WO2018032472A1

WO2018032472A1 - Multi-protection tracking system and method

Info

Publication number: WO2018032472A1
Application number: PCT/CN2016/095912
Authority: WO
Inventors: 彭程; 朱超; 施秋东
Original assignee: 苏州聚晟太阳能科技股份有限公司
Priority date: 2016-08-18
Filing date: 2016-08-18
Publication date: 2018-02-22
Also published as: CN107924197B; CN107924197A

Abstract

A method for controlling a first tracking support. The method may comprise: obtaining real-time running data of a first tracking support and quasi-reference data; determining that the quasi-reference data comprises first reference data so as to obtain a first determination result, wherein the first reference data is related to a running status of the first solar tracking support; generating a first tracking instruction according to the real-time running data of the first tracking support and the first reference data and based on the first determination result; determining that the quasi-reference data comprises second reference data rather than the first reference data so as to obtain a second determination result, wherein the second reference data is related to a running status of a second tracking support; generating a second tracking instruction according to the real-time running data of the first tracking support and the second reference data and based on the second determination result; and running the first tracking support according to the first tracking instruction or the second tracking instruction.

Description

Multiple protection tracking system and method

Technical field

The present application relates to a method and system for controlling a tracking bracket, and more particularly to a tracking bracket control method and system for applying data processing and analysis techniques.

Background technique

With the development of modern industry, the global energy crisis and air pollution problems have become increasingly prominent, and solar energy has received more and more attention as an ideal renewable and clean energy source. Solar tracking systems for photovoltaic power generation have a wide range of applications in large power plants and agricultural greenhouses. The use of such systems requires the control of one or more tracking brackets. Through the collection and analysis of one or more tracking bracket data and surrounding environment data in the system, intelligent control of the tracking bracket can be realized, the stability of the tracking bracket can be improved, and the fault maintenance cost can be reduced.

Brief

According to one aspect of the present application, a method of controlling a first tracking bracket is provided. The method can include, according to one aspect of the present application, a method of controlling a first tracking bracket. The method may include: acquiring real-time running data and quasi-reference data of a first tracking bracket; determining that the quasi-reference data includes first reference data to obtain a first determination result, the first reference data and the first sun tracking And determining, according to the first determination result, a first tracking instruction according to the real-time running data of the first tracking bracket and the first reference data; determining that the quasi-reference data includes a second determination result is obtained by the second reference data instead of the first reference data, the second reference data being related to an operating state of a second tracking bracket; based on the second determination result, according to the first tracking bracket Generating a second tracking instruction in real time with the second reference data; and running the first tracking bracket according to the first tracking instruction or the second tracking instruction. The real-time operational data of the first tracking bracket may include a current angle and a current time of the first tracking bracket. The reference data may include historical quasi-reference data and real-time quasi-reference data. The historical quasi-reference data may be related to a historical running state of the first tracking bracket or the second tracking bracket. For example only, historical quasi-reference data may include a first tracking bracket or a second tracking bracket at a particular point in time at the current time or For a period of time, for example, exercise data for the same day, the previous week, or the previous day of the previous year of the current time, or exercise data for a period of time before the current time. The real-time quasi-reference data may be related to a real-time operating state of the second tracking bracket. The first reference data may be historical quasi-reference data of the first tracking bracket, and the second reference data may be historical quasi-reference data or real-time quasi-reference data of the second tracking bracket. The generating the first tracking instruction according to the real-time running data and the first reference data may include: selecting, according to the angle, the inclusion in the first reference data according to the current angle of the first tracking bracket Referring to a reference data set of angles, the reference data set is shown to include a reference time; and generating the first tracking instruction based on the current angle, the current time, the selected reference angle, and the reference time. The reference data set may be composed of two or more of a reference angle associated with one or more tracking brackets, a reference time, a reference motor operating revolution, a reference Hall encoder pulse number, and the like.

According to one aspect of the present application, a method of controlling a first tracking bracket is provided. The method may include: acquiring real-time operational data of a first tracking bracket; acquiring operational data of a second tracking stent as reference data of the first tracking bracket; and real-time operating data based at least in part on the first tracking bracket And the reference data, determining a tracking instruction of the first tracking bracket. The running data of the second tracking bracket may be real-time running data or historical running data of the second tracking bracket.

According to another aspect of the present application, a tracking bracket system is provided. The system can include: a first tracking bracket; a second tracking bracket; a data acquisition module; and a processing module. The data acquisition module is configured to acquire real-time operational data of the first tracking bracket from the first tracking bracket, and quasi-reference data related to the first tracking bracket; a processing module, the processing module is Configuring to determine that the quasi-reference data includes first reference data, the first reference data being related to an operating state of the first tracking bracket; and determining, based on the quasi reference data, first reference data, according to the Generating a first tracking instruction by tracking the real-time running data of the bracket and the first reference data, and determining that the quasi-reference data includes second reference data without including the first reference data, the second The reference data is related to an operating state of a second sun tracking bracket; based on the determination that the quasi reference data includes second reference data and not including the first reference data, according to the real-time operating data of the first tracking bracket And generating, by the second reference data, a second tracking instruction; and according to the first tracking instruction or the second tracking instruction , The tracking operation of the first stent.

According to some embodiments of the present application, the tracking bracket system may further include an encoder. The encoder may be a Hall encoder, a rotary encoder, a photoelectric encoder, a magnetic encoder, an incremental encoder, an absolute encoder, a hollow shaft encoder, a heavy duty encoder, an explosion-proof encoder, an industrial encoder. In etc. One or more.

According to some embodiments of the present application, the tracking bracket system may further include a first angle sensor and a second angle sensor. The first angle sensor can measure the real-time angle of the tracking bracket. When the first angle sensor is in an abnormal operating state, the second angle sensor may be activated instead of the first angle sensor for data acquisition. The abnormal operating state may be, for example, an angle acquired by the angle sensor (eg, the azimuth of the tracking bracket, etc.) reaches a threshold or the control system receives an instruction from the user or the like.

According to some embodiments of the present application, the tracking bracket system may further include a photosensitive sensor. The photosensitive sensor can collect the light intensity signal of the sun in real time.

According to one aspect of the present application, a method of controlling a first tracking bracket is provided. The method may include: acquiring real-time running data and quasi-reference data of a tracking bracket; determining that the real-time running data of the tracking bracket does not include data collected by an angle sensor to obtain a first determination result; Determining a result, running the tracking bracket according to the real-time running data of the tracking bracket and the quasi-reference data; determining that the real-time running data of the tracking bracket includes data collected by the angle sensor to obtain a second Determining a result; determining that the real-time operation data does not include data collected by one photosensitive sensor to obtain a third determination result; and based on the second determination result and the third determination result, the tracking according to the angle sensor The real-time running data of the rack runs the tracking bracket; determining that the real-time running data of the tracking bracket includes data collected by the photosensitive sensor to obtain a fourth determination result; and based on the second determination result and the Determining a fourth determination result according to the angle sensor and the photosensitive sensor The stent of the set tracking operation of the tracking data in real-time operation of the stent.

Some additional features of this application can be described in the following description. Some additional features of the present application will be apparent to those skilled in the art from a review of the following description and the accompanying drawings. The features of the present disclosure can be realized and attained by the practice or use of the methods, the <RTIgt;

Description of the drawings

The drawings described herein are intended to provide a further understanding of the present application, and are intended to be a part of this application. In the respective drawings, the same reference numerals denote the same parts.

According to some embodiments of the present application, FIG. 1 is a schematic diagram of an application scenario of a tracking bracket system;

Figure 2 is a schematic illustration of a tracking stent system, in accordance with some embodiments of the present application;

Figure 3 is a schematic illustration of a tracking stent system, in accordance with some embodiments of the present application;

4 is a schematic diagram of a control module, according to some embodiments of the present application;

Figure 5 is an exemplary flow diagram for operating a tracking bracket, in accordance with some embodiments of the present application;

Figure 6 is a schematic illustration of a processing sub-module, in accordance with some embodiments of the present application;

7 is an exemplary flow diagram for generating a tracking command to operate a first tracking bracket, in accordance with some embodiments of the present application;

8 is an exemplary flow chart for determining a motion state of a tracking bracket, in accordance with some embodiments of the present application;

FIG. 9 is a schematic diagram of a storage sub-module according to some embodiments of the present application;

10 is a schematic diagram of a tracking instruction generating unit, according to some embodiments of the present application;

11 is an exemplary flowchart of one tracking instruction for generating a first tracking bracket, in accordance with some embodiments of the present application;

12 is an exemplary flow of generating reference data from quasi-reference data, in accordance with some embodiments of the present application;

FIG. 13 is an exemplary flowchart of generating a tracking instruction based on real-time operational data and a reference data set, in accordance with some embodiments of the present application;

Figure 14 is an exemplary flow diagram of a tracking command for generating an operational tracking bracket, in accordance with some embodiments of the present application;

FIG. 15 is an exemplary flowchart of generating reference data based on quasi-reference data, according to some embodiments of the present application;

16 is an exemplary flow diagram for controlling the operation of a tracking bracket, in accordance with some embodiments of the present application.

specific description

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. Obviously, the drawings in the following description are only the present application. Some examples or embodiments may be applied to other similar scenarios in accordance with the drawings without departing from the ordinary skill in the art. It is to be understood that the exemplary embodiments are given by way of example only, and are not intended to limit the scope of the application. The same reference numerals in the drawings represent the same structures or operations, unless otherwise

The words "a", "an", "the" and "the" In general, the terms "comprising" and "comprising" are intended to include only the steps and elements that are specifically identified, and the steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

Although the present application makes various references to certain modules in the system in accordance with embodiments of the present application, any number of different modules can be used and run on the client and/or server. The modules are merely illustrative, and different aspects of the systems and methods may use different modules.

Flowcharts are used in this application to illustrate the operations performed by systems in accordance with embodiments of the present application. It should be understood that the preceding or lower operations are not necessarily performed exactly in the order. Instead, the various steps can be processed in reverse or simultaneously. At the same time, you can add other operations to these processes, or remove a step or a few steps from these processes.

FIG. 1 is a schematic diagram of an application scenario of a power station system 100 according to some embodiments of the present application. In some embodiments, power plant system 100 can include a tracking bracket system, a photovoltaic power generation system, and a remote monitoring system. The tracking bracket system may include a tracking bracket 111, a motor 270 (not shown in FIG. 1), an angle sensor (not shown in FIG. 1), a photosensitive sensor (not shown in FIG. 1), an encoder (not shown in A combination of one or more of FIG. 1), a limit switch (not shown in FIG. 1), a transmission member (for example, a speed reducer or a push rod, etc., not shown in FIG. 1), and the like. The photovoltaic power generation system may include a photovoltaic module 117, an inverter 113, a battery 115, a switch cabinet (not shown in FIG. 1), a box change (not shown in FIG. 1), an electric energy meter (not shown in FIG. 1), A combination of one or more of a distribution box (not shown in Figure 1) or the like. The remote monitoring system can include one or a combination of the network 120, the server 130, the database 140, the terminal device 150, and the like. In some embodiments, the tracking bracket system can draw power from the battery 115, the inverter 113, or the combiner box (not shown in Figure 1).

In some embodiments, power plant system 100 can include a tracking bracket control system, such as tracking bracket control system 200 (shown in Figure 2), tracking bracket control system 300 (shown in Figure 3), and the like. The tracking bracket control system can perform analysis based on data acquired from the power station system 100 to implement tracking support Control of the rack 111. For example, the control of the tracking bracket 111 can be realized based on analysis of data acquired from an angle sensor (not shown in FIG. 1), the motor 270, and the database 130. The analysis may be performed by a device (e.g., server 130, etc.) in the remote monitoring system, or by other devices (e.g., terminal device 150, etc.) having analytical computing functionality in the plant system 100.

In some embodiments, power plant system 100 can include a power plant device 110, a network 120, a server 130, a database 140, and a terminal device 150. The power plant apparatus 110 may include a tracking bracket 111, an inverter 113, a battery 115, a combiner box (not shown in FIG. 1), a booster (not shown in FIG. 1), and a charge and discharge controller (not shown in FIG. 1). Medium), switch station (not shown in Figure 1), power distribution room (not shown in Figure 1), box change (not shown in Figure 1), or electricity meter (not shown in Figure 1) One or a combination of several. The plant equipment 110 may be a power plant equipment of an off-grid power generation system, or a power plant equipment of a grid-connected power generation system. For example, in an off-grid power generation system, the plant equipment 110 may include one or a combination of ones of the tracking bracket 111, the battery 115, the inverter 113, and the charge and discharge controller (not shown in FIG. 1). For another example, in the grid-connected power generation system, the power plant apparatus 110 may include a combination of one or more of the tracking bracket 111, the inverter 113, and the like.

Tracking bracket 111 can be used to secure the assembly. The component can be one or a combination of photovoltaic components 117, photothermal components, and the like. The photovoltaic component 117 or the photothermal component can convert light energy or thermal energy into electrical energy. In some embodiments, the light or thermal energy can be from a source of radiation. The source of radiation may be a substance or device that releases various electromagnetic radiation. Electromagnetic radiation may include cosmic rays, solar radiation, X-ray sources, radiation from a reactor, and the like. Other parts of the application are described with an example of the sun as a source of radiation. It should be noted that the description of the source of solar radiation is exemplary and does not constitute a limitation of the invention. The systems and methods described herein can be applied to other sources of radiation.

The tracking bracket 111 can be a single-axis bracket or a multi-axis bracket. The single-axis bracket can move components mounted on the bracket, such as the photovoltaic assembly 117, along one axis. The multi-axis tracking bracket can move the photovoltaic component 117 along a plurality of axes. For example, a dual axis tracking bracket can rotate the photovoltaic assembly 117 along two axes to simultaneously track changes in azimuth and elevation angles of a radiation source (eg, the sun, etc.). The tracking bracket 111 may be a flat shaft bracket or a tilt shaft bracket. For example, the tracking bracket 111 may be a flat single-axis bracket, an oblique single-axis bracket, a diagonal double-axis bracket, or the like. In some embodiments, one or more of the photovoltaic module 117, the turntable, the angle sensor, the height sensor, the temperature sensor, the wind speed sensor, and the like may be fixed on the tracking bracket 111. Tracking bracket 111 can be driven by a motor (not shown in Figure 1). The motor (not shown in Figure 1) drives the movement of the turret of the tracking bracket 111, allowing the photovoltaic module 117 to track the orientation of the sun The angle increases the direct component of sunlight on the surface of the photovoltaic module 117 to increase the amount of power generated. In some embodiments, the angle of the tracking bracket 111 may coincide with the angle of the turntable to which the tracking bracket 111 is coupled.

The inverter 113 can convert direct current into alternating current. The inverter 113 may be an off-grid inverter or an in-grid inverter. In some embodiments, the inverter 113 may be one or a combination of a square wave inverter, a staircase wave inverter, a sine wave inverter, or a combined three-phase inverter.

Battery 115 can be used to store power. Battery 115 can be a battery or battery pack. The battery 115 may be one or a combination of a lead storage battery, a nickel cadmium battery, a nickel hydrogen battery, a lithium ion battery, a lithium ion polymer battery, or the like.

The plant equipment 110 is interconnected and communicated with the server 130, the database 140, and/or the terminal device 150 via the network 120. The way to connect and communicate can be wired or wireless. The content of the communication may include one or a combination of real-time operational data of the power plant system 100, reference data (eg, historical operational data, operational status reference values, environmental data, etc.), and the like. For example, the plant equipment 110 can transmit a tracking bracket real-time angle detected by an angle sensor (not shown in FIG. 1) to the server 130 and/or database 140 via the network 120. As another example, the plant equipment 110 can receive control commands from the terminal device 150 over the network 120.

