficulty in securing the flat area where the sunshine hours can be easily secured, existence of interference in the shade, and rising construction costs due to land compensation costs. Water PV can be an alternative to many of these problems. Solar PV power plants can be used efficiently by utilizing the installed space by installing photovoltaic power generation facilities in the water reservoirs, rivers, dams and seas, which are idle sites.

FIG. 1 is a configuration diagram of an aquarium power generation facility according to the prior art.

Fig. 1 shows an example of a conventional aquatic power generating facility. Generally, a floating photovoltaic power generation facility includes a floating structure 102 capable of fixing a solar power generation module 100 on an upper part thereof, a float 104 attached to a lower part thereof and floating on the water surface, an anchor A wire 110 and a weight 108 for connecting the floating structure 102 and the floating structure 102, a substation 112 for switching the current generated by the solar power generation module 100, and a distribution line 114 for transmission do.

The floating structure 102 of the solar power generating facility is fixed at a specific position so as to set and fix the direction of the solar power generating module 100 according to the azimuth angle of the sun in order to increase power generation efficiency. The fixing of the floating structure 102 can be achieved by connecting the floating structure 102 to the anchor 106 fixed to the ground with the wire 110 and adjusting the tension of the wire 110 through the weight 108 . Although not shown in FIG. 1, when a plurality of floating structures 102 are installed in a matrix structure, there may be a separate wire connection between the floating structures 102 for preventing drift and fixing the position.

However, the fixing of the floating structure 102 as described above is disadvantageous in that it is vulnerable to changes in the surrounding environment such as weather. The wire 110 or the anchor 106 connecting the ground and the floating structure 102 may be damaged due to a large movement of the floating structure 102 due to wind or waves. As a result, the cost required to replace or repair the broken wire 110 or the anchor 106 is increased.

The wire 110 or the anchor (not shown) connecting the ground and the floating structure 102 due to the inclination of the floating structure 102 or the large movement of the floating structure 102 due to the change of the wind or the wave, 106 are broken, the angle of the solar cell module 100 installed on the floating structure 102 changes. In this case, the angle of incidence of the sun on the solar cell module 100 is different, and the power generation efficiency by the solar cell module 100 is reduced.

The present invention relates to a structure for restraining movement of a floating structure due to wind or wave to maintain a constant height and level of the floating structure, thereby preventing breakage of a wire or anchor fixing the floating structure to the ground, And an object of the present invention is to provide a floating floating solar power generation system.

In addition, the present invention prevents the floating structure from tilting due to wind or wave, maintains a constant height and level of the floating structure, and prevents breakage of the wire or anchor that fixes the floating structure to the ground, Floating solar power generation system which prevents a decrease in power generation efficiency through the use of a solar cell.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided a solar cell module including a floating structure installed on an aquarium and having a plurality of solar modules mounted on a top thereof, at least one distance sensor attached to one side of the floating structure, The robot includes a measurement sensor, at least one robot arm whose one end is connected to one side of the floating structure and whose other end is connected to the floating body, And a control unit for controlling the length of the arm.

According to the present invention as described above, the movement of the floating structure due to wind or wave is restricted to maintain a constant height and level of the floating structure, thereby preventing damage to the wire or anchor fixing the floating structure to the ground, There is an advantage of providing a water-floating solar power generation system which can save cost.

Further, according to the present invention, it is possible to prevent the floating structure from tilting due to wind or wave, to maintain a certain height and level of the floating structure, and to prevent breakage of the wire or anchor that fixes the floating structure to the ground, There is an advantage that it is possible to provide a water floating solar power generation system that prevents reduction of power generation efficiency through maintenance of angle.

FIG. 1 is a configuration diagram of an aquarium power generation facility according to the prior art.
2 is a side view of a floating floating solar power generation system according to an embodiment of the present invention.
3 is a configuration diagram of a floating floating solar power generation system according to an embodiment of the present invention.
4 is a block diagram of a robot arm included in a floating floating solar power generation system according to an embodiment of the present invention.
5 is a view illustrating an operation of a floating floating solar power generation system according to an embodiment of the present invention.
6 is a view illustrating an operation of a floating floating solar power generation system according to an embodiment of the present invention.
7 is a side view showing an angle formed by a floating structure with a predetermined reference plane in an embodiment of the present invention.
8 is a side view illustrating a method of measuring an angle between a floating structure and a water surface through a distance measuring sensor in an embodiment of the present invention.
9 is an exemplary diagram illustrating a plurality of floating structures in a matrix structure in an embodiment of the present invention.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same or similar elements.

