CN108064361A

CN108064361A - Intelligent tracking system and method

Info

Publication number: CN108064361A
Application number: CN201680028011.8A
Authority: CN
Inventors: 彭程; 朱超; 施秋东
Original assignee: SUZHOU JUSHENG SOLAR Co Ltd
Current assignee: SUZHOU JUSHENG SOLAR Co Ltd
Priority date: 2016-08-18
Filing date: 2016-08-18
Publication date: 2018-05-22
Anticipated expiration: 2036-08-18
Also published as: WO2018032471A1; CN108064361B

Abstract

Present application discloses a kind of methods for controlling the first tracking stent.Real-time running data the method may include tracking bracket control system where obtaining the first tracking stent, the reference data including history data；Determine the first relation of the real-time running data of the first tracking stent and the history data of the second tracking stent in history data or tracking bracket control system in tracking bracket control system；Determine the second relation of the first tracking stent and the real-time running data of the described second tracking stent；And the operating status of the first tracking stent is determined based on first relation and second relation.

Description

Intelligent tracking system and method

Technical field

This application involves tracking system and method, intelligent more particularly, to application data process＆analysis technology tracks System and method for.

Background technology

With the development of modernization industry, global energy crisis and atmosphere polluting problem become increasingly conspicuous, and solar energy is as one The preferable renewable and clean energy resource of kind receives more and more attention.The solar tracking system of photovoltaic generation large-scale power station, The fields such as agricultural greenhouse have a wide range of applications.More one or more tracking stents is needed to be controlled in the use of this kind of system System.By the collection and analysis to one or more tracking stent datas and ambient data in system, tracking can be realized The intelligentized control method of stent improves tracking support stability, reduces Breakdown Maintenance cost.

The content of the invention

According to the one side of the application, a kind of method for controlling the first tracking stent is provided.This method can include： Data are obtained, the acquisition data include：The real time execution of tracking bracket control system where obtaining the first tracking stent Data；Obtain the reference data of the tracking bracket control system；Real time execution number based on the tracking bracket control system According to the reference data with the tracking bracket control system, the described first operating status for tracking stent is determined；And based on institute State the operating status selection control model of the first tracking stent.The tracking bracket control system can include the described first tracking Stent and one second tracking stent.The real-time running data of the tracking bracket control system can include the described first tracking The real-time running data of the real-time running data of stent and the second tracking stent.The reference of the tracking bracket control system Data can include the history data of the tracking bracket control system.The history run of the tracking bracket control system Data can include the history data of the described first tracking stent and the history data of the second tracking stent.Institute Stating the operating status of the definite first tracking stent can include：Determine it is described first tracking stent real-time running data with First relation of the history data of the history data of the first support or the second tracking stent；It determines described Second relation of the real-time running data of the first tracking stent and the real-time running data of the described second tracking stent；And it is based on First relation and second relation determine the operating status of the first tracking stent.The method can be wrapped further It includes and measures the first tracking stent real-time angular with an angular transducer.The method may further include by an electricity It flows detection unit and measures the motor real-time current.

According to further aspect of the application, a kind of tracking bracket control system is provided.The system can include：One First tracking stent；One second tracking stent；One data acquisition module；With a processing module.The data acquisition mould Block can be configured as the real-time running data and reference data for obtaining the tracking bracket control system.The tracking stent control The real-time running data of system processed can include the real-time running data of the described first tracking stent and the second tracking stent Real-time running data.The reference data of the tracking bracket control system can include going through for the tracking bracket control system History runs data.The history data of the tracking bracket control system can include the history fortune of the described first tracking stent The history data of row data and the second tracking stent.The processing module can be based on the tracking stent control system The reference data of the real-time running data of system and the tracking bracket control system determines the operation shape of the first tracking stent State.The processing module can select control model based on the operating status of the described first tracking stent.It is described to determine described the The operating status of one tracking stent can include determining that the real-time running data of the first tracking stent and the first support History data or it is described second tracking stent history data the first relation；Determine the first tracking stent Real-time running data with described second tracking stent real-time running data the second relation；And based on first relation The operating status of the first tracking stent is determined with second relation.

According to some embodiments of the present application, the real-time running data of the first tracking stent or the second tracking branch The real-time running data of frame can include tracking stent real-time angular, tracking stent real time temperature, tracking stent real-time azimuthal or Track at least one of the real-time height of stent etc..

According to some embodiments of the present application, the history data of the first tracking stent or the second tracking branch The history data of frame can include tracking stent historical point view, tracking stent historical temperature, tracking stent historical position or Track at least one of stent history height etc..

According to some embodiments of the present application, the acquisition data, which may further include, obtains motor, accumulator, inversion The data of at least one of device or header box.

According to some embodiments of the present application, the real-time running data of the tracking bracket control system can be including described The real-time running data of motor.It is electric in real time that the real-time running data of the motor can include motor real-time current, motor At least one of pressure or motor real time temperature etc..

According to some embodiments of the present application, the history data of the tracking bracket control system can be including described The history data of motor, the history data of the motor can include motor historical current, motor history electricity At least one of pressure or motor historical temperature etc..

According to some embodiments of the present application, the reference data of the tracking bracket control system can further include ring Border data, the environmental data can include wind speed, wind direction, temperature, atmospheric pressure, air humidity, irradiation, radiation intensity, drop At least one of rainfall, snowfall, soil moisture, geographical coordinate, time, radiation source azimuth angle or radiation source elevation angle etc..

According to some embodiments of the present application, the control model can include warning mode, strong wind pattern, rainy day mould At least one of formula, cloudy pattern, snowy day pattern, manual mode or automatic mode etc.

According to the one side of the application, the reference data of the tracking bracket control system may further include described first Track the operating status reference value of stent.Real-time running data and the described first tracking by comparing the described first tracking stent Support operation state reference value can obtain the 3rd relation；The first tracking stent can be determined based on the 3rd relation Operating status.

According to some embodiments of the present application, the first tracking support operation state can track bracket failure.In some realities It applies in example, the type of the first tracking bracket failure can be judged.

According to some embodiments of the present application, the reference data of the tracking bracket control system may further include institute State the failure mode data of tracking bracket control system.The failure mode data of the tracking bracket control system can include institute State the failure mode data of the first tracking stent and the failure mode data of the second tracking stent.In some embodiments, The operating status of described first tracking stent can be matched with the failure mode data of the tracking bracket control system Obtain matching result；And based on matching result, it may be determined that it is described first tracking stent failure the reason for.

According to some embodiments of the present application, the tracking bracket control system may further include an angle sensor Device, the angular transducer are configured as measuring the first tracking stent real-time angular.

According to some embodiments of the present application, the tracking bracket control system may further include a current detecting Unit, the current detecting unit obtain the motor real-time current.

A part of bells and whistles of the application can illustrate in the following description.By to being described below and accordingly The inspection of attached drawing or the understanding of production or operation to embodiment, a part of bells and whistles of the application is for art technology Personnel are apparent.The characteristic of present disclosure can be by the various aspects to specific embodiments described below method, means Practice or use with combination are achieved and reach.

Description of the drawings

Attached drawing described herein is used for providing further understanding of the present application, forms the part of the application, the application Schematic description and description for explaining the application, do not form the restriction to the application.Identical label in each figure Represent identical component.