Network 120 can be a single network, or a combination of multiple different networks. For example, the network 120 may include a local area network (LAN), a wide area network (WAN), a public network, a private network, a private network, a wireless local area network, a virtual network, a metropolitan area network, and a public switched telephone network (Public). Switched Telephone Network (PSTN), or a combination of one or more of the Internet, industrial networks, and the like. Network 120 can include multiple network access points. These network access points can be wired or wireless. For example, routers, switch base stations, Internet exchange points, data buses, and the like. Through these access points, any data source can access the network 120 and send information over the network 120.

The access mode of the network 120 can be wired or wireless. Wired access can be achieved by fiber optic or cable, RS-485 interface, and the like. Wireless access can be via Bluetooth, Wireless Local Area Network (WLAN), Wi-Fi, WiMax, Near Field Communication (NFC), ZigBee, mobile networks (2G, 3G, 4G, 5G networks, etc.) ), General Packet Radio Service (GPRS) or other connection methods.

Server 130 can be a server hardware device, or a group of servers, or any device that can provide computing services. In some embodiments, each server within a group of servers can be connected over a wired or wireless network. A server group can be centralized, such as a data center. One The server groups can be distributed, such as a distributed system. The server 130 may be one or a combination of a file server, a database server, an FTP server, an application server, a proxy server, a mail server, and the like. In some embodiments, a personal computer or other type of workstation or terminal device 150, if properly programmed, can also be used as server 130. Server 130 may be one or a combination of a local server, a remote server, a distributed server, and the like.

Server 130 can be used to perform analysis and processing operations of data. The analysis and processing operations may include analyzing the operational status of the plant equipment 110 (eg, tracking bracket 111) in the power plant system 100, analyzing the fault conditions of the power plant equipment 110 (eg, whether there is a fault, the type of fault, the cause of the fault, etc.) A combination of one or several of the control modes of the tracking bracket 111 is selected. The method used for data analysis and processing may include one or a combination of linear regression analysis, variance analysis, principal component analysis, discriminant analysis, cluster analysis, Bayes statistical analysis, and the like. In some embodiments, the server 130 may generate an angle graph in conjunction with the time and tracking bracket angles to determine a fault condition of the tracking bracket 111 by identifying an abnormal curve.

Server 130 can receive data over network 120. The data may be from the plant equipment 110, the database 140, or the terminal device 150. In some embodiments, the server 130 may also include a storage module in which data used in data analysis and processing may be stored. The data may be one or a combination of real-time operational data of the plant system 100, reference data (eg, historical operational data, operational status reference values, environmental data), and the like.

In some embodiments, the real-time operational data may include one or a combination of tracking bracket real-time angles, tracking bracket real-time temperature, tracking bracket real-time altitude, motor real-time current, motor real-time voltage, motor real-time temperature, and the like.

In some embodiments, the historical operational data may include one or a combination of tracking bracket history angles, tracking bracket history temperatures, tracking bracket history heights, motor history currents, motor history voltages, motor real-time temperatures, and the like.

In some embodiments, the operational status reference values may include tracking bracket reference values, motor reference values, other reference values, and the like. For example, the operating state reference value may include a tracking bracket reference angle, a motor reference current, and the like.

In some embodiments, the environmental data may include wind speed, wind direction, temperature, atmospheric pressure, air humidity, amount of radiation, radiation intensity, rainfall, snowfall, soil moisture, geographic coordinates, time, source azimuth or source height. A combination of one or several of the angles. The amount of radiation, the intensity of the radiation, the azimuth of the radiation source or The source of radiation involved in the elevation angle of the source may be the sun, or other sources of radiation (eg, sun, stars, X-ray sources, reactors, etc.). In some embodiments, the amount of radiation can be an amount of solar radiation. The radiation intensity can be the intensity of the solar radiation. The radiation source azimuth may be a solar azimuth. The radiation source elevation angle may be a solar elevation angle.

The server 130 can transmit the data analysis and processed results to the power station device 110, the database 140, or the terminal device 150, etc. through the network 120. The result of the data analysis and processing may be an operating state of the power plant apparatus 110, a fault condition of the power station apparatus 110 (eg, whether there is a fault, a type of fault, a cause of the fault, etc.), a control mode command regarding the tracking bracket 111, and the like. . For example, after the server 130 determines through data analysis and processing that one or more power plant devices 110 in the power station system 100 are faulty, the failed power plant device 110 number may be transmitted to the terminal device 150. For another example, after determining, by data analysis and processing, the server 130 determines that the power generation amount of the power station system 100 is lower than a certain threshold, the server 130 may send the prompt information to the monitoring platform for reference by the operation and maintenance personnel.

In some embodiments, server 130 can be a cloud server. The cloud server may receive an instruction sent by the terminal device 150 to perform a corresponding processing operation. The instructions may include one or a combination of uploading data, downloading data, backing up data, deleting data, sharing data, and the like. For example, the user can issue an instruction to back up data through the terminal device 150, and the cloud server can back up the target data in the cloud storage space according to the backup instruction of the user. For another example, the user can issue an instruction to download data through the terminal device 150; the cloud server can download the specified data from the target site according to the download instruction of the user. For another example, the user can issue an instruction to share data through the terminal device 150; the cloud server can share the specified data to a specified object according to the user's sharing instruction, such as other tracking bracket control systems.

Database 140 can be used to store data. The database 140 can store various data utilized, generated, and output during operation of the power plant system 100. The data may include one or a combination of real-time operational data of the plant system 100, reference data (eg, historical operational data, operational status reference values, environmental data), and the like. Database 140 can be local or remote. The database 140 may include one or a combination of a hierarchical database, a networked database, and a relational database.

The database 140 can be interconnected or communicated with the network 120, or directly connected or communicated with the server 130 or a portion thereof, or a combination of the two. In some embodiments, the database 140 can be located in the background of the server 130 and directly connected to the server 130. The connection or communication of database 140 with server 130 may be wired, wireless, or a combination of both. Wired access can be achieved by means of fiber optics or cables. Wireless access can be via Wireless Local Area Network (WLAN), Wi-Fi, WiMax, Near Field Communication (NFC), ZigBee, mobile network (2G, 3G, 4G, 5G network, etc.), General Packet Radio Service (GPRS) or other connection methods And realized. When database 140 is directly connected to server 130, other portions of power plant system 100 (e.g., terminal device 150) may access database 140 through server 130.

In some embodiments, database 140 can be self-contained and directly coupled to network 120. The connection or communication of database 140 with network 120 can be wired, wireless, or a combination of both. When the database 140 and the network 120 are connected or communicating with each other, the server 130, or other portion of the plant system 100 (e.g., the terminal device 150), can access the database 140 via the network 120.

The terminal device 150 can monitor the plant system 100. The terminal device 150 may include a notebook computer 151, a mobile phone 152, a tablet computer 153, a monitoring station 154, a computer (not shown in FIG. 1), a television (not shown in FIG. 1), a projection device (not shown in FIG. 1). A combination of one or more of a smart watch (not shown in FIG. 1), a smart phone (not shown in FIG. 1), a somatosensory device (not shown in FIG. 1), and the like. The terminal device 150 may include a data display module (not shown in FIG. 1), a data receiving module (not shown in FIG. 1), a data transmitting module (not shown in FIG. 1), and a data computing module (not shown in FIG. 1). Medium), a combination of one or more of a data storage module (not shown in Figure 1), and the like.

The data display module of the terminal device 150 can be used for display of data. The data may be the power plant system 100, such as real-time operational data of the plant equipment 110, reference data (eg, historical operational data, operational status reference values, environmental data), processing engine 250 (shown in FIG. 2), processing the computing process Or processing one or a combination of the calculated result data, the data directly input by the user, and the like. For example, real-time operational data of the plant equipment 110 in the power plant system 100. The display may be in the form of a list, a graphic (eg, a line graph, a graph, a column graph, a pie chart, a satellite cloud image, etc.), a combination of text, special symbols, voice, and the like.

In some embodiments, the terminal device 150 can display one or more of the power plant system 100, such as real-time operational data of the power plant device 110, reference data (eg, historical operational data, operational status reference values, environmental data), and the like. combination. The terminal device 150 can display intermediate data in the processing of the server 130, the result of the processing, and the like. For example, the terminal device 150 may display the number, distribution, etc. of power stations of an area (eg, city, province, country, continent, etc., or a portion thereof) based on a satellite cloud map. For another example, the terminal device 150 may display soil moisture information of an area based on a map. The displayed data can be single point data, or statistical data. For example, the terminal device 150 can display the power generation amount values of the current one or more power stations in real time. The manner of statistics may be a combination of one or more of time, region, or other freely defined manner. example For example, the terminal device 150 may display the accumulated value of the amount of power generation per month in units of months. As another example, terminal device 150 can display historical operational data of plant system 100 over the past day. The displayed data can be real-time data, or historical data. For example, the terminal device 150 can display the power generation amount data of the current time and the current time of the past 100 days. The displayed data may be data for one or more tracking racks 111, data for one or more power plant systems 100, data for one or more solar power plants, and the like. For example, the terminal device 150 can simultaneously display the total power generation amount of one power station system 100 and the power generation amount of each tracking bracket 111. For another example, the terminal device 150 may display a plurality of solar power station power generation amount data distributed by a certain power group nationwide.

In some embodiments, terminal device 150 may display processing engine 250 (shown in FIG. 2) to process the calculation process or process the calculated result data. For example, the terminal device 150 can display fault data of the power plant system 100. The fault data may include fault data for one or more power plant devices 110 (eg, one or more tracking brackets 111, etc.). For example, the fault data may include fault data for all of the tracking brackets 111 in the power plant system 100. The fault data may be historical fault data. For example, the historical failure data of the power station system 100 over the past hour. As another example, historical failure data of the power plant system 100 over the past day. The fault data may be historical fault data for one or more of the plant equipment 110. For example, a tracking fault 111 has historical fault data for the past week. For another example, historical tracking data of the plurality of tracking brackets 111 in the past month. As another example, historical fault data for all tracking brackets 111 in the power plant system 100 over the past year. The fault data may include one or a combination of a fault type, a fault time, a failure mode, a failure cause, a suggested solution, an actual solution, a fault handling progress, and the like. For example, the fault data may include respective processing times for different faults. As another example, the fault data can include a pending fault of the power plant system 100. As another example, the fault data can include a fault in the processing of the power plant system 100.

In some embodiments, terminal device 150 can receive an alert signal and issue an alert prompt. The alert signal can be generated by the server 130. When the server 130 performs analysis and processing based on the received data to determine that the operating state of the one or more power plant devices 110 is a fault state, the server 130 may send an alert signal to the terminal device 150. After receiving the alarm signal, the terminal device 150 can issue an alarm prompt. The alert prompt sent by the terminal device 150 may include one or a combination of an image alert prompt, a short alert alert, an email alert alert, an audible alert alert, a vibrating alert alert, a light alert alert, and the like. For example, after receiving the alarm signal, the notebook computer 151 can display an alarm prompt window. For another example, after receiving the alarm signal, the mobile phone 152 can display an alarm prompt message. For another example, the terminal device 150 such as the monitoring station 154 After receiving the alarm signal, an audible alarm can be issued and an alarm light can be displayed.

The data receiving/transmitting module of the terminal device 150 can be used for receiving/sending data. The data may include one or a combination of data input by a user, data from a database 140, data of a plant device 110, data of a server 130, and the like. The form of data reception may be one or a combination of voice, text, picture, user action (eg, gesture), and the like.

In some embodiments, terminal device 150 can receive fault data. The fault data can be issued by the server 130. The fault data may include one or a combination of a faulty device, a fault time, a fault type, a failure mode, a failure cause, a suggested solution, a fault handling progress, and the like. The type of failure may include one or a combination of a burst type fault, a fade type fault, and the like. The fault processing progress may include one or a combination of ones to be processed, processed, processed, and the like. For example, the fault processing progress of one tracking bracket 111 in the power station system 100 is processed, and the fault processing progress of other tracking brackets is to be processed.

In some embodiments, terminal device 150 can issue control signals to control plant system 100. The control signal may be a control command issued by a user of the terminal device 150 or a control command calculated by the terminal device 150. The control signal may control the power station system 100 to set the angle of the tracking bracket 111, switch the control mode of the tracking bracket 111, set the fault alarm threshold, set the authority, and the like. For example, the user can set the angle of a certain tracking bracket 111. For another example, the user can set the angles of the plurality of tracking brackets 111. As another example, the user can set the angles of all of the tracking brackets 111 of the power plant system 100 together.

It should be noted that the above description of the power station system 100 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. For example, the database 140 may be a cloud computing platform with data storage capabilities, which may include, but is not limited to, a public cloud, a private cloud, a community cloud, a hybrid cloud, and the like. Variations such as these are within the scope of the present application.

2 is a schematic diagram of a tracking bracket control system 200, in accordance with some embodiments of the present application. Tracking rack control system 200 can implement control functions for the tracking bracket based on analysis of data acquired from power station system 100. Tracking bracket control system 200 can include a control engine 210, a data acquisition engine 230, a processing engine 250, and an input/output interface 240. The tracking rack control system 200 can acquire data from the terminal device 150, the tracking bracket 111, and the motor 270. In some embodiments, the tracking branch The rack control system 200 can also be from the inverter 113, the battery 115, the combiner box (not shown in Figure 2), the booster (not shown in Figure 2), and the charge and discharge controller (not shown in Figure 2). Data is acquired in devices such as switch stations (not shown in Figure 2), power distribution rooms (not shown in Figure 2), box changes (not shown in Figure 2), or electricity meters (not shown in Figure 2).

The control engine 210 can control the movement of the tracking bracket 111. Control engine 210 can include a control module 211 and a drive module 213. The control module 211 can send a control command to the drive module 213. The driving module 213 can drive the motor 270 to operate according to the control command. The operation of the motor 270 can drive the movement of the tracking bracket 111. The movement of the tracking bracket 111 can be a combination of rotation, translation, or rotation and translation. For example, the tracking bracket 111 can be leveled by axial movement under the drive of the motor 270. As another example, the tracking bracket 111 can be moved in a vertical direction by the drive of the motor 270. Control engine 210 may be located in server 130, power plant device 110, or terminal device 150. For example, the control engine 210 can be a control box that is disposed in the plant equipment 110. In some embodiments, control engine 210 can also include a control button. The control button can be used to manually control the movement of the tracking bracket 111. In some embodiments, a control engine 210 can control the movement of a tracking bracket 111. In some embodiments, one control engine 210 can control the motion of the plurality of tracking brackets 111.

The control commands issued by the control module 211 may be derived from the processing engine 250, the terminal device 150, or calculated by the control module 211. In some embodiments, the processing engine 250 can perform operations based on the data acquired by the data acquisition engine 230 to calculate control instructions for controlling the tracking rack control system 200. In some embodiments, the user can directly input control commands for controlling the tracking bracket control system 200 through the terminal device 150 (eg, a cell phone, a laptop, etc.). In some embodiments, control module 211 can calculate a generation control instruction.

The control command issued by the control module 211 may be a combination of one or more of an instruction to select a control mode, an angle adjustment command to the tracking bracket 111, an instruction to control the operation of the motor 270, and the like. Based on the command selected by the control mode, the drive module 213 can drive the motor 270 to perform one or more actions in a particular control mode. The control mode may include one or a combination of an alarm mode, a high wind mode, a rainy day mode, a cloudy mode, a snow day mode, a manual mode, or an automatic mode. For example, under the command of the high wind mode, the drive module 213 can drive the motor 270 to operate to rotate the tracking bracket 111 to a parallel or substantially parallel angle to the ground. For another example, under the command of the rain mode or the snow mode, the drive module 213 can drive the motor 270 to operate to rotate the tracking bracket 111 to a vertical, or substantially vertical, or larger tilt position. For another example, under the automatic mode command, the control module 211 can track the bracket 111 according to time. Geographic coordinates, tracking bracket 111 real-time angle, based on the astronomical algorithm to calculate the height and azimuth of the sun. Based on the calculated solar elevation angle and azimuth angle, the control module 211 can issue a drive command to the drive module 213 to cause the drive module 213 to drive the motor 270 to operate, thereby rotating the tracking bracket 111 to cause the tracking bracket 111 to face the sun.