Hereinafter, the construction of the floating floating solar power generation system according to one embodiment of the present invention will be described in detail with reference to FIG. 2 to FIG.

2 is a side view of a floating floating solar power generation system according to an embodiment of the present invention.

The float-type solar power generation system according to an embodiment of the present invention includes a solar module 21, a floating structure 20, a distance measurement sensor 22, a robot arm 24, a buoyant body 25, 26). Referring to FIG. 2, the floating floating solar power generation system according to an embodiment of the present invention may further include a float 28, a wire 211, a weight 213, and an anchor 212.

A plurality of solar modules 21 may be mounted on the floating structure 20. Although not shown in the drawing, the current generated by the solar module 21 is converted through a substation and distributed to distribution lines. The floating structure 20 floats on the surface of the water by buoyancy of the float 28 attached to the lower portion and the buoyancy body 25 attached to the end of the robot arm 24. The floating structure 20 is fixedly connected to the anchor 212 on the ground via the wire 211 and the tension of the wire 211 is adjusted by the weight 213.

The distance measuring sensor 22 is attached to one side of the floating structure 20. The distance measuring sensor 22 measures the distance from the bottom of each corner of the floating structure 20 to the water surface at the position where the distance measuring sensor 22 is attached. The type of the distance measuring sensor 22 may vary depending on the operating environment of the water floating solar power generation system. For example, an optical distance sensor or an ultrasonic distance sensor or the like may be used as the distance measuring sensor 22. [

Referring again to FIG. 2, one end of the robot arm 24 is connected to one side of the floating structure 20. The other end of the robot arm 24 is connected to the buoyant body 25. At this time, the buoyant body 25 has buoyancy of a predetermined size to maintain a constant distance between the lower part of the floating structure 20 and the water surface. At this time, the predetermined buoyant force may be determined according to the weight of the floating structure 20.

The length of the robot arm 24 can be adjusted by a control unit 26 described later. The length adjustable range of the robot arm 24 can be determined according to the operating environment of the floating floating solar power generation system. If the water floating solar power generation system is installed in a place where wind or wave strength is strong, the movement of the floating structure 20 becomes large. At this time, the range of the length of the robot arm 24 is adjustable As shown in FIG.

The control unit 26 adjusts the length of the robot arm 24 in accordance with the signal from the distance measuring sensor 22. The position at which the control section 26 can be installed is not limited to a specific position within a range in which the length of the robot arm 24 can be adjusted according to the signal of the distance measuring sensor 22. [ The control unit 26 is connected to the distance measuring sensor 22 and the robot arm 24. [ The connection between the controller 26, the distance measuring sensor 22 and the robot arm 24 may be wired or wireless.

3 is a configuration diagram of a floating floating solar power generation system according to an embodiment of the present invention.

3 is a block diagram showing a configuration of a floating structure 20 of a floating floating solar power generation system in which a plurality of solar modules 21, distance measurement sensors 22a, 22b, 22c and 22d, robot arms 24a, 24b, 24c and 24d, And a control unit 26 are provided.

3, the distance measuring sensors 22a, 22b, 22c and 22d may be attached to the respective corners of the floating structure 20, preferably to the bottom of each corner of the floating structure 20 . However, the position of the distance measuring sensors 22a, 22b, 22c, and 22d may be varied according to the embodiment.

The robot arms 24a, 24b, 24c, and 24d are connected to the respective corners of the floating structure 20. However, the connecting positions of the robot arms 24a, 24b, 24c, and 24d may be varied according to the embodiment. Preferably at a lower portion of each edge of the floating structure 20 within a certain distance from the distance measuring sensors 22a, 22b, 22c, 22d attached to the bottoms of the respective corners of the floating structure 20. [ Floating members 25a, 25b, 25c and 25d are connected to the ends of the robot arms 24a, 24b, 24c and 24d, respectively.

