CN-122018568-A - Control method for automatically adjusting photovoltaic panel following illumination change and mower

CN122018568ACN 122018568 ACN122018568 ACN 122018568ACN-122018568-A

Abstract

The invention relates to a control method for automatically adjusting a photovoltaic panel following illumination change and a mower with the control method. After the light tracking control program is started, the control board collects the current voltage of the photovoltaic panel and takes the current voltage as a reference voltage, then the photovoltaic panel is controlled to generate change of orientation or position, then real-time voltage of the photovoltaic panel is collected, voltage increment is obtained by comparing the reference voltage with the real-time voltage, iterative adjustment is carried out on the movement of the photovoltaic panel in the corresponding axial direction based on the voltage increment until the voltage increment in the corresponding axial direction is zero, and at the moment, the position of the photovoltaic panel in the corresponding axial direction is updated to be the target position in the corresponding axial direction. The control method can automatically adjust the position and the orientation of the photovoltaic panel based on illumination change without being provided with a sensor with high cost, and further obtain efficient solar energy.

Inventors

Weng Yulai
LIANG HUACHUN
SHEN JIAN
GUO QING

Assignees

苏州市来飞智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260212

Claims (10)

1. The control method for automatically adjusting the photovoltaic panel following the illumination change is characterized by comprising the following steps: s1, starting a light tracking control program; and S2, respectively carrying out light tracking adjustment on the photovoltaic panel in the X-axis direction and the Y-axis direction, wherein the light tracking adjustment comprises the steps of collecting the current output voltage of the photovoltaic panel as a reference voltage, driving the photovoltaic panel to move along the corresponding axial direction for a preset distance, collecting the real-time output voltage of the photovoltaic panel, calculating the voltage increment of the reference voltage and the real-time output voltage, carrying out iterative adjustment on the corresponding axial movement of the photovoltaic panel based on the voltage increment until the voltage increment of the corresponding axial direction is zero, and updating the position of the photovoltaic panel in the corresponding axial direction to be the target position of the corresponding axial direction.
2. The method for controlling the photovoltaic panel to automatically adjust following illumination change according to claim 1 is characterized in that the specific process of carrying out X-axis follow-up adjustment on the photovoltaic panel in the step S2 comprises the steps of collecting output voltage of a current photovoltaic panel as initial voltage, controlling an X-axis driving unit of the photovoltaic panel to drive the photovoltaic panel to move along the X-axis direction for a first preset distance, collecting the output voltage of the photovoltaic panel after movement as secondary voltage, obtaining secondary increment voltage by differentiating the initial voltage and the secondary voltage, adjusting driving action of the X-axis driving unit based on the secondary increment voltage, driving the photovoltaic panel to move along the X-axis direction until the secondary increment voltage is 0, and updating the X-axis position of the photovoltaic panel to be an X-axis target position at the moment.
3. The method for controlling the photovoltaic panel to automatically adjust following illumination change according to claim 1 is characterized in that the specific process of carrying out the Y-axis follow-up adjustment on the photovoltaic panel in the step S2 comprises the steps of collecting output voltage of a current photovoltaic panel as a secondary initial voltage, controlling a Y-axis driving unit of the photovoltaic panel to drive the photovoltaic panel to move along the Y-axis direction for a second preset distance, collecting the output voltage of the photovoltaic panel after movement as a tertiary voltage, obtaining a tertiary increment voltage by differentiating the secondary initial voltage and the tertiary voltage, adjusting driving action of the Y-axis driving unit based on the tertiary increment voltage, driving the photovoltaic panel to move along the Y-axis direction until the tertiary increment voltage is 0, and updating the Y-axis position of the photovoltaic panel to a Y-axis target position.
4. The method for controlling the photovoltaic panel to automatically adjust according to the illumination variation according to claim 2, wherein the specific process of adjusting the driving action of the X-axis driving unit based on the secondary increment voltage is that the X-axis driving unit is controlled to continuously drive the photovoltaic panel to move along the current X-axis movement direction for a first preset distance if the secondary increment voltage is greater than 0, and the X-axis driving unit is controlled to drive the photovoltaic panel to move along the opposite direction of the current X-axis movement direction for a corresponding distance if the secondary increment voltage is less than 0.
5. The method for automatically adjusting the photovoltaic panel following illumination variation according to claim 3, wherein the specific process of adjusting the driving action of the Y-axis driving unit based on the three incremental voltages is that if the three incremental voltages are greater than 0, the Y-axis driving unit is controlled to continuously drive the photovoltaic panel to move along the current Y-axis movement direction for a second preset distance, and if the three incremental voltages are less than 0, the Y-axis driving unit is controlled to drive the photovoltaic panel to move along the opposite direction of the current Y-axis movement direction for a corresponding distance.
6. The method for controlling the photovoltaic panel to automatically adjust according to the illumination change according to claim 1, further comprising the step S3 of repeatedly executing the step S2 every preset period after the two-dimensional light-following positioning is completed, so as to realize the real-time follow-up adjustment of the illumination change by the photovoltaic panel.
7. A mower capable of automatically adjusting a photovoltaic panel following illumination changes, comprising a mower body, a movable wheel positioned below the mower body, a photovoltaic panel arranged on the mower body and capable of adjusting the position relative to the mower body, a storage battery, an X-axis rotation adjusting mechanism for adjusting the X-axis orientation of the photovoltaic panel, a Y-axis rotation adjusting mechanism for adjusting the Y-axis orientation of the photovoltaic panel, and a control board arranged in the mower body, wherein the control board controls the X-axis rotation adjusting mechanism and/or the Y-axis rotation adjusting mechanism to move according to the control method for automatically adjusting the photovoltaic panel following illumination changes to adjust the orientation and the position of the photovoltaic panel according to any one of claims 1 to 6.
8. The mower of claim 7, wherein the Y-axis rotation adjustment mechanism comprises a Y-axis base and a Y-axis rotating motor, the Y-axis base is cylindrical and is disposed on the top surface of the machine body, and the Y-axis rotating motor is disposed in the Y-axis base and is used for driving the Y-axis base to rotate along the Y-axis direction.
9. The mower capable of automatically adjusting a photovoltaic panel according to claim 8, wherein the X-axis rotation adjusting mechanism comprises an X-axis base and an X-axis rotating motor, the X-axis base is spherical and arranged on the top surface of the Y-axis base, the X-axis rotating motor is arranged in the X-axis base and used for driving the X-axis base to rotate along the X-axis direction, and a connecting seat is arranged on the bottom surface of the photovoltaic panel, and the X-axis base is fixedly connected with the connecting seat.
10. The mower of claim 8 or 9, wherein the control board cooperates with the mower to control the adjusting movement of the light following of the photovoltaic panel in accordance with the operation state of the mower.