The drive module 213 can drive the motor 270 to operate. The manner in which the drive module 213 drives the motor 270 to operate includes speeding, running, stopping, stepping, uniform speed, and the like of the motor 270.

In some embodiments, the drive module 213 can include a transistor and a relay. In some embodiments, the drive module 213 can include a transistor and a relay. The drive module 213 can include a plurality of transistors. The drive module 213 can include a plurality of relays. For example, the drive module 213 can include one transistor and two relays. When the driving module 213 receives the control command of the control module 211, the relay may first pick up, and the transistor may be powered on again. When the driving module 213 stops receiving the control command of the driving module 213, the transistor can be turned off first, and the relay can be released again.

In some embodiments, the drive module 213 can include a turbine worm reducer secured to the track bracket 111 upright and a drive arm secured to the turbine worm reducer. The turbine worm reducer can be driven by a motor 270. The movement of the turbine worm reducer can drive the driving arm to move, thereby driving the tracking bracket 111 to move.

The data acquisition engine 230 can include a real-time operational data acquisition module 231 and a reference data acquisition module 233. The real-time operational data acquisition module 231 can acquire real-time operational data of the tracking stent control system 200. The reference value data acquisition module 233 can acquire reference data of the tracking rack control system 200. The real-time operational data may be real-time operational data of one or more devices in the plant system 100. The device may include one or more of a tracking bracket 111, a motor 270, an inverter 113, a battery 115, a combiner box, a booster, a charge and discharge controller, a switch station, a power distribution room, a box change, or an electric meter. Combination of species. The real-time running data of the tracking bracket 111 may be a combination of one or several of tracking the real-time angle of the bracket, tracking the real-time temperature of the bracket, tracking the real-time orientation of the bracket, or tracking the real-time height of the bracket. In some embodiments, the tracking bracket real time angle may be the angle of the turret to which the tracking bracket is coupled. The real-time running data of the motor 270 may be a combination of one or more of a real-time current of the motor, a real-time voltage of the motor, a real-time motor speed, or a real-time temperature of the motor. The battery real-time running data may be one or a combination of battery real-time voltage, battery real-time current, and the like. The inverter real-time data may be one or a combination of inverter real-time current, inverter real-time power, and the like.

The real-time running data acquisition module 231 can be used to acquire real-time running data. Way of data acquisition It can be through a data collector. The data collector may be a pressure sensitive sensor, a force sensitive sensor, a position sensor, a liquid level sensor, an energy consumption sensor, a speed sensor, an acceleration sensor, a radiation sensor, a thermal sensor, or the like. The data collector may be a vibration sensor, a humidity sensor, a magnetic sensor, a gas sensor, a vacuum sensor, a biosensor, or the like. In some embodiments, the operational data collector may include an angle sensor, a temperature sensor, a displacement sensor, an infrared distance measuring sensor, a laser range finder, an ultrasonic ranging sensor, a barometric pressure sensor, a current sensor, a voltage sensor, a power sensor, A combination of one or more of a photosensitive sensor, a light intensity sensor, a positioning device, and the like. For example, an angle sensor can measure the tracking bracket angle. The angle sensor can be mounted on the tracking bracket 111. In some embodiments, the tracking bracket angle sensor can be mounted on a turntable that is coupled to the tracking bracket. As another example, a temperature sensor can measure the tracking bracket temperature. The temperature sensor can be mounted on the tracking bracket 111. As another example, the infrared ranging sensor can measure changes in the height or height of the tracking bracket 111. The height may be the height of the tracking bracket 111 from the ground. The infrared distance measuring sensor may be mounted on the tracking bracket 111.

The real-time operational data of the tracking rack control system 200 acquired by the real-time operational data acquisition module 231 may be transmitted to the processing engine 250 or stored in a data storage module (not shown in FIG. 2) of the data acquisition engine 230. The transmission of the real-time operational data can be performed via network 120 (shown in Figure 1).

The reference data acquisition module 233 may include a history operation data acquisition unit 235, an operation state reference value acquisition unit 237, and an environment data acquisition unit 239. The historical operation data acquisition unit 235 can acquire historical operation data of the tracking rack control system 200. The operating state reference value obtaining unit 237 may acquire an operating state reference value of the tracking rack control system 200. The environmental data acquisition unit 239 can acquire environmental data of the tracking rack control system 200.

The historical operational data acquired by the historical operational data acquisition unit 235 may be associated with one or more devices in the plant system 100. The device may include one or a combination of a tracking bracket 111, an inverter 113, a battery 115, a combiner box, a booster, a charge and discharge controller, a power distribution room, a switch station, a box change, or an electric meter. . The historical running data of the tracking bracket 111 may be a combination of one or more of tracking the historical angle of the bracket, tracking the historical temperature of the bracket, tracking the historical position of the bracket, or tracking the historical height of the bracket. In some embodiments, the tracking bracket historical angle can be represented by a historical angle of the turntable that is coupled to the tracking bracket 111. The historical running data of the motor 270 may be a combination of one or more of a motor history current, a motor history voltage, a motor history speed, or a motor history temperature. The battery historical operation data may be a battery history voltage, a battery history current, or the like. The inverter history data may be one or a combination of inverter history current, inverter history power, and the like.

The historical operation data acquisition unit 235 can acquire historical operation data of the tracking rack control system 200 from the processing engine 250. More specifically, the history operation data acquisition unit 235 can acquire the history operation data of the tracking rack control system 200 from the data storage module 251. In some embodiments, the historical operational data may be historical operational data for a particular time. The specific time may be a time period, one or more identical or different time points, or one or more identical or different time points within a time period, and the like. For example, tracking historical operational data of the rack control system 200 can include tracking historical operational data of the rack control system 200 over the past hour. As another example, tracking historical operational data of the rack control system 200 can include tracking historical operational data of the rack control system 200 at 23:00 every day for the past 100 days. In some embodiments, the historical operational data may be historical operational data for one or more of the plant devices 110. For example, historical operational data may include historical operational data for a tracking bracket 111. As another example, historical operational data may include historical operational data for a plurality of tracking cradle 111. As another example, historical operational data may include tracking historical operational data for all of the tracking brackets 111 in the rack control system 200.

The operating state reference value acquired by the operating state reference value acquiring unit 237 may be an operating state reference value of one or more devices in the power plant system 100. The device may include one or a combination of a tracking bracket 111, an inverter 113, a battery 115, a combiner box, a booster, a charge and discharge controller, a power distribution room, a switch station, a box change, or an electric meter. . The reference value of the tracking bracket operating state may be a combination of one or more of a tracking bracket angle reference value, a tracking bracket temperature reference value, a tracking bracket orientation reference value, or a tracking bracket height reference value. The motor operating state reference value may be a combination of one or more of a motor historical current reference value, a motor voltage reference value, or a motor temperature reference value. The battery operating state reference value may be a combination of one or more of a battery voltage reference value, a battery current reference value, and the like. The inverter reference value may be a combination of one or more of an inverter current reference value, an inverter power reference value, and the like.

The operating state reference value acquisition module 237 can obtain the operating state reference value of the tracking rack control system 200 from the processing engine 250. For example, the operating state reference value obtaining module 237 can obtain the operating state reference value of the tracking rack control system 200 from the analysis result of the data storage module 251 or the data analysis module 253. In some embodiments, the operational status reference value of the tracking rack control system 200 can be input by the user through the terminal device 150 and stored in the data storage module 251. In some embodiments, the operational status reference value of the tracking rack control system 200 can be obtained by analysis by the data analysis module 253. For example, the motor current reference value can be calculated by the data analysis module 253 based on the motor history current. The motor current reference value may be one or a combination of a maximum value, a minimum value, an average value, a median, a mode, and the like of the motor history current. In some embodiments, the operational status reference value of the tracking rack control system 200 can be based on actual When the environment data is set. For example, the motor current reference value will vary depending on the real-time wind speed. When the real-time wind speed is large, the motor 270 requires a larger operating current to drive the movement of the tracking bracket 111, and thus the corresponding motor current reference value can be relatively larger than when there is no wind or low wind speed.

The environmental data acquired by the environmental data acquiring unit 239 may be real-time environmental data. The real-time environmental data may include real-time wind speed, real-time temperature, real-time air humidity, real-time soil moisture, real-time solar radiation, real-time precipitation, real-time snowfall, tracking bracket geographic coordinates, time, real-time solar azimuth or real-time solar elevation angle, etc. One or a combination of several.

The environmental data acquisition unit 239 can be used to acquire real-time environmental data of the tracking rack control system 200. The manner in which the data is acquired may be obtained by the data collector or from the processing engine 250 to obtain real-time environmental data of the tracking rack control system 200. The data collector may be a pressure sensitive sensor, a force sensitive sensor, a position sensor, a liquid level sensor, an energy consumption sensor, a speed sensor, an acceleration sensor, a radiation sensor, a thermal sensor, or the like. The data collector may be a vibration sensor, a humidity sensor, a magnetic sensor, a gas sensor, a vacuum sensor, a biosensor, or the like. In some embodiments, the environmental data collector may include a wind speed sensor, a wind direction sensor, a temperature sensor, a humidity sensor, a solar radiation sensor, a light sensor, a rain sensor, a snow sensor, a positioning device, a time relay, and a sun position sensor. One or several combinations. For example, a wind speed sensor can measure real-time wind speed. The wind speed sensor may be mounted on the surface of the power plant apparatus 110 or on the ground of the power station, such as the surface of the tracking bracket 111. As another example, a pressure sensor can measure real-time snowfall. The pressure sensor can be mounted on the ground of the power station. The real-time environment data of the tracking rack control system 200 acquired by the environmental data acquisition obtaining unit 239 may be transmitted to the processing engine 250 or stored in a data storage module (not shown in FIG. 2) of the data acquisition engine 230.

In some embodiments, the environmental data acquisition unit 239 can obtain real-time environmental data of the tracking rack control system 200 from the processing engine 250. For example, the environment data acquisition unit 239 can acquire real-time environment data from the data storage module 251 in the processing engine 250. The real-time environmental data may be tracked by the network 120 from real-time environmental data at the location of the tracking rack control system 200 obtained from an external information source (eg, a weather database) other than the tracking rack control system 200.

The historical environment data of the tracking rack control system 200 may include one of historical wind speed, historical temperature, historical air humidity, historical soil moisture, historical solar radiation, historical precipitation, historical snowfall, historical solar azimuth or historical solar elevation angle, or Several combinations. The environmental data acquisition unit 239 can acquire historical environment data of the tracking rack control system 200 from the processing engine 250. For example, the environmental data data obtaining unit 239 can acquire the historical environment data of the tracking rack control system 200 from the data storage module 251. The calendar The historical environment data may be acquired by the data collector or the real-time environmental data of the tracking rack control system 200 obtained from the external information source (for example, the weather database) outside the tracking rack control system 200 via the network 120.

In some embodiments, the historical environment data may include historical environment data for a particular time. The specific time may be a time period, one or more identical or different time points, or one or more identical or different time points within a time period, and the like. For example, the historical environment data may include historical environment data that tracks the rack control system 200 over the past hour. As another example, the historical environment data can include historical environment data that tracks the rack control system 200 at 23:00 every day for the past 100 days.

The processing engine 250 can include a data storage module 251, a data analysis module 253, a mode selection module 255, and a failure analysis module 257. The processing engine 250 can be located in one or more of the server 130 and the terminal device 150. The processing engine 250 can perform data transfer with the data acquisition engine 230, the control engine 210, the terminal device 150, and the like in other portions of the tracking rack control system 200. For example, the processing engine 250 can receive real-time operational data of the tracking rack control system 200 acquired by the real-time operational data acquisition module 231. For another example, the processing engine 250 may output historical running data of the tracking rack control system 200 to the historical running data acquiring unit 235. As another example, the processing engine 250 can obtain an operational status reference value from the tracking rack control system 200 of the terminal device 150.

The data storage module 251 can store various data that the tracking rack control system 200 utilizes, generates, and outputs during operation. The data includes one of real-time operational data, reference data (eg, historical operational data, operational status reference values, environmental data), data in a computing process, or analysis results (eg, fault data, failure mode data), or the like. Several combinations.

In some embodiments, data storage module 251 can store real-time operational data of tracking rack control system 200. For example, the data storage module 251 can store real-time operational data acquired by the real-time operational data acquisition module 231.

In some embodiments, data storage module 251 can store reference data for tracking rack control system 200. For example, data storage module 251 can store historical operational data from database 140.

In some embodiments, data storage module 251 can store intermediate data or results in the tracking process of tracking rack control system 200. Intermediate data or results in the calculation process may come from data analysis module 253. For example, the data storage module 251 can store fault data of the tracking rack control system 200. The fault data may include one or a combination of a faulty device, a fault time, a fault type, a failure cause, a suggested processing manner, a fault processing progress, and the like. The faulty device and the fault time can be analyzed from data Module 253 is obtained. When the data analysis module 253 determines that the tracking bracket 111 is in a fault state, the number of the tracking bracket 111, the time of failure, and the progress of the fault processing can be transmitted to the data storage module 251. The fault type, the cause of the failure, and the suggested processing manner may be obtained from the fault analysis module 257. The fault data can also be input from the terminal device 150. For example, when it is found that the tracking bracket 111 may have a fault, corresponding fault data (for example, the number of the faulty device) may be input through the terminal device 150.

In some embodiments, the data storage module 251 can store the analysis results of the failure analysis module 257. For example, data storage module 251 can store failure mode data for tracking rack control system 200. The failure mode data may include a correspondence between the real-time operational data characteristics of the tracking support control system 200 and the failure cause and the suggested processing manner. For example, the real-time current of the motor is slowly increased, and the corresponding failure cause may be that the foundation is sunk due to heavy rain. The recommended processing method may be to strengthen the tracking bracket 111. For another example, the real-time current of the motor increases slowly, and the corresponding failure may be caused by snow in the snowy weather. The recommended treatment may be to remove snow. For another example, the real-time current of the motor suddenly increases, and the corresponding failure cause may be a short circuit of the motor 270. The recommended processing manner may be to repair the motor 270. For another example, the real-time current of the motor is much higher than the motor reference current, and the corresponding failure cause may be that the motor 270 is blocked. The recommended processing method may be to repair the motor 270. The correspondence between the historical operational data characteristics and the cause of failure, and the suggested processing manner may be obtained from the management experience of the tracking bracket control system 200, or obtained from other information sources such as other tracking bracket control systems, networks, and the like. The failure mode data can be input through the terminal device 150.

The data stored by the data storage module 251 can be obtained from other portions of the tracking rack control system 200 or acquired from an external source of information (eg, a weather database) outside of the tracking rack control system 200 via the network 120. For example, the data storage module 251 can store real-time operational data of the tracking rack control system 200 acquired by the real-time operational data acquisition module 231. For another example, the data storage module 251 can store real-time environmental data and historical environment data of the location of the tracking rack control system 200 acquired from an external information source (eg, a weather database) outside the tracking rack control system 200 through the network 120.

The data storage module 251 can implement data transfer with other portions of the tracking rack control system 200. For example, the data storage module 251 can receive the analysis result of the data analysis module 253. For another example, the data storage module 251 can output the data used for the analysis to the data analysis module 253.

The data storage module 251 may be one or a combination of a magnetic disk, an optical disk, a hard disk, a cloud disk, a flash memory card, an optical storage disk, a solid state disk, or the like.