4 is a block diagram of a robot arm included in a floating floating solar power generation system according to an embodiment of the present invention.

Fig. 4 is an enlarged view of one of the robot arms 24a, 24b, 24c and 24d shown in Fig.

In one embodiment of the present invention, the robot arm 24a may include a connection portion 42 connected to the floating structure, a piston 44 for adjusting the length of the robot arm, and a cylinder 46. [ The piston 44 can perform a piston movement within the cylinder 46 to adjust the length of the robot arm. At this time, the piston movement may be performed by any one of hydraulic, pneumatic, and electric type.

A buoyancy member (48) is connected to the distal end of the robot arm (24a). The size, shape and material of the buoyant body 48 can be selected according to the operating environment of the floating floating solar power generation system. For example, the float may preferably be configured as an air chamber to ensure ease of buoyancy size control and durability.

 Referring again to FIG. 3, in an embodiment of the present invention, the control unit 26 may be installed on one side of the floating structure 20. As shown in FIG. 3, it is preferable that the control unit 26 is installed on the top of the floating structure 20 to prevent flooding. The control unit 26 is connected to the distance measuring sensors 22a, 22b, 22c and 22d and the robot arms 24a, 24b, 24c and 24d.

In an embodiment of the present invention, the position where the distance measuring sensor and the robot arm are installed, the distance measuring sensor installed and the number of the robot arm may be different depending on the water environment in which the floating floating solar power generation system is installed. For example, the distance measuring sensors 22a, 22b, 22c, 22d and the robot arms 24a, 24b, 24c, 24d may be attached to the four corners of the floating structure 20 as shown in Fig. 3 In order to more precisely control the movement of the floating structure 20 when the floating floating solar power generation system is installed in an environment where frequent changes of wind or waves occur, the edge of the floating structure 20 or the center of the floating structure 20 A distance measuring sensor and a robot arm may be additionally provided at the lower end.

5 is a view illustrating an operation of a floating floating solar power generation system according to an embodiment of the present invention.

As shown in FIG. 5, the floating structure 50 is installed in the watercraft, and the water surface can be kept horizontal when there is no wind or wave. At this time, the floating structure 50 can maintain the parallel state with the water while floating the water through the floating force of the float 56 in a state where the plurality of solar power generating modules 58 are seated on the upper part. The dashed line in FIG. 5 represents the water surface L1 in the absence of wind or wave, wherein the distance between the lower part of the floating structure 50 and the water surface is D3 in all the parts under the floating structure 50. That is, D3 is the distance between the floating structure 50 and the surface of the water that maintains the horizontal level when there is no wind or wave.

Referring again to FIG. 5, a first distance sensing sensor 511 and a second distance sensing sensor 521 are attached to a lower portion of the floating structure 50. The first distance detection sensor 511 and the second distance detection sensor 521 measure the distance between the lower surface of the floating structure 50 to which each sensor is attached and the water surface in real time.

The height of the water surface on which the floating structure 50 is installed can be changed due to the wind. In FIG. 5, the water surface L3 whose height has changed due to the wind is indicated by a solid line. That is, the height of the water surface at the place where the second distance detection sensor 521 is installed may be higher than the water surface where the first distance detection sensor 511 is installed at a specific time point. 5, the distance between the lower surface of the floating structure 50 measured by the first distance sensing sensor 511 and the water surface L3 is D1, and the distance between the floating structure 50 measured by the second distance sensing sensor 511 The distance between the lower portion of the water surface 50 and the water surface L3 is D2.

The control unit 53 controls the distance D1 between the lower part of the floating structure 50 measured by the first distance sensing sensor 511 and the water surface and the distance D1 measured by the second distance sensing sensor 521 When the distance D2 between the lower part of the floating structure 50 and the water surface is out of the preset allowable distance, control over the length of each robot arm can be started. The predetermined allowable distance can be set to a distance at which the floating structure 50 can move in the water within a range in which the wire or the anchor fixing the floating structure 50 is not broken.