Fig. 1 is the application scenarios signal according to a tracking bracket control system shown in some embodiments of the present application Figure；

The schematic diagram that it is tracking bracket control system according to one shown in some embodiments of the present application that Fig. 2, which is,；

Fig. 3 is the schematic diagram according to a tracking bracket control system shown in some embodiments of the present application；

Fig. 4 is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application；Fig. 5 It is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application；

Fig. 6 is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application；

Fig. 7 is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application；

Fig. 8 is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application；With

Fig. 9 is the exemplary process diagram according to a tracking stent control method shown in some embodiments of the present application.

It specifically describes

It, below will be to needed in embodiment description in order to illustrate more clearly of the technical solution of embodiments herein Attached drawing is briefly described.It should be evident that the accompanying drawings in the following description is only some examples or embodiment of the application, it is right For those of ordinary skill in the art, without creative efforts, it can also incite somebody to action this according to these attached drawings Application is applied to other similar to scene.Unless being explained obviously or separately from language environment, identical label represents phase in figure With structure or operation.

As shown in the application and claims, unless context clearly prompts exceptional situation, " one ", "one", " one The words such as kind " and/or "the" not refer in particular to odd number, may also comprise plural number.It is, in general, that term " comprising " is only prompted to wrap with "comprising" Include clearly identify the step of and element, and these steps and element do not form one it is exclusive enumerate, method or equipment May also include other the step of or element.

Although the application is made that various explanations to the certain module in system according to an embodiment of the present application.The mould Block is merely illustrative, and the different aspect of the system and method can use disparate modules.

Flow chart used herein is used for illustrating the operation performed by system according to an embodiment of the present application.It should Understand, before or below operation not necessarily perform in sequence nextly.On the contrary, it can be handled according to inverted order or simultaneously various Step.It is also possible to other operations are added to during these or remove a certain step or number step operation from these processes.

It is the application scenarios schematic diagram of an electric power station system 100 shown in Fig. 1 according to some embodiments of the present application.One In a little embodiments, electric power station system 100 can include tracking stent system, a photovoltaic generating system, a remote monitoring System.The tracking stent system can include tracking stent 111, motor 270（It is not shown in Fig. 1）, angular transducer（Not Display is in Fig. 1）, photosensitive sensor（It is not shown in Fig. 1）, encoder（It is not shown in Fig. 1）, limit switch（It does not show In Fig. 1）, transmission parts（For example, speed reducer or push rod etc., are not shown in Fig. 1）Deng one or more of combination. Photovoltaic generating system can include photovoltaic module 117, inverter 113, accumulator 115, switchgear（It is not shown in Fig. 1）, case Become（It is not shown in Fig. 1）, electric energy meter（It is not shown in Fig. 1）, distribution box（It is not shown in Fig. 1）One or more of Deng Combination.Remote monitoring system can include one kind in network 120, server 130, database 140, terminal device 150 etc. Or several combination.In some embodiments, tracking stent system can be from accumulator 115, inverter 113 or header box（Not Display is in Fig. 1）In take power supply.

In some embodiments, electric power station system 100 can include a tracking bracket control system, such as tracking stent control System 200 processed（As shown in Figure 2）, tracking bracket control system 300（As shown in Figure 3）Deng.The tracking bracket control system can To be analyzed based on the data obtained from electric power station system 100, the control to tracking stent 111 is realized.For example, it can be based on From angular transducer（It is not shown in Fig. 1）, motor 270, the data that obtain in database 130 analyzed, realize to tracking The control of stent 111.The analysis can be by the equipment in remote monitoring system（For example, server 130 etc.）It performs or by electricity There is the other equipment of analysis computing function in system of standing 100（For example, terminal device 150 etc.）It performs.

In some embodiments, electric power station system 100 can include 120, one, the network of power station equipment 110, one clothes The business terminal device 150 of database 140, one of device 130, one.Power station equipment 110 can include tracking stent 111, inverter 113rd, accumulator 115, header box（It is not shown in Fig. 1）, booster（It is not shown in Fig. 1）, charging-discharging controller（It does not show In Fig. 1）, switchyard（It is not shown in Fig. 1）, switchgear house（It is not shown in Fig. 1）, case become（It is not shown in Fig. 1）Or electricity Table（It is not shown in Fig. 1）Etc. one or more of equipment combination.Power station equipment 110 can be the electricity of off-network electricity generation system The power station equipment of station equipment or grid-connected system.For example, in off-network electricity generation system, power station equipment 110 can include tracking Stent 111, accumulator 115, inverter 113 and charging-discharging controller（It is not shown in Fig. 1）Etc. one or more of equipment Combination.In another example in grid-connected system, power station equipment 110 can include the equipment such as tracking stent 111, inverter 113 One or more of combination.

Tracking stent 111 can be used for fixation kit.The component can be one in photovoltaic module 117, photo-thermal component etc. Kind or several combinations.Luminous energy or thermal energy can be converted into electric energy by photovoltaic module 117 or photo-thermal component.In some embodiments In, the luminous energy or thermal energy can come from a radiation source.The radiation source can be discharge various electromagnetic radiation substance or Device.Electromagnetic radiation can be including cosmic ray, solar radiation, x-ray source, the ray etc. for carrying out autothermal reactor.The application its Partly example using the sun as radiation source describes for he.It should be noted that it is exemplary for the description in solar radiation source , it is not construed as limiting the invention.System and method for of the present invention can be employed and other radiation sources.

It can be single-shaft support or Multi-shaft support to track stent 111.The single-shaft support can make to be fixed on stent Component, for example, the photovoltaic module 117, is moved along an axis.The multiaxis tracking stent can make the photovoltaic module 117 move along multiple axis.For example, tracking support with double shafts can make the photovoltaic module 117 along two axis rotary motions, with Track radiation source simultaneously（For example, sun etc.）Azimuth and elevation angle variation.Tracking stent 111 can be flat bracing strut, Or inclined shaft stent.For example, tracking stent 111 can be flat single-shaft support, oblique single-shaft support, oblique twin shaft stent etc..In some realities It applies in example, photovoltaic module 117, turntable, angular transducer, height sensor, temperature sensing can be fixed on stent 111 by tracking One or several kinds in device, air velocity transducer etc..Tracking stent 111 can be by motor（It is not shown in Fig. 1）Driving.Motor （It is not shown in Fig. 1）The movement of turntable with motion tracking stent 111 can make photovoltaic module 117 track the azimuth of the sun, Increase sunlight in the direct component on 117 surface of photovoltaic module and then improve generated energy.In some embodiments, stent 111 is tracked Angle can with tracking stent 111 connect turntable angle it is consistent.

DC power conversion can be alternating current by inverter 113.Inverter 113 can be off-network inverter or grid-connected Use inverter.In some embodiments, inverter 113 can be square-wave inverter, ladder inverter, sinewave inverter or The combination of one or more of Three-Phase Inverter etc..

Accumulator 115 can be used for storing electricity.Accumulator 115 can be an accumulator or accumulator group.Accumulator 115 can be one kind or several in lead accumulator, nickel-cadmium cell, Ni-MH battery, lithium ion battery, lithium ion polymer battery etc. The combination of kind.