The data analysis module 253 can be used to perform analysis and processing operations of the data. The analyzing and processing operations may include classifying, screening, converting, detecting, predicting, comparing, fitting, etc. the data. One or a combination of several. The operations of the analysis and processing may include analyzing an operational state of the plant equipment 110 in the power plant system 100, analyzing a fault state of the power plant equipment 110, calculating an operational state reference value of the tracking rack control system 200, and the like. The methods used for data analysis and processing may include an outlier test method, a significance test method, a linear regression analysis method, an analysis of variance, a principal component analysis method, a discriminant analysis method, a cluster analysis method, a Bayes statistical analysis method, and the like. Wherein, the method for detecting the outliers may include curve fitting, 2.5d method, 4d method, Grubbs method, Q test method, Dixon test method, Romanov method, skewness-kurtosis A combination of one or more of the test method, the Laida method, the Schwitt method, and the like. The significant test method may include one or a combination of one of F test, T test, U test, and the like. The regression analysis method may include one or a combination of least squares, logistic regression, stepwise regression, multiple regression, multiple adaptive regression, and the like. The clustering analysis method may include one or more of hierarchical clustering method, K-means clustering, system clustering method, decomposition clustering method, dynamic clustering method, overlapping clustering, fuzzy clustering, and the like. The combination.

In some embodiments, the data analysis module 253 can analyze based on the real-time operational data of the tracking rack control system 200 and historical operational data, and determine the operational status of the tracking bracket 111. For example, the data analysis module 253 can longitudinally compare the tracking bracket real-time angle of the tracking bracket 111 with the tracking bracket historical angle at the same time in a past period of time (eg, one month, one year, etc.) to determine whether the tracking bracket 111 is in a fault state.

In some embodiments, the data analysis module 253 can analyze based on real-time operational data of the plurality of tracking cradle 111 and determine the operational status of the tracking cradle 111. For example, the data analysis module 253 can determine the operational status of the tracking bracket 111 by lateral comparison. The lateral comparison may be to compare the tracking bracket real-time running data of the tracking bracket 111 with the tracking bracket real-time data of the other tracking brackets 111 in the tracking bracket control system 200 to determine whether the tracking bracket 111 is in a fault state.

In some embodiments, the data analysis module 253 can simultaneously analyze the real-time operational data and historical operational data of the tracking stent control system 200 and determine the operational status of the tracking stent 111. For example, the data analysis module 253 can determine the operational status of the tracking bracket 111 by longitudinal comparison. The longitudinal comparison may be to compare the tracking bracket real-time running data of the tracking bracket 111 with the historical running data of the tracking bracket 111 or the historical running data of the other tracking bracket 111 to determine whether the tracking bracket 111 is in a fault state.

In some embodiments, the data analysis module 253 can analyze the analysis of the real-time operational data and operational state reference values of the tracking rack control system 200 and determine the fault condition of the tracking bracket 111. For example, the data analysis module 253 can compare the real-time angle of the tracking bracket of the tracking bracket 111 with the tracking bracket at the same time. Check the angle of the test to determine whether the real-time angle of the tracking bracket is an abnormal value.

The mode selection unit 255 can select the control mode of the tracking bracket 111 according to the analysis result of the operation state of the tracking bracket 111 by the data analysis module 253. The control mode may include one or a combination of a failure mode, a high wind mode, a rainy day mode, a snow day mode, a cloudy mode, a manual mode, and an automatic mode. The corresponding mode signal includes a combination of one or more of a failure mode signal, a wind mode signal, a rain mode signal, a snow day mode signal, a cloudy mode signal, a manual mode signal, and an automatic mode signal.

When the tracking bracket 111 is only in an operating state, such as a high wind state, the mode selection unit 255 selects the control mode of the tracking bracket 111 to be a high wind mode, and issues a corresponding wind mode signal. When the tracking bracket 111 is in several operating states, the mode selecting unit 255 can select the control mode corresponding to the operating state with the highest priority according to the operating state priority. For example, the operating state priority is fault state>manual state>high wind state>rainy state>snow state>cloudy state>automatic state; when the tracking bracket 111 is in the fault state and the cloudy state at the same time, the mode selection unit 255 The failure mode corresponding to the fault state with the highest priority is selected as the control mode of the tracking bracket 111. The priority of the operating state can be set by the user on the terminal device 150. The priority of the operating state may be set according to a default value of the system 200. The priority of the operational status may be obtained by the system 200 through self-learning of historical data. For another example, the operating state priority is manual state > fault state = high wind state = rainy state > snowy state > cloudy state > automatic state, and when the tracking bracket 111 is in a fault state and a rainy state, the mode selection module 255 At the same time, the failure mode and the rain mode are selected as the control mode of the tracking bracket 111. The result of the control in this control mode may be to alert the fault while adjusting the tracking bracket 111 to a position perpendicular to the ground or to track the position of the maximum angle allowed by the bracket 111.

The failure analysis module 257 can determine the type of failure of the plant equipment 110, the cause of the failure, and the suggested treatment. The type of failure may include one or a combination of a burst type fault, a fade type fault, and the like. A burst type fault may refer to a sudden change in the operating state of the plant equipment 110. For example, the tracking bracket's real-time angle of the tracking bracket suddenly becomes large. For another example, the real-time current of the motor of the motor 270 suddenly becomes large. A gradual failure may refer to a slow change in the operating state of the plant equipment 110. For example, the deviation between the tracking bracket real-time angle of the tracking bracket 111 and the tracking bracket angle reference value gradually becomes larger. For another example, the real-time current of the motor of the motor 270 gradually becomes larger.

When the data analysis module 253 confirms that the operating state of the plant equipment 110 is a fault state, the data analysis module 253 issues a fault analysis command to the fault analysis module 257. Fault analysis based on fault analysis instructions The analysis module 257 acquires the historical operation data and the operation state reference value of the faulty power plant device 110 in a specific time, and the failure mode data in the data storage unit 251. Based on the acquired historical operational data, operational state reference values, and failed mode data, the fault analysis module 257 can determine the fault type, the cause of the failure, and the suggested processing manner. The process of determining the type of failure may be:

(1): Calculate the deviation between the historical operation data and the operating state reference value within a specific time. Assume that there are n historical running data and n corresponding operating state reference values in a specific time. The i-th historical running data is Hi, the corresponding i-th running state reference value is Ri, and the i-th running deviation value is ( Hi-Ri)

(2): Calculate the variance or standard deviation of n running deviation values within a specific time.

(3): Compare the variance or standard deviation of the motion deviation with the sudden failure threshold to determine whether the fault is a sudden fault. If the variance or standard deviation of the motion deviation is greater than or equal to the sudden failure threshold, it is determined to be a sudden failure. Otherwise, it is judged as a gradual failure.

The burst failure threshold in the judging process can be set by the user through the terminal device 150. The burst failure threshold may be set according to a default value of the system 200. The burst failure threshold may be obtained by system 200 through self-learning of historical data.

The method for determining the cause of the failure and the suggested processing manner may be to match the historical running data of the power station device 110 with the failure mode data, and determine whether the historical running data meets the historical running data feature in the failure mode data. The matching process can include one or more of comparison, fitting, association, and the like. If the historical operational data of the plant equipment 110 conforms to the historical operational data characteristics, the corresponding failure cause and suggested processing manner can be determined. The method of historical operational data and failure mode data of the plant equipment 110 may include curve fitting or the like.

Input/output interface 240 can be coupled or in communication with other components in tracking rack control system 200. Other components in the tracking rack control system 200 can be connected or communicated via the input/output interface 240. The input/output interface 240 can be a wired USB interface, a serial communication interface, a parallel communication port, or a wireless Bluetooth, infrared, RFID (Radio-frequency identification), WAPI (WLAN Authentication and Privacy Infrastructure), GPRS ( Combination of one or more of General Packet Radio Service), CDMA (Code Division Multiple Access), and the like.

Motor 270 can be any electromagnetic device that converts electrical energy into mechanical energy in accordance with the laws of electromagnetic induction. The motor 270 may be one or a combination of an axial magnetic field motor, a radial magnetic field motor, a synchronous motor, an induction motor, a reversible motor, a stepping motor, a servo motor, a linear motor, and the like.

It should be noted that the above description of the tracking bracket control system 200 is merely for convenience of description, and This application is not intended to be limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. For example, in some embodiments, control engine 210 may further include an acquisition module (not shown in FIG. 2), a processing module (not shown in FIG. 2), and a storage module (not shown in FIG. 2). The acquisition module (not shown in Figure 2) can be used for data acquisition. For example, an acquisition module (not shown in FIG. 2) may acquire tracking bracket angle data acquired by the angle sensor of the tracking bracket 111. For another example, the processing module (not shown in FIG. 2) can acquire current time information, latitude and longitude information in which the tracking bracket 111 is located, and the like. A processing module (not shown in Figure 2) can be used for the calculation and analysis of the data. For example, the processing module (not shown in Figure 2) can calculate the elevation and azimuth of the sun based on the astronomical algorithm based on current time, latitude and longitude information. As another example, a processing module (not shown in FIG. 2) can calculate an angular adjustment value of the tracking bracket 111 based on sensor data, a height angle and azimuth of the sun, and generate a control command to drive the motor to operate. A storage module (not shown in Figure 2) can be used for the storage of data. The storage module may be one or a combination of a magnetic disk, an optical disk, a hard disk, a cloud disk, a flash memory card, an optical storage disk, a solid state disk, or the like.

3 is a schematic illustration of a tracking bracket control system 300, in accordance with some embodiments of the present application. Tracking bracket control system 300 is an exemplary embodiment of tracking bracket control system 200 shown in FIG. 2, but does not indicate that tracking bracket control system 200 of FIG. 2 can only be implemented in the manner shown in tracking bracket control system 300. The tracking bracket control system 300 can include a control module 211, a driving module 213, a real-time operating data acquiring module 231, a reference data acquiring module 233, a limit switch 370, and a host computer 390. The tracking rack control system 300 can acquire data from the terminal device 150, the tracking bracket 111, and the motor 270. In some embodiments, the tracking rack control system 200 can also be from the inverter 113, the battery 115, the combiner box (not shown in Figure 3), the booster (not shown in Figure 3), the charge and discharge controller ( Not shown in Figure 3), switchyard (not shown in Figure 3), power distribution room (not shown in Figure 3), box change (not shown in Figure 3), or electricity meter (not shown in Figure 3) ) Obtain data from other devices.

The control module 211 can send a control command to the drive module 213. The driving module 213 can drive the motor 270 to operate according to the driving command. The operation of the motor 270 can drive the movement of the tracking bracket 111. The motion can be a combination of rotation, translation, or rotation and translation. For example, the tracking bracket 111 can be leveled by axial movement under the drive of the motor 270. As another example, the tracking bracket 111 can be moved in a vertical direction by the drive of the motor 270.

The control command issued by the control module 211 may be derived from the host computer 390, the terminal device 150, or by The control module 211 calculates. The combination of one or more of an instruction to control mode selection, an angle adjustment command, an instruction to motor operation control, and the like. By controlling the mode selected command, the drive module 213 can drive the motor 270 to perform one or more actions in a particular control mode. The data communication between the control module 211 and the upper computer 390 can be realized through the RS485 communication interface. For a more detailed description of the control module 211, reference may be made to FIG.

The drive module 213 can drive the motor 270 to operate. The manner in which the drive module 213 drives the motor 270 to operate includes speeding, running, stopping, stepping, uniform speed, and the like of the motor 270. For a more detailed description of the drive module 213, reference may be made to FIG. 2.

The real-time operational data acquisition module 231 can acquire real-time operational data of the tracking stent control system 200. The real-time data acquisition module 231 can include a current detecting unit 310, an angle sensor 330, a Hall encoder 340, and a photosensitive sensor 350.

The current detecting unit 310 can measure the real-time current of the motor. The current detecting unit 310 may be one or a combination of a current sensor, a Hall element, a multimeter, and an ammeter. The method for detecting the current by the current detecting unit 310 may be a method based on the Hall induction principle, a method based on the magnetic compensation principle, or the like. For example, based on the Hall induction principle, a Hall current sensor can be used to measure the real-time current of the motor. The real-time current of the motor detected by the current detecting unit 310 can be output to the control module 211. When the control module 211 detects that the real-time current of the motor exceeds the motor current reference value, the control module 211 may output a cut-off signal and/or a motor overload signal. The cutoff signal may be output to the drive module 213, and the drive module 213 is commanded to cut off the power of the motor 270. The motor overload signal may be output to the terminal device 150, and the terminal device 150 is commanded to issue a motor overload warning prompt.

The angle sensor 330 can measure the real-time angle of the tracking bracket. In some embodiments, the angle sensor 330 can determine the tracking rack real-time angle by measuring the real-time angle of the turret on the tracking bracket 111. The angle sensor 330 may be one or a combination of a solid pendulum angle sensor, a liquid pendulum angle sensor, a gas pendulum angle sensor, and the like. The angle sensor 330 can be mounted on the tracking bracket 111. In some embodiments, the angle sensor 333 can be mounted on a turntable of the tracking stand. The tracking bracket real-time angle detected by the angle sensor 330 can be output to the control module 211.

In some embodiments, the plurality of angle sensors 330 can measure the tracking bracket real-time distortion. The plurality of angle sensors 330 may be mounted on the same tracking bracket 111. For example, the plurality of angle sensors 330 can be mounted at different locations of the turntable of the same tracking bracket 111. For example, an angle sensor 330 can be mounted to the top of the turntable; an angle sensor 330 can be mounted to the bottom of the turntable. More The real-time angles of the plurality of tracking brackets detected by the angle sensors 330 are output to the control module 211. The control module 211 can calculate the tracking bracket real-time distortion based on the plurality of tracking bracket real-time angles. The tracking bracket real-time distortion may be a maximum value, an average value, and the like of the absolute values of the difference between the two real-time angles of the plurality of tracking brackets.

When the control module 211 detects that the tracking bracket real-time distortion exceeds the real-time distortion reference value, a stop drive command and/or a tracking bracket abnormality warning signal may be issued. The stop drive command may be output to the drive module 213, and the drive module 213 is commanded to stop driving the motor 270. The tracking bracket abnormality warning signal may be output to the terminal device 150, and the terminal device 150 is instructed to issue a tracking bracket abnormal warning prompt.

The Hall encoder 340 can measure the real-time speed of the motor. The Hall encoder 340 can detect the position of the magnetic pole when the motor 270 rotates and generate a pair of orthogonal pulse signals corresponding thereto. Based on the pulse signal generated by the Hall encoder 340, the rotational speed of the motor 270 can be derived. The real-time motor speed detected by the Hall encoder 340 can be output to the control module 211. When the control module 211 detects that the real-time motor speed exceeds the motor speed reference value, the control module 211 may output a cut-off signal and/or a motor abnormality signal. The cutoff signal may be output to the drive module 213, and the drive module 213 is commanded to cut off the power of the motor 270. The motor abnormality signal may be output to the terminal device 150, and the terminal device 150 is commanded to issue a motor abnormality warning prompt.

The photosensitive sensor 350 can measure the surface radiation intensity of the tracking bracket 111. The photosensitive sensor may be mounted on the surface of the tracking bracket 111. The photosensitive sensor may be one or a combination of a photoresistor, an infrared sensor, an ultraviolet sensor, a fiber optic photoelectric sensor, a color sensor, and the like. The tracking stent surface radiation intensity detected by the photosensitive sensor 350 can be output to the control module 211.

In some embodiments, the real-time data acquisition module 231 can also include a pressure sensor (not shown in FIG. 3), a temperature sensor, etc. (not shown in FIG. 3). The real-time running data of the tracking rack control system 300 acquired by the real-time data acquiring module 231 can be transmitted to the upper station 390 or stored in the data storage module (not shown in FIG. 3) of the real-time data acquiring module 231. For a more detailed description of the real-time operational data acquisition module 231, reference may be made to the content in FIG. 2.