Referring again to FIG. 5, the floating structure 50 may be buoyant to float attached to the lower end of the floating structure 50 due to a change in slope of the water surface, and may be tilted toward the first distance detection sensor 511. The control unit 53 calculates the distance D1 between the lower part of the floating structure 50 measured by the first distance sensing sensor 511 and the water surface and the distance between the lower part of the floating structure 50 measured by the second distance sensing sensor 521 and the water surface The lengths of the first robot arm 512 and the second robot arm 522 can be adjusted according to the distance D2. The control unit 53 may increase the length of the first robot arm 512 and decrease the length of the second robot arm 522 to prevent the floating structure 50 from tilting toward the first distance sensing sensor 511 have. At this time, the control unit 53 can determine how much the length of each robot arm is to be increased or decreased by using a predetermined reference distance.

For example, the control unit 53 sets the distance D3 between the lower portion of the floating structure 50 that maintains the horizontal state and the water surface L1 when there is no wind or wave, . At this time, the controller 53 may increase the length of the first robot arm 512 by the difference between the lower part of the floating structure 50 measured by the first distance sensing sensor 511 and the distance D1 between the water surface and the reference distance D3 have. The controller 53 can reduce the length of the second robot arm 522 by the difference between the lower portion of the floating structure 50 measured by the second distance sensor 521 and the water surface D2 and the reference distance D3 have.

6 shows a process of controlling the lengths of the robot arms 512 and 522 by the control unit 53 in the water surface L3 state where the height changes due to the wind as shown in FIG. 6, the length of the first robot arm 512 is increased by D4, which is the difference between the distance D1 between the lower portion of the floating structure 50 measured by the first distance sensing sensor 511 and the water surface and the reference distance D3 . On the other hand, the length of the second robot arm 522 is reduced by D5 which is the difference between the distance D2 between the lower part of the floating structure 50 measured by the second distance sensing sensor 521 and the water surface and the reference distance D3.

In an embodiment of the present invention, the control unit 53 may store an equation or a distance comparison table so that the length of each robot arm can be adjusted according to signals of the distance measurement sensors. For example, the control unit 53 can calculate the control length of the robot arm by substituting the distance measured by the distance measuring sensor into a pre-stored arithmetic expression. As another example, the control unit 53 may determine an adjustment length of the robot arm corresponding to the distance measured by the distance measuring sensor, by referring to a previously stored distance comparison table.

The control unit 53 can adjust the height of the floating structure 50 by absorbing the shock that the floating structure 50 can receive by adjusting the length of each robot arm. The floating structure 50 can be maintained at a constant height and level without being tilted toward the first distance detection sensor 511 under the control of the control unit 53. [

The distance measurement between the lower part of the floating structure 50 and the water surface of each distance detection sensor and the adjustment of the length of each robot arm of the control part 53 are performed in real time corresponding to the height of the water surface varying with time. The control unit 53 controls each robot arm in real time so that the floating structure 50 maintains a constant height and a horizontal position so that when the floating structure 50 installed on the water is viewed from a horizontal plane, It can be seen that it is always in parallel with the horizontal ground.

That is, as a result of the control unit 53 maintaining the constant height and level of the floating structure 50 under the control of each robot arm, the movement of the floating structure 50 can be minimized in spite of the influence of wind or waves, 50) to the ground can be prevented from being damaged, so that the repair cost of parts replacement can be saved.

In addition, the control unit 53 maintains the constant height and level of the floating structure 50 under the control of each robot arm. As a result, the floating structure is prevented from tilting due to wind or waves, Thereby preventing breakage of the wire or the anchor that fixes the floating structure to the ground, thereby preventing the reduction of the power generation efficiency by maintaining the fixed angle of the solar module.

7 is a side view showing an angle formed by a floating structure with a predetermined reference plane in an embodiment of the present invention. In an embodiment of the present invention, the control unit may start controlling the length of each robot arm when the angle formed by the floating structure and the predetermined reference plane is equal to or greater than a predetermined reference angle. The angle between the floating structure and the predetermined reference plane can be calculated by a vibration sensor or an equilibrium system.