Power station equipment 110 by network 120 and server 130, database 140 and/or terminal device 150 be connected with each other with Communication.Connection can be wired or wireless with the mode to communicate.The content of communication can include the reality of electric power station system 100 Luck row data, reference data（For example, history data, operating status reference value, environmental data etc.）One kind in or Several combinations.For example, power station equipment 110 can be by network 120 by angular transducer（It is not shown in Fig. 1）It detects Tracking stent real-time angular is transmitted to server 130 and/or database 140.In another example power station equipment 110 can pass through network 120 receive the control command from terminal device 150.

Network 120 can be the combination of single network or multiple and different networks.For example, network 120 can include LAN （local area network, LAN）, wide area network（Wide Area Network, WAN）, common network, private network, specially With network, WLAN, virtual network, city Metropolitan Area Network (MAN), public switch telephone network（Public Switched Telephone Network, PSTN）Or the combination of one or more of internet, industrial network etc..Network 120 can be with Including multiple network access points.These network access points can be wired or wireless.For example, router, interchanger base It stands, internet exchanges point, data/address bus etc..By these access points, any data source can access network 120 and pass through network 120 send information.

The access way of network 120 can be wired or wireless.Access in radio can pass through optical fiber or cable, RS-485 The forms such as interface and realize.Wireless access can pass through bluetooth, Wireless LAN（Wireless Local Area Network, WLAN）, Wi-Fi, WiMax, near-field communication（Near Field Communication, NFC）, ZigBee, shifting Dynamic network（2G, 3G, 4G, 5G network etc.）, general packet radio service technology（General Packet Radio Service, GPRS）Or other connection modes and realize.

Server 130 can be a server hardware device or a server farm or any can provide calculating The equipment of service.In some embodiments, each server in a server farm can be by wired or wireless Network is attached.One server farm can be centralized, such as data center.One server farm can be point Cloth, such as a distributed system.Server 130 can be file server, database server, ftp server, should With the combination of one or more of program servers, proxy server, mail server etc..In some embodiments, one Personal computer or other kinds of work station or terminal device 150, can also be used as server 130 after appropriately programmed It uses.Server 130 can be the combination of one or more of home server, remote server, distributed server etc..

Server 130 can be used for the analysis and the processing operation that perform data.The analysis can be wrapped with the operation handled Include power station equipment 110 in analysis electric power station system 100（For example, tracking stent 111）Operating status, analysis power station equipment 110 Fault condition（Such as, if the reason for faulty, failure type, failure etc.）, selection tracking stent 111 control model etc. One or more of combination.The method that data analysis is used with processing can include linear regression analysis, variance analysis The combination of one or more of method, Principal Component Analysis, techniques of discriminant analysis, clustering methodology, Bayes statistical analysis methods etc.. In some embodiments, server 130 can be abnormal by identifying with binding time and tracking support angle generation angle curve figure Curve determines the fault condition of tracking stent 111.

Server 130 can receive data by network 120.The data can be from power station equipment 110, database 140 or terminal device 150.In some embodiments, server 130 can also include a memory module, data analysis and place The data used in reason can be stored in the memory module.The data can be the real time execution number of electric power station system 100 According to, reference data（For example, history data, operating status reference value, environmental data）Deng one or more of combination.

In some embodiments, real-time running data can include tracking stent real-time angular, tracking stent real time temperature, Track the group of one or more of stent real-time height, motor real-time current, motor real-time voltage, motor real time temperature etc. It closes.

In some embodiments, history data can include tracking stent historical point view, tracking stent historical temperature, Track one or several kinds of groups in stent history height, motor historical current, motor history voltage, motor real time temperature etc. It closes.

In some embodiments, operating status reference value can include tracking stent reference value, motor reference value, other ginsengs Examine value etc..For example, operating status reference value can include tracking stent with reference to angle, motor reference current etc..

In some embodiments, environmental data can include wind speed, wind direction, temperature, atmospheric pressure, air humidity, irradiation, In radiation intensity, rainfall, snowfall, soil moisture, geographical coordinate, time, radiation source azimuth angle or radiation source elevation angle One or more of combinations.Radiation source involved by the irradiation, radiation intensity, radiation source azimuth angle or radiation source elevation angle Can be the sun or other radiation sources（For example, the sun, fixed star, x-ray source, reactor etc.）.In some embodiments, it is described Amount of radiation can be solar radiation quantity.The radiation intensity can be intensity of solar radiation.It is described radiation source azimuth angle can be Solar azimuth.The radiation source elevation angle can be sun altitude.

Server 130 can by data analysis, result be transmitted to power station equipment 110, number with treated by network 120 According to storehouse 140 or terminal device 150 etc..The data analysis and the operation shape of treated result can be power station equipment 110 The fault condition of state, power station equipment 110（Such as, if the reason for faulty, failure type, failure etc.）, on tracking branch Control model order of frame 111 etc..For example, server 130 judges in electric power station system 100 one by data analysis and processing Or after multiple 110 failures of power station equipment, the number of power station equipment 110 that can will appear from failure is sent to terminal device 150.Example again Such as, server 130 judges that 100 generated energy of electric power station system less than after a certain threshold value, can be sent by data analysis and processing Prompt message is referred to monitoring platform for operation maintenance personnel.

In some embodiments, server 130 can be a Cloud Server.The Cloud Server can receive terminal and set Standby 150 instructions sent carry out corresponding processing operation.Described instruction can include upload data, downloading data, Backup Data, Delete the combination of one or more of data, shared data etc..For example, user can be sent by terminal device 150 it is standby The instruction of part data, Cloud Server can back up target data in cloud storage space according to the backup instruction of user. In another example user can send the instruction of downloading data by terminal device 150；Cloud Server can be according under user Instruction is carried to download specified data from targeted sites.For another example user can send shared data by terminal device 150 Instruction；Specified data sharing according to the shared instruction of user can be given and specify object by Cloud Server, such as other tracking branch Frame control system.

Database 140 can be used for storing data.Database 140 can store utilized in 100 operational process of electric power station system, The various data for generating and exporting.The data can include real-time running data, the reference data of electric power station system 100（For example, History data, operating status reference value, environmental data）Deng one or more of combination.Database 140 can be this Ground or long-range.Database 140 can include hierarchical database, network database and relational database etc. wherein One or more of combinations.

Database 140 can be connected with each other or communicate with network 120 or directly mutual with server 130 or part of it Connection or communication or the combination of two ways.In some embodiments, after database 140 can be arranged on server 130 Platform is connected directly with server 130.The connection or communication of database 140 and server 130 can be it is wired, it is wireless or The two is combined.Access in radio can be realized by forms such as optical fiber or cables.Wireless access can pass through WLAN Network（Wireless Local Area Network, WLAN）, Wi-Fi, WiMax, near-field communication（Near Field Communication, NFC）, ZigBee, mobile network（2G, 3G, 4G, 5G network etc.）, general packet radio service technology （General Packet Radio Service, GPRS）Or other connection modes and realize.When database 140 and server 130 when being connected directly, the other parts of electric power station system 100（For example, terminal device 150）, can number be accessed by server 130 According to storehouse 140.

In some embodiments, database 140 can be directly connected with network 120.Database 140 with The connection or communication of network 120 can be it is wired, it is wireless, or both be combined.When database 140 and network 120 are mutual When connection or communication, other parts in server 130 or electric power station system 100（Such as terminal device 150）, network can be passed through 120 access database 140.