The limit switch 370 can limit the range of rotation of the tracking bracket 111. The limit switch 370 can monitor the abnormality of the tracking bracket 111 and issue a tracking bracket angle abnormality signal when the tracking bracket 111 is rotated to a specific range (for example, outside the normal range). In some embodiments, the limit switch 370 can be mounted outside of the normal range of tracking brackets. When the tracking bracket 111 is rotated outside the normal angle range, the limit switch 370 is touched. After the limit switch 370 contacts the tracking bracket 111, the tracking bracket abnormal signal can be sent. The number is given to the control module 211. When the control module 211 receives the tracking bracket abnormality signal, it will issue a stop driving command and/or a tracking bracket abnormal warning signal. The stop drive command may be output to the drive module 213, and the drive module 213 is commanded to stop driving the motor 270. The tracking bracket abnormality warning signal may be output to the terminal device 150, and the terminal device 150 is instructed to issue a tracking bracket abnormal warning prompt. The tracking bracket abnormal warning prompt may be a combination of one or more of an image alarm prompt, a short message alert prompt, an email alert prompt, an audible alert prompt, a vibrating alert prompt, a light alert alert, and the like.

Tracking bracket control system 300 can be fitted with one or more limit switches. The limit switch can be installed within the normal angle range or outside the normal angle range. In some embodiments, the tracking bracket 111 may have a normal angular range of -45° to +45°; one limit switch 370 may be mounted at a tracking bracket of -50°, and a limit switch 370 may be mounted to the tracking bracket. +50° position. When the tracking bracket 111 is rotated to -50°, the tracking bracket 111 comes into contact with the limit switch 370. The limit switch 370 can prevent the tracking bracket 111 from continuing to rotate through the control module 211, and issue a tracking bracket abnormality signal to the control module 211. When the tracking bracket 111 is rotated to +50°, the tracking bracket 111 comes into contact with the limit switch 370. The limit switch 370 can prevent the tracking bracket 111 from continuing to rotate through the control module 211, and issue a tracking bracket abnormality signal to the control module 211.

The reference data acquisition module 233 can obtain reference data for the tracking rack control system 300. The reference data of the tracking rack control system 300 may include a combination of one or more of tracking historical operating data, operating state reference values, environmental data, and the like of the rack control system 300. For a more detailed description of the reference data, reference may be made to the content in FIG. 2.

In some embodiments, the historical operational data acquired by the reference data acquisition module 233 can include historical operational data of one or more devices in the tracking rack control system 300. For example, historical operational data may include tracking historical operational data of the stent 111. As another example, historical operational data may include historical operational data for motor 270. The reference data acquisition module 233 can acquire historical operation data of the tracking rack control system 300 from the host computer 390.

In some embodiments, the operational status reference values obtained by the reference data acquisition module 233 can include tracking operational status reference values for one or more devices in the rack control system 300. For example, the operating state reference value may include an operating state reference value of the tracking bracket 111. As another example, the operational status reference value can include an operational status reference value for the motor 270. The reference data acquisition module 233 can acquire the operating state reference value of the tracking rack control system 300 from the host computer 390. In some embodiments, the operational status reference value of the tracking rack control system 300 may be input by the user through the terminal device 150 and stored in the upper computer 390. In In some embodiments, the operating state reference value of the tracking rack control system 300 can be obtained by the host computer 390 by calculation. The operational status reference value may be calculated based on historical operational data of the tracking rack control system 300. For example, the motor current reference value can be calculated by the host computer 390 based on the motor history current. The motor current reference value may be one or a combination of a maximum value, a minimum value, an average value, a median, a mode, and the like of the motor history current. For a more detailed description of the operational status reference values, reference may be made to the content in FIG.

In some embodiments, the environmental data acquired by the reference data acquisition module 233 may include real-time environmental data and historical environment data. The real-time environmental data may include real-time wind speed, real-time temperature, real-time air humidity, real-time soil moisture, real-time solar radiation, real-time precipitation, real-time snowfall, tracking bracket geographic coordinates, time, real-time solar azimuth or real-time solar elevation angle, etc. One or a combination of several. The real-time environment data acquisition manner may be obtained by using a data collector or acquiring real-time environment data of the tracking rack control system 300 from the upper computer 250. The real-time environment data obtained by the reference data acquisition module 233 for acquiring the tracking rack control system 300 may be transmitted to the upper computer 390 or stored in a data storage module (not shown in FIG. 3) of the reference data acquisition module 233.

In some embodiments, the historical environment data acquired by the reference data acquisition module 233 may include historical wind speed, historical temperature, historical air humidity, historical soil moisture, historical solar radiation, historical precipitation, historical snowfall, historical solar azimuth, or historical solar altitude. One or a combination of angles and the like. The reference data acquisition module 233 can acquire historical environment data of the tracking rack control system 300 from the host computer. For example, the reference data acquisition module 233 can acquire historical environment data of the tracking rack control system 300 from a storage module of the host computer 390 (not shown in FIG. 3). The historical environment data stored in the storage module of the host computer 390 (not shown in FIG. 3) may be acquired by the network 120 from an external information source (for example, a weather database) other than the tracking rack control system 300. For a more detailed description of the environmental data, reference may be made to the content in FIG. 2.

The host computer 390 can store data and perform analysis and processing operations of the data. The host computer 390 can be a data analysis platform. In some embodiments, the host computer 390 can include a processing engine 250 (as shown in FIG. 2). The host computer 390 can store various data that the tracking rack control system 300 utilizes, generates, and outputs during operation. The data includes one of real-time operational data, reference data (eg, historical operational data, operational status reference values, environmental data), data in a computing process, or analysis results (eg, fault data, failure mode data), or the like. Several combinations. In some embodiments, host computer 390 can include a data storage module (not shown in FIG. 3). The data storage module may be one or a combination of a magnetic disk, an optical disk, a hard disk, a cloud disk, a flash memory card, an optical storage disk, a solid state disk, and the like.

The host computer 390 can perform data transmission with the control module 211, the terminal device 150, the reference value acquisition unit 233, and the like in the tracking bracket control system 300. For example, the host computer 390 can receive data input by the user through the terminal device 150. For another example, the host computer 390 can receive the real-time environment data acquired by the reference value acquiring unit 233. For another example, the host computer 390 can output the historical operation data of the tracking rack control system 300 stored in the upper computer 390 to the reference value module 233. In some embodiments, the host computer 390 can perform direct data transmission with the real-time operational data module 231. For example, the host computer 390 can receive the tracking bracket real-time angle measured by the angle sensor 330. For another example, the host computer 390 can receive the real-time current of the motor measured by the current detecting unit 310.

The host computer 390 can perform analysis and processing operations of data. The analysis and processing operations may include a combination of one or more of sorting, screening, converting, detecting, predicting, comparing, fitting, etc. the data. The analysis and processing operations may include analyzing the operational status of one or more tracking brackets 111 in the tracking rack control system 300, selecting a control mode of one or more tracking brackets 111, and analyzing the fault status of one or more tracking brackets 111. (including whether the fault is faulty, the type of fault, the cause of the failure, the recommended processing method), the operating state reference value of the tracking system 300, and the like. The method used for data analysis and processing may include one of an outlier test method, a significance test method, a linear regression analysis method, an analysis of variance, a principal component analysis method, a discriminant analysis method, a cluster analysis method, a Bayes statistical analysis method, and the like. Combination of species or several.

The terminal device 150 can monitor the tracking bracket control system 300. In some embodiments, terminal device 150 may display a combination of one or more of real-time operational data, reference data (eg, historical operational data, operational status reference values, environmental data), etc. of tracking rack control system 300. In some embodiments, terminal device 150 can receive an alert signal and issue an alert prompt. The alarm signal can be generated by the host computer 390. In some embodiments, terminal device 150 can also receive fault data and display fault data. The fault data can be calculated and issued by the host computer 390 based on the data analysis. In some embodiments, terminal device 150 can also issue control signals to control tracking bracket control system 300. The control signal may be a control command issued by a user of the terminal device 150 or a control command calculated by the terminal device 150. The control signal may control the tracking bracket control system 300 to set the angle of the tracking bracket 111, switch the control mode of the tracking bracket 111, set the fault alarm threshold, set the authority, and the like. For a more detailed description of the terminal device 150, reference may be made to the contents of FIGS. 1 and 2.

It should be noted that the above description of the tracking bracket control system 300 is for convenience of description only, and the present application is not limited to the scope of the embodiments. It will be understood that, for those skilled in the art, after understanding the principle of the system, it is possible to perform any group on each module without departing from this principle. In addition, or in the construction of subsystems connected to other modules, various modifications and changes in the form and details of the application fields for implementing the above methods and systems. For example, in some embodiments, the host computer 390 can further include a data storage module (not shown in FIG. 3), a data analysis module (not shown in FIG. 3), a mode selection module (not shown in FIG. 3), Fault analysis module block (not shown in Figure 3). In some embodiments, the real-time data acquisition module 231 can be directly connected to the host computer 390. For example, the angle sensor 330 can upload the tracking bracket real-time angle to the upper computer 390 and store it in the storage module (not shown in FIG. 3) of the upper computer 390.

4 is a schematic diagram of a control module 211, in accordance with some embodiments of the present application. The control module 211 can include an acquisition sub-module 410, a processing sub-module 420, and a storage sub-module 430.

In the process of controlling the first tracking bracket, the acquisition sub-module 410 can acquire data. The data may include a combination of one or more of real-time operational data, real-time environmental data, historical quasi-reference data, or real-time quasi-reference data. In some embodiments, the real-time operational data may be related to a real-time operational state of the first tracking gantry. The real-time operating state of the first tracking bracket may include a real-time angle of the first tracking bracket, a real-time pulse number of the Hall encoder 340, a real-time running number of the motor 270, and the like, or a combination of a plurality thereof. In some embodiments, the real-time environmental data may be related to one or more of environmental parameters of the environment in which the first tracking bracket is located, such as temperature, humidity, wind, and the like. In some embodiments, the historical quasi-reference data may be related to a historical operating state of the first tracking bracket or the second tracking bracket. For example only, the historical quasi-reference data of the first tracking bracket may include the first tracking bracket or the second tracking bracket at a certain time point or a period of time at the current time, for example, the same day and the previous week of the current time. Or the exercise data of the previous day, or the exercise data for a period of time before the current time. In some embodiments, the real-time quasi-reference data of the first tracking bracket may be related to the real-time operating state of the second tracking bracket. In some embodiments, the acquisition sub-module 410 can be in communication with the data acquisition engine 230, the processing sub-module 420, the storage sub-module 430, and/or the terminal device 150. In some embodiments, the acquisition sub-module 410 can receive data at the data acquisition engine 230. As an example, the obtaining sub-module 410 may receive, by the data acquiring engine 230, real-time running data of the first tracking bracket, real-time environment data, historical reference data of the first tracking bracket, or one of real-time quasi-reference data of the first tracking bracket or Multiple combinations. In some embodiments, the acquisition sub-module 410 can communicate with the terminal device 150 to retrieve input data or tracking instructions from the terminal device 150. The input data may be related to real-time motion state of the first tracking bracket, real-time environmental parameters, real-time quasi-reference data of the first tracking bracket, or historical quasi-reference data of the first tracking bracket. The tracking command can be related to the motion of the first tracking bracket angle. As an example, the tracking instruction may be the first control The tracking bracket (or the object supported by the first tracking bracket) is rotated in a certain direction, for example, east, west, south, north, etc., by an angle, for example, 1°, 5°, 10°, and the like.

In some embodiments, the acquisition sub-module 410 can communicate data to the processing sub-module 420 or the storage sub-module 430. As an example, the acquisition sub-module 410 can transmit the acquired real-time operational data, real-time environmental data, historical quasi-reference data, real-time quasi-reference data, or information acquired from the terminal device 150 associated with the one or more tracking brackets 111 to Processing sub-module 420.

In some embodiments, the acquisition sub-module 410 can acquire data from an external device. The external device may be a device that collects or stores data. As an example, the external device may be a sensor, such as a temperature sensor, a humidity sensor, a wind sensor, a pressure sensor, etc., a light sensor, or an angle sensor, or a combination of one or more thereof. As another example, the external device may be a storage device such as a hard disk, a floppy disk, a magnetic tape, any other magnetic medium; a CD-ROM, a DVD, a DVD-ROM, any other optical medium; a punched card, any other hole containing Mode physical storage media; RAM, PROM, EPROM, FLASH-EPROM, and any other memory slice or tape.

Processing sub-module 420 can process the data. The data may be real-time operational data, real-time environmental data, historical quasi-reference data, or real-time quasi-reference data associated with one or more tracking brackets 111. In some embodiments, the data processing sub-module 420 can include a processor. The processor may include a central processing unit (CPU), a programmable logic device (PLD), a special integrated circuit (ASIC), a microprocessor, and an embedded One or more of a system on chip (SoC), a digital signal processor (DSP), and the like. The two or more processors can be combined on one hardware device. The processor can implement data processing in a variety of ways, including hardware, software, or a combination of hardware and software.

Processing sub-module 420 can be in communication with acquisition sub-module 410, data acquisition engine 230, drive module 213, motor 270, tracking bracket 111, and/or storage sub-module 430. As an example, processing sub-module 420 can retrieve data from acquisition sub-module 410, data acquisition engine 230, and/or storage sub-module 430 and perform subsequent processing processing sub-module 420.

In some embodiments, the processing sub-module 420 can pre-process the acquired data. The pre-processing can include processing dark currents, removing dead pixels, removing noise, performing geometric corrections, and the like. Processing Sub-Module 420 In some embodiments, the processing sub-module 420 can receive the real-time environment data transmitted by the acquisition sub-module 410, process the real-time environment data, and obtain real-time environment information. For example, processing real-time environmental data includes determining that Whether it is rain or snow weather, whether the wind speed reaches the threshold, etc. The threshold may be system default or user set. In some embodiments, the processing sub-module 420 can generate a tracking instruction based on the real-time environment information. As an example, if the real-time environment information indicates that the weather is rain and snow, the processing sub-module 420 may generate a tracking instruction to control the first tracking bracket to enter the “rain and snow mode”, for example, to operate the first tracking bracket to the maximum allowed angle. position. As another example, if the real-time environment information indicates that the real-time wind speed reaches a threshold, the processing sub-module 420 may generate a tracking instruction to control the first tracking bracket to enter a "high wind mode", for example, to operate the first tracking bracket to a horizontal or substantially horizontal position. .

In some embodiments, the processing sub-module 420 can obtain historical reference data based on historical quasi-reference data. The historical reference data may be data obtained by screening in historical quasi-reference data. In some embodiments, the processing sub-module 420 can process real-time quasi-reference data to obtain real-time reference data. The real-time reference data may be data obtained by screening in real-time quasi-reference data. In some embodiments, the processing sub-module 420 can generate a tracking instruction to control the operation of the first tracking bracket according to the real-time running data of the first tracking bracket and the historical reference data. In some embodiments, the processing sub-module 420 can generate a tracking instruction to control the operation of the first tracking bracket according to the real-time running data of the first tracking bracket and the real-time reference data.

The storage sub-module 430 can store data associated with one or more tracking brackets 111. The data stored by the storage sub-module 430 can be various forms of data. For example, a combination of one or more of a numerical value, a signal, a command, an algorithm, a program, and the like. In some embodiments, the storage sub-module 430 can include a fixed storage system (eg, a disk), a mobile storage system (eg, a universal serial bus (USB) interface, a Firewire port, etc., and/or Or drive for disk drive class). The storage submodule 430 may include one or more of a hard disk, a floppy disk, a random access memory, a dynamic random access memory, a static random access memory, a bubble memory, a thin film memory, a magnetic plate line memory, a phase change memory, a flash memory, a cloud disk, and the like. .

In some embodiments, the storage sub-module 430 can be associated with the acquisition sub-module 410, the processing sub-module 420, and/or the driving module 213, receiving data from one or more of the above-described modules, or into each of the above modules. One or more of the transmitted data. As an example, the storage sub-module 430 can store data transmitted by the acquisition sub-module 410, such as real-time operational data, historical quasi-reference data, real-time quasi-reference data, and/or real-time environmental data. As another example, storage sub-module 430 can store one or more algorithms for processing sub-module 420 for data processing. As another example, the storage sub-module 430 can store temporary data, ie, dumped data for future data processing, such as (possible temporary data). The storage submodule 430 can be saved The final data is stored, that is, the final data processing result is stored, for example, the operating state of the first tracking device in a specific environment.