Description

Control method for automatically adjusting photovoltaic panel following illumination change and mower Technical Field The invention relates to a garden instrument suitable for automatically mowing, in particular to a control method for automatically adjusting a photovoltaic panel to follow illumination change and a mower for executing the control method. Background Currently, a mower based on solar power supply adopts a fixed installation mode, and the angle of the photovoltaic panel for receiving sunlight is fixed along with the fixed installation mode, so that the angle cannot be automatically adjusted along with the movement track of the sun. CN115777328a discloses a mower with adjustable angle of the photovoltaic panel, although the mower can adjust the angle of the photovoltaic panel to obtain the most efficient solar energy receiving angle, the adjustment needs manual intervention, and the real-time automatic adjustment of the angle of the photovoltaic panel cannot be realized. When the position of the sun is changed, if manual adjustment is not performed in time, the photovoltaic panel is difficult to maintain at the optimal light receiving angle all the time, and the solar energy conversion efficiency is reduced. Particularly in environments with variable illumination conditions, the hysteresis of manual adjustment can have a significant impact on the endurance and operating time of the mower. In addition, frequent manual intervention can increase the operation burden of a user, reduce the convenience and the intelligent degree of the mower, and enable the advantage of solar energy as clean energy to be fully exerted. CN112542989a discloses a photovoltaic panel device capable of automatically tracking the position of the sun, and adjusting the position of the photovoltaic panel according to the change of the sun's rays. However, in the implementation process of the technical scheme, a plurality of sensors are required to be provided for detecting whether the photovoltaic panel is the position for optimally receiving the light energy, so that the cost burden is greatly increased. Disclosure of Invention Therefore, the invention aims to solve the problem that the photovoltaic panel of the mower in the prior art cannot automatically track the change and adjustment of the solar ray to obtain the optimal solar energy receiving position. The embodiment of the invention provides a control method for automatically adjusting a photovoltaic panel to follow illumination change. The method comprises the following steps: s1, starting a light tracking control program; and S2, respectively carrying out light tracking adjustment on the photovoltaic panel in the X-axis direction and the Y-axis direction, wherein the light tracking adjustment comprises the steps of collecting the current output voltage of the photovoltaic panel as a reference voltage, driving the photovoltaic panel to move along the corresponding axial direction for a preset distance, collecting the real-time output voltage of the photovoltaic panel, calculating the voltage increment of the reference voltage and the real-time output voltage, carrying out iterative adjustment on the corresponding axial movement of the photovoltaic panel based on the voltage increment until the voltage increment of the corresponding axial direction is zero, and updating the position of the photovoltaic panel in the corresponding axial direction to be the target position of the corresponding axial direction. The control method is based on a closed-loop control mode of voltage feedback, skillfully utilizes the photovoltaic panel as a sensor, directly reflects the light energy receiving condition through voltage change, omits additional hardware such as a photosensitive sensor or a GPS positioning module commonly used in a traditional light following system, greatly reduces the cost, improves the reliability and the environmental adaptability of the system, is particularly suitable for outdoor mobile equipment such as a mower, can still efficiently utilize solar energy to charge under complex illumination conditions, and prolongs the endurance time. In a preferred embodiment, the specific process of performing the X-axis tracking adjustment on the photovoltaic panel in step S2 includes collecting an output voltage of the current photovoltaic panel as an initial voltage, controlling an X-axis driving unit of the photovoltaic panel to drive the photovoltaic panel to move along the X-axis direction for a first preset distance, collecting the output voltage of the photovoltaic panel after the movement as a secondary voltage, obtaining a secondary increment voltage by differentiating the initial voltage and the secondary voltage, adjusting a driving action of the X-axis driving unit based on the secondary increment voltage, driving the photovoltaic panel to move along the X-axis direction until the secondary increment voltage is 0, and updating the X-axis position of the photo