Terminal device 150 can monitor electric power station system 100.Terminal device 150 can include laptop 151, mobile phone 152nd, tablet computer 153, control and monitor console 154, computer（It is not shown in Fig. 1）, TV（It is not shown in Fig. 1）, projector equipment （It is not shown in Fig. 1）, smartwatch（It is not shown in Fig. 1）, smart phone（It is not shown in Fig. 1）, somatosensory device（It does not show Show in Fig. 1）Deng one or more of combination.Terminal device 150 can include data disaply moudle（It is not shown in Fig. 1 In）, data reception module（It is not shown in Fig. 1）, data transmission blocks（It is not shown in Fig. 1）, data computation module（It does not show Show in Fig. 1）, data memory module（It is not shown in Fig. 1）Deng one or more of combination.

The data disaply moudle of terminal device 150 can be used for the display of data.The data can be electric power station system 100, such as the real-time running data of power station equipment 110, reference data（For example, history data, operating status reference value, Environmental data）, processing engine 250（Display is in fig. 2）Handle the result data, user that in calculating process or processing is calculated The combination of one or more of data directly inputted etc..For example, the real-time fortune of the power station equipment 110 in electric power station system 100 Row data.The form of display can be list, figure（For example, line chart, graph, column diagram, pie chart, satellite cloud picture etc.）、 The combination of one or more of word, additional character, voice etc..

In some embodiments, terminal device 150 can show electric power station system 100, such as the real-time fortune of power station equipment 110 Row data, reference data（For example, history data, operating status reference value, environmental data）One or more of Deng Combination.Terminal device 150 can be with intermediate data, result of processing in 130 processing procedure of display server etc..For example, terminal Equipment 150 can show a region based on satellite cloud picture（It such as city, saves, country, continent, waits or part of it）Power station number Amount, distribution etc..In another example terminal device 150 can the soil humidity information based on one region of map denotation.The data of display Can be the data of single-point or the data of statistics.For example, terminal device 150 can be with the current one or more power stations of real-time display Power generation magnitude.The mode of statistics can be by the time, area or other freely define in a manner of etc. in one or more Combination.For example, terminal device 150 can show the accumulated value of the generated energy of every month using the moon as statistic unit.In another example eventually End equipment 150 can show history data of the electric power station system 100 past one day.The data of display can be real-time number According to or history data.For example, terminal device 150 can show current time and the in the past power generation at the current time in 100 days Measure data.The data of display can be the data of one or more tracking stent 111, one or more electric power station system 100 Data, the data of one or more solar power station etc..For example, terminal device 150 can show a power station system simultaneously The generated energy of the gross generation of system 100 and each tracking stent 111.In another example terminal device 150 can show certain electric power collection The multiple solar power station generated energy data of group's distribution in China.

In some embodiments, terminal device 150 can be with display processing engine 250（Display is in fig. 2）Processing calculated In journey or the result data that is calculated of processing.For example, terminal device 150 can show the fault data of electric power station system 100.Institute One or more power station equipment 110 can be included by stating fault data（For example, one or more tracking stents 111 etc.）Failure Data.For example, the fault data can include the fault data of all tracking stents 111 in electric power station system 100.The failure Data can be historical failure data.For example, historical failure data of the electric power station system 100 past one hour.In another example power station System 100 is in the historical failure data in past one day.The fault data can be going through for one or more power station equipment 110 History fault data.For example, historical failure data of the tracking stent 111 within past one week.In another example multiple tracking stents 111 historical failure data within past one month.In another example all in electric power station system 100 track stents 111 in the previous year Interior historical failure data.The fault data can include fault type, fault time, failure mode, failure cause, suggestion The combination of one or more of solution, actual solution, troubleshooting progress etc..For example, the fault data can To include different faults respective processing time.In another example the fault data can include the pending event of electric power station system 100 Barrier.In another example the fault data can include the failure in the processing of electric power station system 100.

In some embodiments, terminal device 150 can receive alarm signal and send alarm sounds.The alarm signal It can be generated by server 130.When server 130 is analyzed and handled based on the data received, one or more is determined When the operating status of power station equipment 110 is malfunction, server 130 can send alarm signal to terminal device 150.Terminal Equipment 150 can send alarm sounds after alarm signal is received.The alarm sounds that terminal device 150 is sent can include Image alarm prompting, the prompting of short message alarm sounds, email alert, audible alarm prompting, vibrations alarm sounds, indicator light alarm carry The combination one or more of shown etc..For example, laptop 151 after alarm signal is received, can show that alarm carries Show window.In another example mobile phone 152 after alarm signal is received, can show alarm sounds short message.In another example control and monitor console 154 Wait terminal devices 150 that can make a sound alarm sounds after alarm signal is received, can also show alarm sounds lamp.

The data reception/transmission module of terminal device 150 can be used for reception/transmission of data.The data can wrap It includes by data input by user, the data from database 140, the data of power station equipment 110, data of server 130 etc. One or several kinds of combinations.The form of data receiver can be the action by voice, word, picture, user（Example Such as, gesture）One or several kinds of combinations in.

In some embodiments, terminal device 150 can receive fault data.The fault data can be by server 130 send.The fault data can include faulty equipment, fault time, fault type, failure mode, failure cause, suggestion The combination of one or more of solution, troubleshooting progress etc..The fault type can include demblee form failure, gradually The combination of one or more of modification failure etc..The troubleshooting progress can include in pending, processing, is processed etc. One or more of combination.For example, in electric power station system 100 the troubleshooting progress of a tracking stent 111 to be processed, The troubleshooting progress of other tracking stents is pending.

In some embodiments, terminal device 150 can send control signal control electric power station system 100.The control letter It number can be the control command assigned by the user of terminal device 150 or control command that terminal device 150 is calculated. The control signal can control the angle of the setting tracking stent 111 of electric power station system 100, the control mould of switching tracking stent 111 Formula, setting fault alarm threshold value set permission etc..For example, user can set the angle of some tracking stent 111.Example again Such as, user can set the angle of several tracking stents 111.In another example user can set electric power station system 100 together The angle of all tracking stents 111.

It should be noted that the description for electric power station system 100 above, only for convenience of description, can not limit the application System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the principle of the system Afterwards, modules may be combined or formed with subsystem and other moulds in the case of without departing substantially from this principle Block connects, to implementing the various modifications and variations of the above method and systematic difference field in form and details.For example, database 140 can be the cloud computing platform with data storage function, can include but is not limited to public cloud, private clound, community cloud and Mixed cloud etc..Suchlike deformation, within the protection domain of the application.

According to some embodiments of the present application, shown in Fig. 2 is the schematic diagram for tracking bracket control system 200.Tracking branch Frame control system 200 can realize the control function to tracking stent based on the analysis of the data obtained from electric power station system 100. Tracking bracket control system 200 can include 210, one, a control engine processing engine of data acquisition engine 230, one 250th, an input/output interface 240.Tracking bracket control system 200 can be from terminal device 150, tracking stent 111, electricity Data are obtained in machine 270.In some embodiments, tracking bracket control system 200 can also be from inverter 113, accumulator 115th, header box（It is not shown in Fig. 2）, booster（It is not shown in Fig. 2）, charging-discharging controller（It is not shown in Fig. 2）、 Switchyard（It is not shown in Fig. 2）, switchgear house（It is not shown in Fig. 2）, case become（It is not shown in Fig. 2）Or ammeter（It does not show In fig. 2）Etc. obtain data in equipment.