It should be noted that the above description of the control module 211 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. For example, the aforementioned functions of the acquisition sub-module 410 can be implemented by the data acquisition engine 230.

FIG. 5 is an exemplary flow diagram for operating the tracking bracket 111, in accordance with some embodiments of the present application. In step 502, system 200 (e.g., acquisition sub-module 410 of system 200) may acquire real-time operational data and quasi-reference data for a tracking cradle 111. The real-time operational data may include one of real-time operational data, real-time environmental data, or a combination thereof. The real-time operational data may be related to a real-time operational state of the first tracking bracket. In some embodiments, the real-time operating state of the first tracking bracket includes a real-time angle of the first tracking bracket, a real-time pulse number of the Hall encoder of the first tracking bracket, and a real-time running number of the motor of the first tracking bracket Etc., or a combination of many of them. As an example, the real-time angle of the first tracking bracket can be acquired by an angle sensor. In some embodiments, the real-time pulse number of the Hall encoder of the first tracking bracket is related to the real-time angle of the first tracking bracket and/or the real-time running number of the motor of the first tracking bracket. The real-time environmental data may be related to environmental parameters of the environment in which the first tracking bracket is located, such as temperature, humidity, wind, and the like. As an example, the environmental parameters may be obtained by a particular sensor, such as a wind speed sensor, a rain sensor, or the like. As another example, the environmental parameters may be retrieved by a user via a terminal device 150, such as a cell phone, computer, control panel, or the like. The quasi-reference data may be historical quasi-reference data or real-time quasi-reference data. The historical quasi-reference data may be related to a historical operating state of the first tracking bracket, for example, a motion state of the first tracking bracket on the same day, the previous week, or the previous day of the previous year of the current time. The real-time quasi-reference data of the first tracking bracket may be related to the real-time operating state of the second tracking bracket. As an example, the real-time quasi-reference data of the first tracking bracket may include a real-time angle of the second tracking bracket, a real-time pulse number of the Hall encoder of the second tracking bracket, or a real-time running number of the motor of the second tracking bracket, or A combination of many of them. In some embodiments, the real-time pulse number of the Hall encoder of the second tracking bracket is related to the real-time angle of the second tracking bracket and/or the real-time running number of the motor of the second tracking bracket.

In step 504, system 200 (eg, processing sub-module 420 of system 200) can process the acquired real-time operational data and quasi-reference data for the first tracking bracket. Processing of data can include data A combination of one or more of the operations of pre-processing, screening, and/or compensation. The pre-processing operations of the data may include a combination of one or more of denoising, filtering, dark current processing, geometric correction, and the like. As an example, system 200 (eg, processing sub-module 420 of system 200) can perform pre-processing operations on the real-time operational data and quasi-reference data between the acquired first traces. In some embodiments, the reference data can be generated by processing the acquired quasi-reference data. The process of aligning the reference data may include screening the acquired historical quasi-reference data or real-time quasi-reference data to obtain historical reference data or real-time reference data.

In step 506, system 200 (eg, processing sub-module 420 of system 200) may generate a tracking instruction. The tracking command may be related to a subsequent operational state of the first tracking bracket. For example, the tracking command may include a rotation angle of the first tracking bracket, a number of revolutions of the motor 270 of the first tracking bracket, and the like. In some embodiments, the tracking instructions may be generated based on real-time operational data and real-time reference data of the first tracking bracket. As an example, based on the real-time angle data and current time data of the first tracking bracket, and the real-time angle data and current time data of the second tracking bracket, an instruction including the angle of rotation of the first tracking bracket may be generated.

In step 508, system 200 (eg, processing sub-module 420 of system 200) may output a tracking command to control the operation of the first tracking bracket. In some embodiments, the generated tracking instructions may be output to storage sub-module 430, drive module 213, terminal device 150, tracking bracket 111, and/or motor 270. As an example, the generated tracking instruction, for example, the motor 270 should be rotated a certain number of turns, and can be output to the driving module 213; the driving module 213 can drive the motor 270 to perform a corresponding operation according to the tracking instruction, for example, running a certain number of turns.

It should be noted that the above description of the environmental parameter compensation process is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, other operations or determinations can be added between the acquisition of the data in step 502 and the output of the tracking instruction in step 508. Similarly, this storage backup step can be added between any two steps in the flow of Figure 5. For example, system 200 or system 300 can have a first angle sensor and a second angle sensor. In step 502, when the first angle sensor is not operating normally, the second angle sensor may be activated instead of the first angle sensor for data acquisition. The abnormal operating state may be, for example, an angle acquired by the angle sensor (eg, the azimuth of the tracking bracket 111, etc.) reaches a threshold or the system 200 receives an instruction from the user or the like.

FIG. 6 is a schematic diagram of a processing sub-module 420, in accordance with some embodiments of the present application. The processing sub-module 420 can include a data interface unit 610, a decision unit 620, a tracking instruction generation unit 630, and a storage unit 640.

Data interface unit 610 can receive data related to one or more tracking brackets 111. The data may be real-time operational data of the tracking bracket 111, real-time environmental data, historical quasi-reference data, or real-time quasi-reference data, or a combination of several of them. In some embodiments, data interface unit 610 can be associated with acquisition sub-unit 410, tracking instruction generation unit 630, and/or storage unit 640. In some embodiments, data interface unit 610 can obtain data from acquisition sub-unit 410 and/or data acquisition engine 230. In some embodiments, data interface unit 610 can communicate the acquired data to tracking instruction generation unit 630 or storage unit 640.

Decision unit 620 can be associated with data interface unit 610, tracking instruction generation unit 630, and/or storage unit 640. In some embodiments, decision unit 620 can control the type of data that tracking instruction generation unit 630 receives from data interface unit 610. As an example, decision unit 620 can control tracking instruction generation unit 630 to receive historical quasi-reference data from data interface unit 610 without receiving real-time quasi-reference data. In some embodiments, decision unit 620 can generate reference data from the quasi-reference data. As an example, decision unit 620 can generate historical reference data and/or real-time reference data based on the received quasi-historical reference data and/or quasi-real-time reference data. In some embodiments, decision unit 620 can control the algorithm used by tracking instruction generation unit 630 for data processing.

The tracking instruction generation unit 630 can process the received data to generate a tracking instruction. The data may be real-time operational data and/or reference data of a tracking cradle 111. The reference data of the tracking bracket 111 may be historical reference data and/or real-time reference data. As an example, the tracking instruction generation unit 630 can process the real-time operational data and the historical reference data to generate a tracking instruction. In some embodiments, the real-time operational data includes a current time and a real-time Hall encoder pulse number corresponding to the current time, the historical reference data including a historical reference time and a reference Hall encoder pulse corresponding to the historical reference time number. In some embodiments, the real-time Hall encoder pulse number may be the number of pulses corresponding to the current time. The number of pulses may be the number of pulses of the Hall encoder 340. In some embodiments, the reference Hall encoder pulse number may be a pulse number corresponding to the reference time, and the pulse number may be a pulse number of the Hall encoder 340. As an example, the tracking instruction generation unit 630 (eg, the generation sub-unit 1030 of the tracking instruction generation unit 630 as shown in FIG. 10) may determine the reference according to the current time (eg, 10:05 am on October 1, 2016) Time (for example, 10:05 am on October 1, 2015); The real-time Hall encoder pulse number (for example, 990) and the reference Hall encoder pulse number (for example, 1000) corresponding to the reference time, the tracking instruction generation unit 630 (for example, the generation sub-unit 1030 of the tracking instruction generation unit 630) ) A tracking command can be generated to control the number of real-time Hall encoder pulses from 990 to 1000. In some embodiments, the tracking instruction generation unit 630 can be associated with the data interface unit 610, the decision unit 620, the motor 270, and/or the storage unit 640. As an example, the trace instruction generation unit 630 can be associated with the storage unit 640 to transfer the generated trace instruction to the storage unit 640. As another example, the tracking instruction generation unit 630 may transmit the generated tracking instruction to the driving module 213. In some embodiments, the drive module 213 can control the operation of the motor 270 in accordance with the received instructions.

The storage unit 640 can store data. The data may be real-time operational data, quasi-reference data, reference data, tracking instructions, decision unit 620, and/or an algorithm or program for tracking data generation by the instruction generation unit 630.

It should be noted that the above description of the processing sub-module 420 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. As an example, the functionality of decision unit 620 can be implemented by instruction generation unit 630. As another example, the storage unit 420 may not be included in the processing sub-module 420, and the kinetic energy of the storage unit 640 may be implemented by the storage sub-module 430.

In accordance with some embodiments of the present application, FIG. 7 is an exemplary flow diagram for generating a tracking command to operate a first tracking bracket. The first tracking bracket is one of one or more tracking brackets 111 in the power plant apparatus 110.

In step 702, real-time operational data and quasi-reference data of the first tracking bracket are acquired. In some embodiments, the acquisition of the real-time operational data and the quasi-reference data by the data interface unit 610 can be implemented by the data interface unit 610. The real-time operational data includes real-time operational data and real-time environmental data of the first tracking bracket. The real-time environmental data may be related to environmental parameters of the environment in which the first tracking bracket is located, including temperature, humidity, wind power, and the like. The quasi-reference data of the first tracking bracket may be historical quasi-reference data of the first tracking bracket or real-time quasi-reference data of the first tracking bracket.

In step 704, reference data of the first tracking bracket is determined according to the quasi reference data of the first tracking bracket. In some embodiments, the determination of the reference data can be implemented by decision unit 620. In some embodiments, screening can be based on the type of quasi-reference data. As an example, you can follow the reference number According to the type, the reference data is prioritized. For example, the priority of the quasi-historical reference data may be higher than the quasi-real-time reference data; when the quasi-historical reference data and the quasi-real-time reference data exist simultaneously, the reference data is preferentially selected from the quasi-historical reference data.

In step 706, a tracking instruction of the first tracking bracket is generated according to the real-time running data of the first tracking bracket and the reference data of the first tracking bracket. The tracking command may be related to an operating state of the first tracking bracket. As an example, based on the real-time operational data and historical reference data of the first tracking bracket, a tracking command can be generated to control the angle of rotation of the first tracking bracket.

In step 708, the tracking instruction is output. In some embodiments, the generated tracking instructions can be output to motor 270, storage unit 640, and/or drive module 213 and control the operation of motor 270.

It should be noted that the above description of the generation of the tracking instructions is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, other operations or decisions can be added between the step 702 of acquiring data and the step 708 outputting the tracking instructions. For example, the acquired real-time running data can be stored and backed up. Similarly, this storage backup step can be added between any two steps in the flow of Figure 8.

8 is an exemplary flow diagram for determining the motion state of the tracking bracket 111 (eg, the first tracking bracket, etc. depicted in FIG. 7), in accordance with some embodiments of the present application. In step 802, a tracking instruction can be received. In some embodiments, the tracking instructions can be received by the driver module 213. The tracking command may be related to the running state of the tracking bracket 111, for example, the angle of rotation of the tracking bracket 111, the number of turns of the motor 270 of the tracking bracket 111, and the like. As an example, the tracking command may be an angle at which the tracking bracket 111 should be rotated, for example, 2°, 5°, 10°, 30°, and the like.

In step 804, the tracking bracket 111 can be operated in accordance with the tracking instruction. In some embodiments, the drive module 213 receives the tracking instruction, and the tracking bracket 111 is operated in accordance with the tracking instruction. For example, the tracking command can be to operate the tracking bracket 111 at a certain angle or to a particular angular position. In some embodiments, the tracking command may be to set the operating range of the tracking bracket 111 and determine the final motion state of the first tracking bracket by subsequent steps.

In step 806, the running state of the tracking bracket 111 is detected to acquire related data. In some embodiments, during operation of the tracking bracket 111, the operational status of the tracking bracket 111 can be detected by a data acquisition device, such as a sensor, etc., to obtain data related to the operational status. As a show For example, a current detecting unit can be used to detect the magnitude of the photo-generated current of the tracking bracket 111 during the operation of the tracking bracket 111.

In step 808, an operational state of the tracking bracket 111 is determined based on the correlation data. In some embodiments, the target state of the tracking bracket 111 is determined according to the acquired related data during the operation of the tracking bracket 111, that is, the different operating states. As an example, the operating state of the first tracking bracket 111 may be determined based on the photosensitive intensity data acquired by the tracking bracket 111 in different operating states.

It should be noted that the above description of the process for determining the state of motion of the tracking bracket 111 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details.

9 is a schematic diagram of a storage sub-module, in accordance with some embodiments of the present application. The storage sub-module 430 can include a historical quasi-reference data storage unit 910, a real-time quasi-reference data storage unit 920, and an environmental data storage unit 930.

The history quasi-reference data storage unit 910 can store historical quasi-reference data. The quasi-reference data may be data related to a historical operating state of the first tracking bracket. In some embodiments, the historical quasi-reference data storage unit 910 can be associated with the data acquisition engine 230, the acquisition sub-module 410, the processing sub-module 420, the data interface unit 610, and/or the terminal device 150, and the like. As an example, historical quasi-reference data storage unit 910 can store historical quasi-reference data from data acquisition engine 230, acquisition sub-module 410, and/or terminal device 150. As another example, historical quasi-reference data storage unit 910 can transmit data to processing sub-module 420 and/or data interface unit 610.

The real-time quasi-reference data storage unit 920 can store real-time quasi-reference data. The quasi-reference data of the first tracking bracket may be data related to the real-time operating state of the second tracking bracket. In some embodiments, real-time quasi-reference data storage unit 920 can be associated with data acquisition engine 230, acquisition sub-module 410, processing sub-module 420, data interface unit 610, and/or terminal device 150, and the like. As an example, real-time quasi-reference data storage unit 920 can store real-time quasi-reference data from data acquisition engine 230, acquisition sub-module 410, and/or terminal device 150. As another example, real-time quasi-reference data storage unit 920 can transmit data to processing sub-module 420 and/or data interface unit 610.

The environmental data storage unit 930 can store environmental data. The environmental data may be data related to the environment in which the first tracking bracket is located, such as wind speed, humidity, temperature, and the like. In some embodiments, the ring The context data storage unit 930 can be associated with the data acquisition engine 230, the acquisition sub-module 410, the processing sub-module 420, the data interface unit 610, and/or the terminal device 150, and the like. As an example, the environmental data storage unit 930 can store data from the data acquisition engine 230, the acquisition sub-module 410, and/or the terminal device 150. As another example, the environmental data storage unit 930 can transfer data to the processing sub-module 420 and/or the data interface unit 610.

It should be noted that the above description of the storage sub-module 430 is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. As an example, the historical quasi-reference data storage unit 910, the real-time quasi-reference data storage unit 640, and/or the environmental data storage unit 930 may be stored on different storage devices or may be stored in different regions of the same storage device.

10 is a schematic diagram of a tracking instruction generation unit, in accordance with some embodiments of the present application. The tracking instruction generation unit 630 may include one preprocessing subunit 1010, one search subunit 1020, and one generation subunit 1030.

The pre-processing sub-unit 1010 can pre-process the reference data. The pre-processing can include processing dark currents, removing dead pixels, removing noise, performing geometric corrections, and the like. The pre-processing sub-unit 1010 can be associated with the decision unit 620, the storage unit 640, and/or the lookup sub-unit 1020. As an example, the pre-processing sub-unit 1010 can obtain reference data for one tracking bracket 111 from the decision unit 620. As another example, the pre-processing sub-unit 1010 may select one or more algorithms or programs for pre-processing from the storage unit 640 to pre-process the reference data. As another example, the pre-processing sub-unit 1010 can communicate the pre-processed reference data to the lookup sub-unit 1020.