 Referring to FIG. 7, the floating structure 70 can be inclined in a specific direction as the height of the water surface L4 varies due to wind or waves. A vibration sensor or balancing system 72 for measuring the tilt angle of the floating structure 70 may be installed at one side of the floating structure 70. The predetermined reference plane L2 is a virtual reference plane that is set so that the vibration sensor or balancer 72 can measure the tilt angle of the floating structure 70. The vibration sensor or balancer 72 measures in real time the angle [theta] 1 between the floating structure 70, which varies with time, and the predetermined reference plane L2. The control unit 74 controls the robot arm 70 such that when the angle? 1 between the floating structure 70 at a specific point in time and the predetermined reference plane L2 becomes equal to or greater than a predetermined reference angle in accordance with a signal from the vibration sensor or the balance system 72, Length control can be started.

8 is a side view illustrating a method of measuring an angle between a floating structure and a water surface through a distance measuring sensor in an embodiment of the present invention.

In an embodiment of the present invention, the controller 86 may start controlling the length of each robot arm when the angle 2 between the floating structure 80 and the water surface is equal to or greater than a predetermined reference angle. The angle 2 between the floating structure 80 and the water surface is calculated on the basis of the difference value of each distance measured by the pair of distance measuring sensors.

The floating structure 80 can be inclined in a specific direction as the height of the water surface varies due to wind or waves. The first distance sensing sensor 82 and the second distance sensing sensor 84 measure the distance between the lower surface and the water surface of the floating structure 80 to which each sensor is attached in real time. 8, the distance between the lower surface of the floating structure 80 measured by the first distance sensing sensor 82 and the surface of the water is D6 at a specific point in time, and the floating structure 80, measured by the second distance sensing sensor 84, The distance between the bottom and the water surface is D7. The distance between the position where the first distance detection sensor 82 is attached and the position where the second distance detection sensor 84 is attached is D8. Assuming that the line connecting the points of the respective water surface at which the first distance detection sensor 82 and the second distance detection sensor 84 measure distance is a water surface line L5, The angle [theta] 2 formed by the line L5 is calculated through a trigonometric function as shown in [Equation 1] as follows.

[Formula 1]

θ2 =

The control unit 86 uses the signals of the first distance detection sensor 82 and the second distance detection sensor 84 to generate a sleeping surface 80 at a specific time point in real time The angle? 2 formed by the line L5 is calculated and when the angle? 2 formed by the floating structure 80 and the line L5 forming the water surface is equal to or greater than a predetermined reference angle, the control of the length of the robot arm can be started have.

As described above, when the angle between the floating structure and the predetermined reference surface or the water surface becomes equal to or greater than a predetermined reference angle due to a change in the wind or wave, the control unit starts controlling the length of each robot arm, The height and the level of the floating structure can be kept constant without any control. Therefore, it is possible to increase the solar power generation efficiency by reducing the power consumption of the entire floating solar power generation system by saving the power required for the normal operation.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, But the present invention is not limited thereto.

9 is an exemplary diagram illustrating a plurality of floating structures in a matrix structure in an embodiment of the present invention.

As shown in FIG. 9, the floating structure of the floating floating solar power generation system can be operated in a plurality of grid-connected states. In the present invention, a structure in which a plurality of floating structures are connected in a lattice form is referred to as a matrix structure. The float-type solar photovoltaic system with a matrix structure can be used for solar power generation in a large area of water, and it is easy to install and manage compared to a single floating structure with a large area on a surface .

Referring again to FIG. 9, in an embodiment of the present invention, each of the floating structures 92a, 92b, 92c, and 92d of the matrix structure are connected to each other via a wire 96. The number of the plurality of floating structures constituting the matrix structure may be varied depending on the area of the water surface on which the water floating solar power generation system is installed and the target power generation amount.

Each of the floating structures 92a, 92b, 92c, and 92d constituting the matrix structure may follow embodiments of the construction and operation of the floating floating solar power generation system described above with reference to FIGS. Therefore, each of the control units 94a, 94b, 94c and 94d provided in the respective floating structures 92a, 92b, 92c and 92d restricts the movement of the floating structures 92a, 92b, 92c and 92d by wind or wave By maintaining a constant height and level, breakage of the wire 96 connecting between the floating structures 92a, 92b, 92c and 92d is prevented, thereby reducing the maintenance cost and preventing the collision between the floating structures.