Control engine 210 can control the movement of tracking stent 111.Control engine 210 can include a control module 211 and a drive module 213.Control module 211 can send control instruction to drive module 213.Drive module 213 can be with It is operated according to the control instruction driving motor 270.The operating of motor 270 can the movement with motion tracking stent 111.Tracking branch The movement of frame 111 can be rotation, translation or the combination for rotating and being translatable.For example, tracking stent 111 can be in electricity It is laid flat under the driving of machine 270 around axial movement.In another example tracking stent 111 can motor 270 driving lower edge it is vertical Direction moves.Control engine 210 that can be located in server 130, power station equipment 110 or terminal device 150.For example, control is drawn It can be a control cabinet to hold up 210, be arranged in power station equipment 110.In some embodiments, control engine 210 can also wrap Include a control button.The control button can be used for the movement of control tracking stent 111 manually.In some embodiments, One control engine 210 can control the movement of a tracking stent 111.In some embodiments, a control engine 210 can To control the movement of multiple tracking stents 111.

The control instruction that control module 211 is sent can derive from processing engine 250, terminal device 150 or by control mould Block 211 is calculated.In some embodiments, handling engine 250 can be carried out based on the data that data acquisition engine 230 obtains The control instruction controlled tracking bracket control system 200 is calculated in computing.In some embodiments, user can To pass through terminal device 150（For example, a mobile phone, laptop etc.）It directly inputs to tracking bracket control system 200 control instructions controlled.In some embodiments, control module 211 can calculate generation control instruction.

The control instruction that control module 211 is sent can be the instruction to control model selection, the angle to tracking stent 111 Spend adjust instruction, the combination to one or more of instruction of operating control of motor 270 etc..It is selected according to control model Instruction, drive module 213 can carry out one or more actions under specific control model with driving motor 270.The control mould Formula can be included in warning mode, strong wind pattern, rainy day pattern, cloudy pattern, snowy day pattern, manual mode or automatic mode etc. One or more of combinations.For example, under the instruction of strong wind pattern, drive module 213 can be operated with driving motor 270, will Tracking stent 111 turns to parallel to the ground or substantially parallel angle.In another example in the instruction of rainy day pattern or snowy day pattern Under, drive module 213 can be operated with driving motor 270, and tracking stent 111 is turned to perpendicular to the ground or substantially vertical angle Degree or larger obliquity.In another example under automatic mode instruction, control module 211 can be according to time, tracking stent 111 Geographical coordinate, tracking 111 real-time angular of stent, based on astronomical algorithm calculate the sun elevation angle and azimuth.Based on described The sun altitude calculated and azimuth, control module 211 can send driving instruction to drive module 213, make driving mould 213 driving motor 270 of block operates, and makes the 111 face sun of tracking stent so as to rotate tracking stent 111.

Drive module 213 can be operated with driving motor 270.213 driving motor 270 of drive module operating mode include pair Motor 270 carries out speed governing, operation, stopping, stepping, the operations such as at the uniform velocity.

In some embodiments, drive module 213 can include a transistor and a relay.Drive module 213 It can include multiple transistors.Drive module 213 can include multiple relays.For example, drive module 213 can include one Transistor and two relays.When drive module 213 receives the control instruction of control module 211, the relay can be with It is first attracted, the transistor can power on again.When drive module 213 stops receiving the control instruction of drive module 213, Transistor can be initially switched off power supply, and relay can discharge again.

Data acquisition engine 230 can include a real-time running data acquisition module 231 and a reference data obtains Module 233.Real-time running data acquisition module 231 can obtain the real-time running data of tracking bracket control system 200.With reference to Value Data acquisition module 233 can obtain the reference data of tracking bracket control system 200.Real-time running data can be power station The real-time running data of one or more equipment in system 100.The equipment can include tracking stent 111, motor 270, In inverter 113, accumulator 115, header box, booster, charging-discharging controller, switchyard, switchgear house, case change or ammeter etc. One or more of combinations.The real-time running data of the tracking stent 111 can be tracking stent real-time angular, tracking stent Real time temperature, tracking stent real-time azimuthal or the combination for tracking one or more of real-time height of stent etc..In some implementations In example, tracking stent real-time angular can be the angle for the turntable being connected with the tracking stent.The real-time fortune of the motor 270 Row data can be one kind in motor real-time current, motor real-time voltage, the real-time rotating speed of motor or motor real time temperature etc. or Several combinations.The accumulator real-time running data can be one in battery real-time voltage, accumulator real-time current etc. Kind or several combinations.The inverter real time data can be one in inverter real-time current, inverter realtime power etc. Kind or several combinations.

Real-time running data acquisition module 231 can be used for obtaining real-time running data.The mode of data acquisition can be Pass through data collector.The data collector can be pressure sensitive sensor, force-sensing sensor, position sensor, liquid level biography Sensor, energy consumption sensor, velocity sensor, acceleration transducer, ray radiation sensors, heat-sensitive sensor etc..The data Collector can be vibrating sensor, moisture sensor, magneto-dependent sensor, gas sensor, vacuum sensor, bio-sensing Device etc..In some embodiments, the operation data collector can include angular transducer, temperature sensor, displacement sensing Device, infrared distance measuring sensor, laser range finder, ultrasonic distance-measuring sensor, baroceptor, current sensor, voltage pass The combination of one or more of sensor, power sensor, photosensitive sensor, light intensity sensor, positioning device etc..For example, angle Degree sensor can measure tracking support angle.The angular transducer can be installed on tracking stent 111.In some implementations In example, tracking support angle sensor may be mounted on the turntable being connected with tracking stent.In another example temperature sensor can be with Measurement tracking backing temp.The temperature sensor can be installed on tracking stent 111.In another example infrared distance measuring senses Device can measure the variation of the height or height of tracking stent 111.The height can be the height for tracking stent 111 apart from ground Degree.The infrared distance measuring sensor can be installed on tracking stent 111.

The real-time running data for the tracking bracket control system 200 that real-time running data acquisition module 231 obtains can pass It gives processing engine 250 or is stored in the data memory module of data acquisition engine 230（It is not shown in Fig. 2）In.The reality The transmission of luck row data can pass through network 120（Display is in Fig. 1）It carries out.

Reference data acquisition module 233 can include history data acquiring unit 235, operating status reference value obtains Unit 237 and environmental data acquiring unit 239.The history data acquiring unit 235 can obtain tracking stent control The history data of system 200.The operating status reference value acquiring unit 237 can obtain tracking bracket control system 200 operating status reference value.The environmental data acquiring unit 239 can obtain the environment of tracking bracket control system 200 Data.

History data acquiring unit 235 obtain history data can with one in electric power station system 100 or Person's multiple equipment is related.The equipment can include tracking stent 111, inverter 113, accumulator 115, header box, booster, The combination of one or more of charging-discharging controller, switchgear house, switchyard, case change or ammeter etc..The tracking stent 111 History data can be tracking stent historical point view, tracking stent historical temperature, tracking stent historical position or tracking branch The combination of one or more of frame history height etc..In some embodiments, track stent historical point view can by with it is described The historical point view for tracking the turntable that stent 111 connects represents.The history data of the motor 270 can be motor history electricity The combination of one or more of stream, motor history voltage, motor history rotating speed or motor historical temperature etc..The accumulator is gone through History operation data can be accumulator history voltage, accumulator historical current etc..The inverter historical data can be inversion The combination of one or more of device historical current, inverter historical power etc..