The lookup subunit 1020 can look up the reference data of the tracking cradle 111 and select the reference data set of the tracking cradle 111. The reference data set of the tracking bracket 111 may be composed of two or more of a reference angle associated with one or more tracking brackets, a reference time, a reference motor running revolution, a reference Hall encoder pulse number, and the like. of. In some embodiments, the lookup subunit 1020 can select the current time and/or real time angle in the real-time operational data of the tracking cradle 111. The real-time operational data may include a current time and a real-time Hall encoder pulse number of the tracking bracket 111 corresponding to the current time, and the selected reference data group includes a reference time and a reference Hall code corresponding to the reference time. The number of pulses. In some embodiments, the reference data may be selected according to the real-time angle or current time of the tracking bracket 111. Test the data set. For example, a reference angle close to the selected real-time angle may be selected in the reference data, and then a reference time corresponding to the reference angle, a reference motor running revolution, and/or a reference Hall encoder pulse number may be found. Two or more data constitute a reference data set. The close reference angle referred to herein means that the angle difference between the reference angle and the real-time angle is not more than 10°. As an example, the difference may be 1°, 3°, 5°, 8°, 10°, and the like. The lookup subunit 1020 can be associated with the pre-processing sub-unit 1010 and/or the generating sub-unit 1030. As an example, lookup subunit 1020 can communicate the selected reference data set to generation subunit 1030.

The generating subunit 1030 can generate a tracking instruction. In some embodiments, the generation sub-unit 1030 can generate a tracking instruction of the tracking bracket 111 based on the real-time operational data of the tracking cradle 111 and the reference data set selected from the lookup sub-unit 1020. As an example, the generating sub-unit 1030 may determine the reference time according to the current time, and generate a tracking instruction according to the real-time Hall encoder pulse number of the tracking bracket 111 corresponding to the current time and the reference Hall encoder pulse number corresponding to the reference time. The generating sub-unit 1030 can be associated with the lookup sub-unit 1020 and/or the storage unit 640. As an example, the generation sub-unit 1030 can send the generated tracking instruction to the storage unit 640.

It should be noted that the above description of the tracking instruction generating unit 630 is only for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the various modules to be combined arbitrarily or the subsystems are connected to other modules without being deviated from the principle. Various modifications and changes in the form and details of the application of the method and system. As an example, the functionality of the lookup subunit 1020 can be implemented by the generation subunit 1030.

11 is an exemplary flow diagram of one tracking instruction for generating a first tracking bracket, in accordance with some embodiments of the present application. In step 1102, the quasi-reference data of the first tracking bracket and the real-time operational data of the first tracking bracket may be acquired. The quasi-reference data of the first tracking bracket includes historical running data of the first tracking bracket and real-time running data or historical running data of the second tracking bracket. In some embodiments, the acquisition of real-time operational data and quasi-reference data of the first tracking cradle may be implemented by data interface unit 610. The real-time operational data of the first tracking bracket is related to the real-time operating state of the first tracking bracket. The operating state of the first tracking bracket may include an angle of the first tracking bracket, a running time point of the first tracking bracket, a running number of the motor 270 of the first tracking bracket, and a pulse of the Hall encoder 340 of the first tracking bracket. A combination of one or several of them. Similarly, the real-time operational data of the second tracking bracket is related to the real-time operating state of the second tracking bracket. In some embodiments, the number of historical runs of the second tracking bracket It may be the motion data of the second tracking bracket at a certain point in time or for a period of time. The exercise data may be exercise data of the same day, the previous week or the previous day of the previous year.

In step 1104, reference data may be selected in the quasi-reference data. In some embodiments, determining the reference data can be implemented by decision unit 620. In some embodiments, the selection of reference data may be based on the type of quasi-reference data. As an example, the reference data may be prioritized according to the type of quasi-reference data. For example, the priority of the quasi-historical reference data may be higher than the quasi-real-time reference data; when the quasi-historical reference data and the quasi-real-time reference data for one tracking bracket 111 exist simultaneously, the reference data is preferentially selected from the quasi-history reference data.

In step 1106, a tracking instruction of the first tracking bracket may be generated according to the real-time running data of the first tracking bracket and the reference data. The tracking command may be related to an operating state of the first tracking bracket.

As an example, the tracking instruction generating unit 630 may generate a tracking instruction according to the real-time running data of the first tracking bracket and real-time reference data (for example, real-time running data of the second tracking bracket, etc.), and control the first tracking bracket to be rotated. angle.

In step 1108, the tracking instruction is output. In some embodiments, the tracking instruction generation unit 630 can output the generated tracking instructions to the motor 270, the storage unit 640, and/or the drive module 213, and control the operation of the motor 270.

It should be noted that the above description of the process for generating the tracking instruction is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, other operations or determinations can be added between the acquisition of the data in step 1102 and the output of the tracking instruction in step 1108. For example, the acquired real-time running data can be stored and backed up. Similarly, the storage backup step can be added between any two steps in the process of Figure 11.

12 is an exemplary flow of generating reference data from quasi-reference data, in accordance with some embodiments of the present application. In step 1201, quasi-reference data can be obtained. In some embodiments, the quasi-reference data may be obtained by data interface unit 610 from data acquisition engine 230 and/or storage unit 640. The quasi-reference data may include historical reference data of the first tracking bracket, real-time reference data of the first tracking bracket (eg, real-time running data of the second tracking bracket, etc.), historical reference data of the first tracking bracket (eg, 2. Tracking the historical running data of the bracket, etc.), the reference data calculated according to a specific algorithm, the set reference value, or A variety of combinations.

In step 1202, it may be determined whether the quasi-reference data contains historical reference data of the first tracking bracket. In some embodiments, the determining process can be performed by decision unit 620. As an example, the historical reference data of the first tracking bracket and the real-time reference data of the first tracking bracket (eg, real-time operational data of the second tracking bracket, etc.) may have different labels, respectively representing different priorities. The label may be related to the geographic location of the stent or may be related to the number at the time of shipment or installation. In some embodiments, the numbering can be set by a user.

If the reference reference data contains the historical reference data of the first tracking bracket, then in step 1203, the historical reference data of the first tracking bracket is selected as the reference data. If the reference reference data does not contain the historical reference data of the first tracking bracket, then in step 1204, it is determined whether the quasi-reference data contains real-time operational data of a second tracking bracket. In some embodiments, the determining process can be performed by decision unit 620.

If the real-time running data of the second tracking bracket is included in the reference data, step 1205 is performed to select the real-time running data of the second tracking bracket as reference data.

If the quasi reference data does not contain real-time operational data of the second tracking bracket, step 1206 is performed to determine whether the quasi-reference data contains other data related to the current location of the radiation source. In some embodiments, the data relating to the current location of the radiation source, eg, the sun, may be, for example, the latitude and longitude, current time, and/or solar astronomical motion data of the location of the first tracking bracket, if in the reference data Including other data related to the current position of the radiation source, step 1207 is performed to select the other data related to the current position of the radiation source as reference data. If the quasi-reference data does not contain other data related to the current location of the radiation source, then step 1208 is performed, no operation, and no reference data is selected.

It should be noted that the above description of the flow of generating reference data based on the quasi-reference data is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, the reference data obtained in step 1203 can be backed up. For example, in step 1206, it may be determined whether a reference trajectory data table is included in the reference data, the trajectory data table including the tracking bracket in a certain period of time, for example, one day, one week, one month, one year, and the like. Operating data. As an example, the trajectory data table may be preset when the first tracking bracket is commissioned. In some embodiments, if the reference data includes a preset trajectory data table during debugging, the trajectory data table may be selected as reference data. For another example, the order between step 1202, step 1204, and step 1206 is not unique, that is, different types of parameters. The priority of the test data is not unique. The priority of the reference data can be system default or user-defined. The user can arbitrarily determine the priority of different types of reference data according to the running state of the tracking bracket.

In accordance with some embodiments of the present application, FIG. 13 is an exemplary flow diagram for generating tracking instructions from real-time operational data and reference data sets.

In step 1302, real-time angle data is selected in the real-time running data of the first tracking bracket. In some embodiments, the selection of the real-time angle data can be implemented by the lookup sub-unit 1020. As an example, you can select the current time data (for example, 10:05 am on October 1, 2016) and select the angle corresponding to the current time (for example, 10:05 am on October 1, 2016) The data is real-time angle data (for example, for a single-axis tracking bracket, the angle of inclination is 30°).

In step 1304, a reference data set is selected in the reference data according to the real-time angle data. In some embodiments, the selection of the reference data set can be implemented by the lookup subunit 1020. As an example, one or more reference angles may be selected in the reference data that are close to the selected real-time angle, and one or more reference times corresponding to the one or more reference angles, one or more reference motor operations may be searched for. The number of turns, and/or one or more reference Hall encoder pulse numbers, etc., is used as a reference data set. The close reference angle referred to herein means that the angle difference between the reference angle and the real-time angle is not more than 10°. As an example, the difference may be 1°, 3°, 5°, 8°, 10°, and the like. For example, the reference angle selected in the reference data and the selected real-time angle, for example, 30°, is, for example, 31°. Further, the reference time corresponding to the reference angle (31°) is, for example, 10:05 am on October 1, 2015, and the reference angle (31°) corresponds to the number of pulses of the reference Hall encoder. , for example, 1000. As an example, the reference time sought may be selected, for example, 10:05 am on October 1, 2015, and the number of pulses of the reference Hall encoder, eg, 1000, as a reference data set; in some embodiments a plurality of reference angles (eg, 31°, 32°, 33°, etc.) may be selected, and reference times respectively corresponding to the plurality of reference angles (eg, 31°, 32°, 33°, etc.) (eg, , 10:05 am on October 1, 2015, 10:30 am on October 1, 2015, and 11:00 am on October 1, 2015), with the pulse of the multiple reference Hall encoders Reference data set of numbers (for example, 1000, 1005, 1008, etc.).

In step 1306, a tracking instruction of the first tracking bracket is generated according to the real-time running data and the reference data set of the first tracking bracket. In some embodiments, the generation of the tracking instructions can be implemented by the generating sub-unit 1030. In some embodiments, the real-time running data of the first tracking bracket includes a current time and a real-time Hall encoder pulse number of the first tracking bracket corresponding to the current time, a real-time angle of the first tracking bracket, and a first tracking bracket. The number of running cycles of the motor, etc. The selected reference data set may include one One or more reference angles, one or more reference times corresponding to the one or more reference angles, and a reference Hall encoder pulse number corresponding to the one or more reference times. As an example, if the selected reference data set contains a reference angle (eg, 31°) and a reference time corresponding to the one reference angle (eg, 31°) (eg, 10:00 am on October 1, 2015) Zero-fifth), with the number of pulses of the plurality of reference Hall encoders (for example, 1000), the generating sub-unit 1030 can determine the reference according to the current time, for example, 10:05 am on October 1, 2016. Time, for example, 10:05 am on October 1, 2015, based on the number of real-time Hall encoder pulses corresponding to the current time, such as 990, and the reference Hall encoder pulse number corresponding to the reference time, for example, 1000 The generating sub-unit 1030 can generate a tracking instruction to control the number of real-time Hall encoder pulses to be increased from 990 to 1000. As another example, if the selected reference data set includes a plurality of reference angles (eg, 31°, 32°, 33°, etc.), and the plurality of reference angles (eg, 31°, 32°, 33°) And so on) the corresponding reference time (for example, 10:05 am on October 1, 2015, 10:30 am on October 1, 2015, and 11:00 am on October 1, 2015) The number of pulses of multiple reference Hall encoders (for example, 1000, 1005, 1008, etc.) is based on the current time, for example, 10:05 am on October 1, 2016, and the real-time Hall code corresponding to the current time. The number of pulses of the device, for example 990, generates a tracking command that can control the subsequent operational state of the first tracking bracket, for example, at 10:05 am on October 1, 2016, the first control The number of Hall encoder pulses in the tracking bracket is increased to 1000. At 10:30 am on October 1, 2016, the number of Hall encoder pulses controlling the first tracking bracket is increased to 1005, and on October 1, 2016. At 11 o'clock in the morning, the number of Hall encoder pulses controlling the first tracking bracket is increased to 1008.

It should be noted that the above description of the generation of the tracking instructions is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. As an example, the current time data may be selected instead of the real-time angle data in step 1302. For example, in step 1302, the current time data may be selected in the real-time running data acquisition of the first tracking bracket. In step 1304, the reference data group may be selected in the reference data according to the current time data, in step 1306. A tracking instruction of the first tracking bracket may be generated according to the selected reference data group and the real-time running data of the first tracking bracket.

FIG. 14 is an exemplary flow diagram of one tracking command for generating the operational tracking bracket 111, in accordance with some embodiments of the present application. In step 1402, real-time operational data of a first tracking bracket is acquired. In some embodiments, the acquisition of the real-time operational data and the quasi-reference data may be implemented by the data interface unit 610. The real-time operational data of the first tracking bracket is related to the real-time operating state of the first tracking bracket. The operating state of the first tracking bracket includes an angle of the first tracking bracket, a running time point of the first tracking bracket, a running number of the motor 270 of the first tracking bracket, and a number of pulses of the Hall encoder 340 of the first tracking bracket Wait for one or a few of them.

In step 1404, real-time reference data of the first tracking bracket is acquired. The real-time reference data of the first tracking bracket may include real-time operational data of the second tracking knowing bracket. In some embodiments, the acquisition of the real-time operational data may be implemented by decision unit 620. The real-time running data of the second tracking bracket may include an angle of the second tracking bracket, a running time of the second tracking bracket, a number of motor running circles of the second tracking bracket, and a number of pulses of the Hall encoder 340 of the second tracking bracket. Wait for one or a few of them. In some embodiments, real-time operational data of the first tracking bracket can be acquired from real-time quasi-reference data of the first tracking bracket. As an example, decision unit 620 can obtain real-time operational data for a second tracking cradle from, for example, data acquisition engine 230, as real-time quasi-reference data between the first tracking, or real-time reference data.

In step 1406, a real-time tracking instruction of the first tracking bracket is determined based at least in part on the real-time operational data of the first tracking bracket and the real-time reference data of the first tracking bracket. As an example, the tracking instruction generating unit 630 may generate a tracking instruction according to the real-time running data of the first tracking bracket and the real-time reference data, and set the rotation angle of the first tracking bracket. In some embodiments, the first tracking bracket and the second tracking bracket can be controlled to operate in synchronization according to real-time operational data of the first tracking bracket and real-time reference data (including, for example, real-time operational data of the second tracking bracket).

It should be noted that the above description of the generation of the tracking instructions is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, the real-time operational data of the first tracking rack acquired in step 1402 can be backed up.

Figure 15 is an exemplary flow diagram for generating reference data from quasi-reference data, in accordance with some embodiments of the present application. In step 1501, the program runs. In step 1502, it can be determined whether the angle sensor has failed. In some embodiments, the processing sub-module 420 can be utilized to determine if the angle sensor has failed. In some embodiments, the determination of the angular sensor failure can be triggered by a triggering event. In some embodiments, the triggering event may be set according to default settings of the system, provided by the user, obtained by the system through machine learning, and the like. The control system can include or otherwise be used (eg, from an external storage device, etc.) package A library with multiple trigger events. In some embodiments, the triggering event may be, for example, an angle acquired by the angle sensor (eg, tracking the azimuth of the bracket 111, etc.) reaches a threshold, an emergency condition (eg, power down, etc.), and the control system receives Instructions from the user, etc.

If the angle sensor has not failed, step 1503 may be performed to control the operation of the tracking bracket 111 using the normal control mode. In some embodiments, the normal control mode may be that an angle sensor is used to acquire the angle of the tracking bracket 111 and sent to the control engine 210; the control engine 210 may be based on the acquired angle and the current source of the radiation source (eg, the sun) Position, generate a tracking command, and control motor 270 to operate. In some embodiments, the current position of the sun (eg, real-time azimuth and elevation angles) may be acquired in astronomical manner. In some embodiments, after acquiring the current position of the sun (eg, real-time azimuth and elevation angle) and tracking the real-time angle of the bracket, the Hall can be obtained according to the trigonometric relationship of the putter structure or the reduction ratio of the reducer structure. The number of encoder pulse related instructions. As an example, the angle at which the tracking bracket 111 needs to be rotated can be obtained according to the real-time azimuth of the sun, the elevation angle, and the real-time angle of the tracking bracket 111. In some embodiments, for the tracking bracket 111 of the reducer structure, the number of revolutions of the motor 270 and the number of pulses of the Hall encoder 340 can be obtained from the angle by the reduction ratio relationship. In some embodiments, for the tracking bracket 111 of the putter structure, the number of turns of the motor 270 and the number of pulses of the Hall encoder 340 can be derived from the angle based on the geometric relationship.