The control units 94a, 94b, 94c and 94d provided in the respective floating structures 92a, 92b, 92c and 92d in the embodiment of the present invention are provided with the robot arms installed in the floating structures 92a, 92b, 92c and 92d Data for control can be exchanged with each other. The data exchanged between the respective floating structures 92a, 92b, 92c and 92d are data related to the wind or waves where the floating structures 92a, 92b, 92c and 92d are located and the data of the respective floating structures 92a, 92b and 92c , 92d) of the robot arm.

For example, the arrow 90 shown in Fig. 9 indicates the direction in which the wave advances on the water surface where the matrix structure is installed. The first floating structure 92a controls the robot arm through the first control unit 94a with respect to an approaching wave to maintain its height and level. Thereafter, the waves passing through the first floating structure 92a approach the second floating structure 92b, and the second floating structure 92b moves through the second control portion 94b to the height And horizontal.

At this time, the first control unit 94a installed on the first floating structure 92a controls the speed of the waves passing through the first floating structure 92a, the distance between the first floating structure 92a and the water surface, Data relating to the degree of length adjustment of the robot arm provided on the structure 92a can be transmitted to the second control section 94b provided on the second floating structure 92b.

The control unit, which receives the data through the data transmission between the control units installed in the plurality of floating structures having the matrix structure, can control the robot arm without a separate calculation process. When a high-speed wave approaches a plurality of floating structures in a matrix structure, the data transfer speed between the control units may be faster than the operation speed of the control unit. At this time, the control unit which has acquired the data of the wave for the first time transmits data to the remaining control unit in advance, and the control unit, which has received the data, adjusts the length of the robot arm based on the received data, Can be effectively coped with.

Data transmission may be performed through a wired or wireless connection between each of the control units 94a, 94b, 94c and 94d installed in the respective floating structures 92a, 92b, 92c and 92d. Further, in addition to the floating structures directly connected through the wire 96, data transmission between the respective floating structures between the floating structures that are not directly connected through the wire 96 is possible. For example, the first control unit 94a provided on the first floating structure 92a may control the third floating structure 92c in addition to the second control unit 94b provided on the second floating structure 92b according to the traveling speed of the waves Data can also be transmitted to the fourth controller 94d installed in the third controller 94c and the fourth floating structure 92d.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, But the present invention is not limited thereto.

Claims (6)

A floating structure installed on the waterfront and on which a plurality of solar modules are mounted;
At least one distance measuring sensor attached to one side of the floating structure and measuring a distance between the floating structure and the water surface;
At least one robot arm whose one end is connected to one side of the floating structure and whose other end is connected to the buoyant body;
And a controller for adjusting the length of the robot arm according to a distance between the floating structure and the water surface measured by the distance measuring sensor
Water floating solar power system.
The method according to claim 1,
The control unit
When the distance between the floating structure and the water surface measured by the distance measuring sensor is less than a predetermined reference distance, the length of the robot arm is increased
Water floating solar power system.
The method according to claim 1,
The control unit
When the distance between the floating structure and the water surface measured by the distance measuring sensor exceeds a predetermined reference distance, the length of the robot arm is reduced
Water floating solar power system.
The method according to claim 1,
The control unit
And adjusting the length of the robot arm when the angle formed by the floating structure and a predetermined reference plane is equal to or greater than a predetermined reference angle
Water floating solar power system.
5. The method of claim 4,
The angle formed by the floating structure and the predetermined reference plane is
Calculated by a vibration sensor or balancing system
Water floating solar power system.
The method according to claim 1,
The control unit
A difference between a first distance measured by the first distance measuring sensor and a second distance measured by the second distance measuring sensor is calculated and an angle between the floating structure and the water surface is calculated based on the difference And adjusting the length of the robot arm when the angle between the floating structure and the water surface is equal to or greater than a predetermined reference angle
Water floating solar power system.

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