History data acquiring unit 235 can obtain the history of tracking bracket control system 200 from processing engine 250 Run data.More specifically, history data acquiring unit 235 can obtain tracking stent control from data memory module 251 The history data of system 200 processed.In some embodiments, the history data can be the history in specific time Run data.The specific time can be a period, one or more identical or different time points or a period Interior one or more identical or different time point etc..For example, the history data of tracking bracket control system 200 can wrap Include history data of the tracking bracket control system 200 within past one hour.In another example tracking bracket control system 200 History data can include tracking bracket control system 200 daily 23 within past 100 days:00 history run number According to.In some embodiments, the history data can be the history run number of one or more power station equipment 110 According to.For example, history data can include the history data of a tracking stent 111.In another example history data It can include the history data of multiple tracking stents 111.In another example history data can include tracking stent control The history data of all tracking stents 111 in system 200.

The operating status reference value that operating status reference value acquiring unit 237 obtains can be one in electric power station system 100 Or the operating status reference value of multiple equipment.The equipment can include tracking stent 111, inverter 113, accumulator 115, The combination of one or more of header box, booster, charging-discharging controller, switchgear house, switchyard, case change or ammeter etc..Institute The reference value for stating tracking support operation state can be tracking support angle reference value, tracking backing temp reference value, tracking branch The combination of one or more of frame direction reference or tracking support height reference value etc..The motor operating state reference Value can be the group of one or more of motor historical current reference value, electric moter voltage reference value or motor temperature reference value etc. It closes.The accumulator operating status reference value can be one kind in battery tension reference value, battery current reference value etc. Or several combination.The inverter reference value can be one in inverter current reference value, inverter power reference value etc. Kind or several combinations.

Operating status reference value acquisition module 237 can obtain the fortune of tracking bracket control system 200 from processing engine 250 Row state reference value.For example, operating status reference value acquisition module 237 can be from data memory module 251 or data analysis mould The operating status reference value of tracking bracket control system 200 is obtained in the analysis result of block 253.In some embodiments, track The operating status reference value of bracket control system 200 can be inputted by user by terminal device 150, and is stored in data and is deposited It stores up in module 251.In some embodiments, the operating status reference value for tracking bracket control system 200 can be by data analysis Module 253 is obtained by analyzing.Such as current of electric reference value can be based on motor historical current meter by data analysis module 253 It draws.The current of electric reference value can be the maximum of motor historical current, minimum value, average value, median, mode Deng one or more of combination.In some embodiments, the operating status reference value for tracking bracket control system 200 can be with It is set based on real time environmental data.Such as current of electric reference value can be different according to real-time wind speed.When real-time wind speed When larger, motor 270 needs the running current of bigger to drive the movement of tracking stent 111, thus corresponding current of electric is joined Examining value can be than calm or low wind speeds with respect to bigger.

The environmental data that environmental data acquiring unit 239 obtains can be real time environmental data.The real time environmental data It can include real-time wind speed, real time temperature, real-time air humidity, real-time soil moisture, real-time solar radiation, Real-time Precipitation, reality One or more of Shi Jiangxue, tracking stent geographical coordinate, time, real-time solar azimuth or real-time sun altitude etc. Combination.

Environmental data acquiring unit 239 can be used for the real time environmental data for obtaining tracking bracket control system 200.Data The mode of acquisition can be by data collector or the real-time ring from the processing acquisition tracking bracket control system 200 of engine 250 Border data.The data collector can be pressure sensitive sensor, force-sensing sensor, position sensor, liquid level sensor, energy consumption Sensor, velocity sensor, acceleration transducer, ray radiation sensors, heat-sensitive sensor etc..The data collector can be with It is vibrating sensor, moisture sensor, magneto-dependent sensor, gas sensor, vacuum sensor, biosensor etc..One In a little embodiments, the environmental data collector can include air velocity transducer, wind transducer, temperature sensor, humidity and pass Sensor, solar radiation sensor, photosensitive sensor, rain sensor, snowfall sensor, positioning device, the time relay, the sun The combination of one or more of position sensor.Such as air velocity transducer can measure real-time wind speed.The air velocity transducer 110 surface of power station equipment or power station ground can be installed on, such as tracks the surface of stent 111.In another example pressure sensor can be with Measure real-time snowfall.The pressure sensor can be installed on power station ground.Environmental data obtain acquiring unit 239 obtain with The real time environmental data of track bracket control system 200 can send processing engine 250 to or be stored in data acquisition engine 230 Data memory module（It is not shown in Fig. 2）In.

In some embodiments, environmental data acquiring unit 239 can obtain tracking stent control system from processing engine 250 The real time environmental data of system 200.For example, environmental data acquiring unit 239 can be from the data memory module in processing engine 250 251 obtain real time environmental data.The real time environmental data can be by network 120 beyond tracking bracket control system 200 External information source（For example, weather data storehouse）The real time environmental data in 200 location of tracking bracket control system of acquisition.

The history environment data for tracking bracket control system 200 can be wet including historical wind speed, historical temperature, history air Degree, history soil moisture, history solar radiation, history precipitation, history snowfall, history solar azimuth or history sun altitude Deng one or more of combination.Environmental data acquiring unit 239 can obtain tracking stent control system from processing engine 250 The history environment data of system 200.It is tracked for example, environmental data data capture unit 239 can be obtained from data memory module 251 The history environment data of bracket control system 200.The history environment data by data collector can obtain or pass through net External information source of the network 120 beyond tracking bracket control system 200（For example, weather data storehouse）The tracking stent control of acquisition The real time environmental data in 200 location of system.

In some embodiments, the history environment data can include the history environment data in specific time.It is described Specific time can be one or more in a period, one or more identical or different time points or a period A identical or different time point etc..For example, the history environment data can include tracking bracket control system 200 in the past one The history environment data of hour.In another example the history environment data can include tracking bracket control system 200 in the past Daily 23 in 100 days:00 history environment data.

The data analysis module 253, one of a data memory module 251, one pattern choosing can be included by handling engine 250 Select 255, failure analysis modules 257 of module.Handle engine 250 can be located in server 130, terminal device 150 one In kind or several equipment.Handling engine 250 can be with data acquisition engine 230, control engine 210, the tracking such as terminal device 150 Other parts in bracket control system 200 carry out data transmission.For example, processing engine 250 can receive real-time running data The real-time running data for the tracking bracket control system 200 that acquisition module 231 obtains.In another example processing engine 250 can export The history data of bracket control system 200 is tracked to history data acquiring unit 235.In another example processing engine 250 The operating status reference value of the tracking bracket control system 200 from terminal device 150 can be obtained.

Data memory module 251 can store tracking bracket control system 200 and utilize, generates and export in the process of running Various data.The data include real-time running data, reference data（For example, history data, operating status refer to Value, environmental data）, data or analysis result in calculating process（For example, fault data, failure mode data）One in Kind or several combinations.

In some embodiments, data memory module 251 can store the real time execution number of tracking bracket control system 200 According to.For example, data memory module 251 can store the real-time running data of the acquisition of real-time running data acquisition module 231.