If the angle sensor fails, step 1504 is executed to turn on the reference data control mode. In some embodiments, in the reference data control mode, a tracking instruction of the first tracking bracket can be generated based on the reference data. The process of generating the tracking instruction can be referred to the description in parts of FIG. 7 and FIG. 11 in this application.

In step 1505, it is determined whether the quasi-reference data has motor 270 operational data for the same day of the first N years of the first tracking bracket current time. N can be a positive integer. For example, N can be one, two, three, etc. As an example, if the current time is October 1, 2016, the same day of the previous year of the current time is October 1, 2015.

If the quasi-reference data has the motor 270 operation data of the same day N years before the first tracking bracket, step 1506 may be performed, and the motor 270 is operated according to the data according to the day. In some embodiments, the process of performing motor 270 operation based on the day data can be implemented by the flow depicted in FIG. 13 of the present application.

If the quasi-reference data does not contain the motor 270 operation data of the same day N years before the first tracking bracket, step 1507 may be performed to determine whether the quasi-reference data has the motor 270 operation data of the first M days of the first tracking bracket. M can be a positive integer. For example, N can be one, two, three, etc.

If the quasi-reference data has the motor 270 running data of the first M days before the first tracking bracket, the step can be executed. At step 1508, the motor 270 is operated on time according to the day data. In some embodiments, the process of performing motor 270 operation based on the day data can be implemented by the flow depicted in FIG. 13 of the present application.

If the quasi-reference data does not contain the motor 270 operation data of the first M days of the first tracking bracket, step 1509 may be performed to determine whether the quasi-reference data has the motor 270 operation data of the second tracking bracket. If the reference data has the motor 270 running data of the second tracking bracket on the day, step 1510 is executed, and the motor 270 is executed according to the real-time data of the second tracking bracket according to the time comparison of the second tracking bracket current data with the first tracking bracket. In some embodiments, the time may be related to the acquisition time of the data. In some embodiments, the process of performing motor 270 operation in accordance with real-time data of the second tracking bracket can be implemented by the flow depicted in Figure 13 of the present application.

If the quasi-reference data does not include the motor 270 operation data of the second tracking bracket on the day, step 1511 is executed to exit the program.

It should be noted that the above description of the generation of the tracking instructions is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, before performing step 1509, it can be determined that the quasi-reference data includes the motor 270 operation data of the first two days before the first tracking bracket, one week before, two weeks ago, and the like.

FIG. 16 is an exemplary flow chart for controlling the operation of the tracking bracket 111, in accordance with some embodiments of the present application. In step 1601, the program runs. In step 1602, it may be determined if the angle sensor has failed. In some embodiments, the determination that the angle sensor fails may be triggered by a trigger event. In some embodiments, the triggering event may be set according to default settings of the system, provided by the user, obtained by the system through machine learning, and the like. The control system can include or otherwise be used (eg, retrieved from an external storage device, etc.) a library containing multiple triggering events. In some embodiments, the triggering event may be, for example, an angle acquired by the angle sensor (eg, tracking the azimuth of the bracket 111, etc.) reaches a threshold, an emergency condition (eg, power down, etc.), and the control system receives Instructions from the user, etc.

If the angle sensor fails, step 1603 can be performed to control the tracking bracket 111 to operate using the reference data control mode. In the reference data control mode, a tracking instruction of the first tracking bracket can be generated based on the reference data. The process of generating the tracking instruction can be referred to the description in the sections of FIG. 5, FIG. 7 and FIG. 11 in the present application.

If the angle sensor has not failed, step 1604 may be performed to determine whether the photosensitive sensor has failed. In some embodiments, the determination that the photosensor may fail may be triggered by a trigger event. In some embodiments, the triggering event may be set according to default settings of the system, provided by the user, obtained by the system through machine learning, and the like. The control system can include or otherwise be used (eg, retrieved from an external storage device, etc.) a library containing multiple triggering events. In some embodiments, the triggering event may be, for example, data collected by the photosensitive sensor (eg, the orientation of the sun, etc.) reaches a threshold, an emergency condition (eg, power outage, etc.), and the control system may receive the data from User instructions, etc.

If the photosensitive sensor fails, step 1605 can be performed to control the operation of the tracking bracket 111 by using an angle sensor closed-loop control mode, which is to adjust the angle of the tracking bracket by the running number of the motor, and then track the angle of the bracket through the angle sensor feedback. In some embodiments, in the angle sensor closed loop control mode, the angle sensor acquires the angle of the tracking bracket 111, such as the azimuth and/or elevation angle, in real time, and transmits the acquired angle to the data acquisition engine 230 and/or Or control the engine.

If the photosensitive sensor has not failed, step 1607 may be performed to cooperatively control the tracking bracket 111 to operate using the angle sensor and the photosensitive sensor. In some embodiments, when the angle sensor and the light sensor are cooperatively controlled, the light sensor can assist the angle sensor to control the tracking bracket 111 to operate. As an example, the tracking carriage 111 can be controlled to operate based on data acquired by the angle sensor. During the operation of the stent, the photosensitive sensor can acquire the orientation information of the sun in real time, and finally determine the motion state of the tracking bracket 111 according to the orientation information.

In step 1608, the program ends.

It should be noted that the above description of the generation of the tracking instructions is merely for convenience of description, and the present application is not limited to the scope of the embodiments. It will be understood that, after understanding the principle of the system, it is possible for the person skilled in the art to change or combine any steps without departing from the principle, and to apply the above-mentioned methods and systems. And various corrections and changes in the details. For example, in step 1605, the angle sensor open loop control mode can also be used to control the tracking bracket 111 to operate. The open loop control refers to the angle of the tracking bracket without the angle sensor feedback, and directly adjusts the angle of the tracking bracket by using the running number of the motor.

The basic concept has been described above, and it is obvious to those skilled in the art that the above disclosure is merely an example and does not constitute a limitation of the present application. Various modifications, improvements and improvements may be made by the skilled person in the art, although not explicitly stated herein. Such modifications, improvements and modifications are suggested in the present application, and such modifications, improvements and modifications are still within the spirit and scope of the exemplary embodiments of the present application.

Also, the present application uses specific words to describe embodiments of the present application. Such as "one embodiment", "one "Examples", and/or "some embodiments" mean a certain feature, structure, or characteristic relating to at least one embodiment of the present application. Therefore, it should be emphasized and noted that two or more different positions are in this specification. The term "an embodiment" or "an embodiment" or "an alternative embodiment" does not necessarily refer to the same embodiment. In addition, certain features and structures in one or more embodiments of the present application Or features can be combined as appropriate.

Moreover, those skilled in the art will appreciate that aspects of the present application can be illustrated and described by a number of patentable categories or conditions, including any new and useful process, machine, product, or combination of materials, or Any new and useful improvements. Accordingly, various aspects of the present application can be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.) or by a combination of hardware and software. The above hardware or software may be referred to as a "data block," "module," "engine," "unit," "component," or "system." Moreover, aspects of the present application may be embodied in a computer product located in one or more computer readable medium(s) including a computer readable program code.

A computer readable signal medium may contain a propagated data signal containing a computer program code, for example, on a baseband or as part of a carrier. The propagated signal may have a variety of manifestations, including electromagnetic forms, optical forms, and the like, or a suitable combination. The computer readable signal medium may be any computer readable medium other than a computer readable storage medium that can be communicated, propagated or transmitted for use by connection to an instruction execution system, apparatus or device. Program code located on a computer readable signal medium can be propagated through any suitable medium, including a radio, cable, fiber optic cable, RF, or similar medium, or a combination of any of the above.

The computer program code required for the operation of various parts of the application can be written in any one or more programming languages, including object oriented programming languages such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, and Python. Etc., conventional programming languages such as C, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, and ABAP, dynamic programming languages such as Python, Ruby, and Groovy, or other programming languages. The program code can run entirely on the user's computer, or run as a stand-alone software package on the user's computer, or partially on the user's computer, partly on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer can be connected to the user's computer via any network, such as a local area network (LAN) or wide area network (WAN), or connected to an external computer (eg via the Internet), or in a cloud computing environment, or as a service. Use as software as a service (SaaS).

In addition, the order of processing elements and sequences, the use of alphanumerics, or other names used herein are not intended to limit the order of the processes and methods of the present application, unless explicitly stated in the claims. Although some embodiments of the invention that are currently considered useful are discussed by way of various examples in the above disclosure, it should be understood that such The appended claims are intended to be illustrative only, and the appended claims are not intended to For example, although the system components described above may be implemented by hardware devices, they may be implemented only by software solutions, such as installing the described systems on existing servers or mobile devices.

In the same way, it should be noted that in order to simplify the description of the disclosure of the present application, in order to facilitate the understanding of one or more embodiments of the present invention, in the foregoing description of the embodiments of the present application, various features are sometimes combined into one embodiment. The drawings or the description thereof. However, such a method of disclosure does not mean that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the features of the embodiments are less than all of the features of the single embodiments disclosed above.

Numbers describing the number of components, attributes, are used in some embodiments, it being understood that such numbers are used in the examples, and in some examples the modifiers "about," "approximately," or "substantially" are used. Modification. Unless otherwise stated, "about", "approximately" or "substantially" indicates that the number is allowed to vary by ±20%. Accordingly, in some embodiments, numerical parameters used in the specification and claims are approximations that may vary depending upon the desired characteristics of the particular embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method of general digit retention. Although numerical fields and parameters used to confirm the breadth of its range in some embodiments of the present application are approximations, in certain embodiments, the setting of such values is as accurate as possible within the feasible range.

Each of the patents, patent applications, patent applications, and other materials, such as articles, books, specifications, publications, documents, or articles, which are hereby incorporated by reference herein in their entireties, in Except for the application history documents that are inconsistent or conflicting with the content of the present application, and the documents that are limited to the widest scope of the claims of the present application (currently or later appended to the present application) are also excluded. It should be noted that where the use of the description, definitions, and/or terms in the subject matter of the present application is inconsistent or conflicting with the content described herein, the use of the description, definition, and/or terminology of the present application controls.

Finally, it should be understood that the embodiments described herein are merely illustrative of the principles of the embodiments of the present application. Other variations are also possible within the scope of the present application. Thus, by way of example, and not limitation,,, FIG. Accordingly, the embodiments of the present application are not limited to the embodiments that are specifically described and described herein.

Claims

A method comprising:

Obtaining real-time operational data and quasi-reference data of a first tracking bracket;

Determining that the quasi-reference data includes the first reference data to obtain a first determination result, the first reference data being related to an operating state of the first sun tracking bracket;

And generating, according to the first determination result, a first tracking instruction according to the real-time running data of the first tracking bracket and the first reference data;

Determining that the quasi-reference data includes second reference data instead of the first reference data to obtain a second determination result, the second reference data being related to an operating state of a second tracking bracket;

And generating, according to the second determination result, a second tracking instruction according to the real-time running data of the first tracking bracket and the second reference data;

The first tracking bracket is operated according to the first tracking instruction or the second tracking instruction.
The method of claim 1 comprising:

Detecting the running state of the first tracking bracket to obtain the real-time running data of the first tracking bracket.
The method of claim 2, wherein detecting the operational state of the first tracking bracket comprises acquiring the real-time operation of the first tracking bracket using at least one of an angle sensor, an encoder, or a photosensitive sensor data.
The method of claim 2, further comprising determining an operational state of the first tracking bracket based on the real-time operational data of the first tracking bracket.
The method of claim 1 wherein said first reference data comprises historical operational data of said first tracking bracket.
The method of claim 1 wherein said second reference data comprises real-time operational data of said second tracking gantry.
The method of claim 1 wherein the real-time operational data of the first tracking bracket includes a current angle and a current time of the first tracking bracket.
The method of claim 7 wherein said generating said first tracking instruction comprises:

Determining, according to the current angle of the first tracking bracket, a reference data group including a reference angle based on the angle in the first reference data, the reference data group including a reference time; and

And generating the first tracking instruction according to the current angle, the current time, the selected reference angle, and the reference time.
The method of claim 1 wherein said reference data further comprises third reference data, said third reference data being related to a current location of said radiation source.
The method of claim 1, obtaining real-time operational data of the first tracking bracket comprising acquiring the real-time operation using at least one of a first angle sensor, a second angle sensor, an encoder, or a photosensitive sensor data.
The method of claim 10 including determining that said first angle sensor is in an abnormal operating state and using said second angle sensor to acquire said real-time operational data.
A method comprising:

Obtain real-time operational data and quasi-reference data of a tracking bracket;

Determining that the real-time running data of the tracking bracket does not include data collected by an angle sensor to obtain a first determination result;

And running, according to the first determination result, the tracking bracket according to the real-time running data of the tracking bracket and the quasi-reference data;

Determining that the real-time running data of the tracking bracket includes data collected by the angle sensor to obtain a second determination result;

Determining that the real-time running data does not include data collected by one photosensitive sensor to obtain a third determination result;

And running, according to the second determination result and the third determination result, the tracking bracket according to the real-time running data of the tracking bracket collected by the angle sensor;

Determining that the real-time running data of the tracking bracket includes data collected by the photosensitive sensor to obtain a fourth determination result;

And based on the second determination result and the fourth determination result, running the tracking bracket according to the real-time running data of the tracking bracket collected by the angle sensor and the photosensitive sensor.
A system that includes:

a first tracking bracket and a second tracking bracket;

a data acquisition module configured to acquire real-time operational data of the first tracking bracket from the first tracking bracket, and from quasi-reference data associated with the first tracking bracket;

a processing module configured to

Determining that the quasi-reference data includes first reference data, the first reference data being related to an operating state of the first tracking bracket;

And generating, according to the determination that the quasi reference data includes the first reference data, a first tracking instruction according to the real-time running data of the first tracking bracket and the first reference data, and

Determining that the quasi-reference data includes second reference data without including the first reference data, the second reference data being related to an operating state of a second sun tracking bracket;

Generating a second tracking instruction according to the real-time running data of the first tracking bracket and the second reference data, based on the determination that the quasi-reference data includes the second reference data and not including the first reference data ;as well as

The first tracking bracket is operated according to the first tracking instruction or the second tracking instruction.
The system of claim 13 further comprising a photosensitive sensor.
The system of claim 14 wherein said photosensitive sensor is configured to acquire real-time operational data of said first tracking bracket.
The system of claim 13 wherein said processing module is configured to determine an operational status of said first tracking bracket based on real-time operational data of said first tracking bracket.
The system of claim 13 including a first angle sensor and a second angle sensor.
A method comprising:

Obtaining real-time operational data of a first tracking bracket;

Obtaining operation data of a second tracking bracket as reference data of the first tracking bracket; and

Determining a tracking instruction of the first tracking bracket based at least in part on the real-time operational data of the first tracking bracket and the reference data.
The method of claim 18, wherein the real-time operational data of the first tracking bracket includes a current angle and a current time of the first tracking bracket.
The method of claim 18, the reference data comprising real-time operational data of the second tracking bracket or historical operational data of the second tracking bracket.
The method of claim 18, further comprising:

Running the first tracking bracket according to the tracking instruction;

The running state of the first tracking bracket is detected in real time.
The method of claim 21 further comprising:

Acquiring real-time operational data of the first tracking bracket using a photosensitive sensor;

Determining an operating state of the first tracking bracket according to real-time running data of the first tracking bracket.