In some embodiments, data memory module 251 can store the reference data of tracking bracket control system 200. For example, data memory module 251 can store the history data from database 140.

In some embodiments, data memory module 251 can be stored in tracking 200 calculating process of bracket control system Intermediate data or result.Intermediate data or result in the calculating process can come from data analysis module 253.Example Such as, data memory module 251 can store the fault data of tracking bracket control system 200.The fault data can include One or more of faulty equipment, fault time, fault type, failure cause, suggestion processing mode, troubleshooting progress etc. Combination.The faulty equipment, fault time can obtain from data analysis module 253.When data analysis module 253 determine with When track stent 111 is in malfunction, number, fault time, the troubleshooting progress for tracking stent 111 can be sent to number According to memory module 251.The fault type, failure cause suggest that processing mode can be obtained from failure analysis module 257.Institute Stating fault data can also input from terminal device 150.For example, when finding tracking stent 111 there may be during failure, Ke Yitong It crosses terminal device 150 and inputs corresponding fault data（For example, the number of faulty equipment）.

In some embodiments, data memory module 251 can store the analysis result of failure analysis module 257.For example, Data memory module 251 can store the failure mode data of tracking bracket control system 200.The failure mode data can be with Including tracking the real-time running data feature of bracket control system 200 and failure cause, the correspondence of suggestion processing mode.Example Such as, motor real-time current slowly increases, and corresponding failure cause can be that heavy rain weather causes setting of ground, it is proposed that processing mode Can reinforce tracking stent 111.In another example motor real-time current slowly increases, corresponding failure cause may be big snowy day Gas cause tracking stent 111 on there are accumulated snow, it is proposed that processing mode may be removal accumulated snow.In another example motor real-time current Increase suddenly, corresponding failure cause can be 270 short circuits of motor, it is proposed that processing mode can be maintenance motor 270.Example again Such as, motor real-time current is far above motor reference current, and corresponding failure cause can be 270 stall of motor, it is proposed that processing side Formula can be maintenance motor 270.The history data feature and failure cause suggest that the correspondence of processing mode can be with By from tracking bracket control system 200 managerial experiences in obtain or from other information source such as other tracking bracket control systems, The acquisitions such as network.The failure mode data can be inputted by terminal device 150.

The data that data memory module 251 stores can obtain or lead to from the other parts of tracking bracket control system 200 Cross external information source of the network 120 beyond tracking bracket control system 200（For example, weather data storehouse）It obtains.For example, data Memory module 251 can store the real time execution of the tracking bracket control system 200 of the acquisition of real-time running data acquisition module 231 Data.In another example data memory module 251 can store the external world beyond tracking bracket control system 200 by network 120 Information source（For example, weather data storehouse）The real time environmental data in 200 location of tracking bracket control system and history ring of acquisition Border data.

Data memory module 251 can realize data transmission with the other parts in tracking bracket control system 200.Example Such as, data memory module 251 can receive the analysis result of data analysis module 253.In another example data memory module 251 can To export analysis data used to data analysis module 253.

Data memory module 251 can be in disk, CD, hard disk, cloud disk, flash card, optical memory disc, solid-state disk etc. One or more of combinations.

The data analysis module 253 can be used for the analysis and the processing operation that perform data.The analysis is grasped with processing The combination for one or more of making can to include to classify to data, screen, converting, detecting, predicting, comparing, being fitted etc.. The operation of the analysis and processing can include the operating status of power station equipment 110 in analysis electric power station system 100, analysis power station is set Standby 110 malfunction, the operating status reference value for calculating tracking bracket control system 200 etc..Data analysis is used with processing Method can include test of outlier method, significance test method, linear regression analysis, method of analysis of variance, principal component Analytic approach, techniques of discriminant analysis, clustering methodology, Bayes statistical analysis methods etc..Wherein, the method for the test of outlier can be with Including curve matching, 2.5d methods, 4d methods, croup this method, Q methods of inspection, Dixon's test method, Rome promise Paderewski method, the degree of bias- The combination of one or more of kurtosis test method, La Yidafa, Xiao Weitefa etc..The notable method of inspection can include F The combination of one or more of inspection, T inspections, U inspections etc..The regression analysis can include least square method, patrol Collect the combination of one or more of recurrence, multi step format recurrence, multiple regression, Multivariate adaptive regression splines etc..The cluster analysis Method can be poly- including hierarchical clustering method, the poly- Class of K- averaging methods, hierarchical clustering method, decomposition clustering procedure, dynamic state clustering, overlapping The combination of one or more of class, fuzzy clustering etc..

In some embodiments, data analysis module 253 can the real time execution number based on tracking bracket control system 200 It is analyzed according to history data, and determines the operating status of tracking stent 111.For example, data analysis module 253 can be with The tracking stent real-time angular of longitudinal comparison tracking stent 111 and 52 the past periods（Such as one month, 1 year）It is interior same The tracking stent historical point view of time, whether to judge to track stent 111 in malfunction.

In some embodiments, data analysis module 253 can based on it is multiple tracking stents 111 real-time running datas into Row analysis, and determine the operating status of tracking stent 111.For example, data analysis module 253 can be determined by lateral comparison Track the operating status of stent 111.The lateral comparison can be by track stent 111 tracking stent real-time running data with The tracking stent real time data of other tracking stents 111 is compared in tracking bracket control system 200, to judge to track stent Whether 111 be in malfunction.

In some embodiments, the real-time fortune that data analysis module 253 can be simultaneously based on tracking bracket control system 200 Row data are analyzed with history data, and determine the operating status of tracking stent 111.For example, data analysis module 253 The operating status of tracking stent 111 can be determined by longitudinal comparison.The longitudinal comparison can will track stent 111 The history for tracking history data or other tracking stents 111 of the stent real-time running data with tracking stent 111 oneself is transported Row data are compared, whether to judge to track stent 111 in malfunction.

In some embodiments, data analysis module 253 can analyze the real time execution number of tracking bracket control system 200 According to the analysis with operating status reference value, and determine the malfunction of tracking stent 111.Such as data analysis module 253 can be with Compare the tracking stent real-time angular of tracking stent 111 and the tracking stent of synchronization with reference to angle, judge to track stent reality When angle whether be exceptional value.

The mode selecting unit 255 can be according to data analysis module 253 to the running state analysis of tracking stent 111 As a result the control model of selection tracking stent 111.The control model can include fault mode, strong wind pattern, rainy day pattern, The combination of one or more of snowy day pattern, cloudy pattern, manual mode and automatic mode etc..The corresponding mode signal Including fault mode signal, strong wind mode signal, rainy day mode signal, snowy day mode signal, cloudy mode signal, manual mode The combination of one or more of signal and automatic mode signal etc..

When 111, stent of tracking is in a kind of operating status, such as during strong wind state, mode selecting unit 255 select with The control model of track stent 111 is strong wind pattern, and sends corresponding strong wind mode signal.When tracking stent 111 is in several During operating status, mode selecting unit 255 can select the operating status pair of highest priority according to operating status priority The control model answered.For example, the operating status priority is malfunction>Manual mode>Strong wind state>Rainy day state>Snow Its state>Cloudy state>Auto state；When tracking stent 111 while in malfunction and cloudy state, model selection list The corresponding fault mode of malfunction for selecting highest priority is the control model of tracking stent 111 by member 255.The operation The priority of state can be set by user on terminal device 150.The priority of the operating status can basis The default value setting of system 200.The priority of the operating status can be by system 200 by being obtained to the self study of historical data .In another example the operating status priority is manual mode>Malfunction=strong wind state=rainy day state>Snowy day state>It is cloudy Its state>Auto state, when tracking stent 111 is in malfunction with rainy day state simultaneously, mode selection module 255 will simultaneously Select control model of the fault mode with rainy day pattern for tracking stent 111.Control result under this kind of control model can be It alarms failure, while tracking stent 111 is adjusted to position perpendicular to the ground or tracks the permission of stent 111 most The position of wide-angle.

Failure analysis module 257 can determine the fault type of power station equipment 110, failure cause with suggesting processing mode. The fault type can include the combination of one or more of demblee form failure, gradation type failure etc..Demblee form failure can Suddenly change occurs to refer to the operating status of power station equipment 110.For example, the tracking stent real-time angular of tracking stent 111 is unexpected Become larger.In another example the motor real-time current of motor 270 becomes larger suddenly.Gradation type failure can refer to the operation shape of power station equipment 110 State occurs slowly varying.It is for example, inclined between the tracking stent real-time angular of tracking stent 111 and tracking support angle reference value Difference becomes larger.In another example the motor real-time current of motor 270 becomes larger.

When it is malfunction that data analysis module 253, which confirms the operating status of power station equipment 110, data analysis module 253, which can send accident analysis, instructs to failure analysis module 257.It is instructed based on accident analysis, failure analysis module 257 can obtain History data and operating status reference value, data storage cell 251 in the specific time of the failure power station equipment 110 In failure mode data.History data based on the acquisition, operating status reference value, failure mode data, failure Analysis module 257 can determine fault type, failure cause with suggesting processing mode.The process of the definite fault type can be with It is：

（1）：Calculate history data and the deviation of operating status reference value in specific time.Assuming that it is shared in specific time N history data and n corresponding operating status reference values, i-th of history data are Hi, corresponding i-th of fortune Row state reference value is Ri, and i-th of operation deviation is then（Hi-Ri）

（2）：Calculate the variance or standard deviation of n operation deviation in specific time.

（3）：By the variance of movement warp or standard deviation compared with catastrophic failure threshold value, whether failure judgement belongs to prominent Send out failure.If the variance or standard deviation of movement warp are greater than or equal to catastrophic failure threshold value, it is judged as catastrophic failure.Otherwise, Then it is judged as gradual failure.

Catastrophic failure threshold value in the deterministic process can be set by user by terminal device 150.It is described Catastrophic failure threshold value can be set according to the default value of system 200.The catastrophic failure threshold value can be by system 200 by going through The self study of history data obtains.

The definite failure cause can be by the history run of the power station equipment 110 with the method for suggesting processing mode Data are matched with failure mode data, judge whether history data meets the history run number in failure mode data According to feature.The matched process can include the one or more in comparing, be fitted, associating etc..If power station equipment 110 is gone through History runs data fit history data feature, then corresponding failure cause can be determined with suggesting processing mode.The electricity The history data of station equipment 110 and the method for failure mode data can be including curve matchings etc..

Input/output interface 240 can be attached or communicate with the other assemblies in tracking bracket control system 200. Other assemblies in the tracking bracket control system 200 can realize connection or communication by input/output interface 240.Institute State input/output interface 240 can be wired USB interface, serial communication interface, parallel communications mouth or wireless bluetooth, Infrared, RFID（Radio-frequency identification）、 WAPI（WLAN Authentication and Privacy Infrastructure）、GPRS（General Packet Radio Service）、CDMA（Code Division Multiple Access）Deng one or more of combination.

Motor 270 can be any calutron that mechanical energy is converted into according to law of electromagnetic induction realization electric energy.Motor 270 can be motor in axial magnetic field, radial magnetic field motor, synchronous motor, induction machine, reversible electric machine, stepper motor, servo electricity The combination of one or more of machine, linear electric machine etc..

It should be noted that above for tracking the description of bracket control system 200, it only for convenience of description, can not be The application is limited within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the system Principle after, may in the case of without departing substantially from this principle, modules are combined or are formed subsystem with Other modules connect, to implementing the various modifications and variations of the above method and systematic difference field in form and details.For example, In some embodiments, control engine 210 may further include acquisition module（It is not shown in Fig. 2）, processing module（It does not show Show in fig. 2）And memory module（It is not shown in Fig. 2）Deng.Acquisition module（It is not shown in Fig. 2）It can be used for obtaining for data It takes.For example, acquisition module（It is not shown in Fig. 2）The tracking stent of the angular transducer acquisition of tracking stent 111 can be obtained Angle-data.In another example processing module（It is not shown in Fig. 2）Current time information can be obtained, track 111 place of stent Latitude and longitude information etc..Processing module（It is not shown in Fig. 2）It can be used for the calculating and analysis of data.For example, processing module（Not Display is in fig. 2）According to current time, latitude and longitude information, elevation angle and the azimuth of the sun can be calculated based on astronomical algorithm. In another example processing module（It is not shown in Fig. 2）It can be tracked according to sensing data, the elevation angle of the sun and azimuthal angle calculation The angle adjusted value of stent 111 is simultaneously generated control instruction and is operated with driving motor.Memory module（It is not shown in Fig. 2）It can use In the storage of data.Memory module can be one in disk, CD, hard disk, cloud disk, flash card, optical memory disc, solid-state disk etc. Kind or several combinations.

According to some embodiments of the present application, shown in Fig. 3 is the schematic diagram for tracking bracket control system 300.Tracking branch Frame control system 300 is an exemplary embodiment of tracking bracket control system 200 shown in Fig. 2, it is not intended that in Fig. 2 Tracking bracket control system 200 can only be realized by the mode shown in tracking bracket control system 300.Track bracket control system 300, which can include the drive module 213, one of a control module 211, one real-time running data acquisition module 231, one, joins Examine the limit switch 370, one of data acquisition module 233, one host computer 390,.Tracking bracket control system 300 can be from end Data are obtained in end equipment 150, tracking stent 111, motor 270.In some embodiments, bracket control system 200 is tracked also It can be from inverter 113, accumulator 115, header box（It is not shown in Fig. 3）, booster（It is not shown in Fig. 3）, charge and discharge Controller（It is not shown in Fig. 3）, switchyard（It is not shown in Fig. 3）, switchgear house（It is not shown in Fig. 3）, case become（It does not show In figure 3）Or ammeter（It is not shown in Fig. 3）Etc. obtain data in equipment.

Control module 211 can send control instruction to drive module 213.Drive module 213 can be according to the driving Order-driven motor 270 operates.The operating of motor 270 can the movement with motion tracking stent 111.The movement can be turned Dynamic, translation or the combination for rotating and being translatable.For example, tracking stent 111 can be under the driving of motor 270 around axial movement It is laid flat.In another example tracking stent 111 can be movable in a vertical direction under the driving of motor 270.

The control instruction that control module 211 is sent can derive from host computer 390, terminal device 150 or by control module 211 are calculated.Described is the instruction to control model selection, instruction etc. to angle adjust instruction, to motor operating control One or more of combination.The instruction selected by control model, drive module 213 can carry out spy with driving motor 270 Determine one or more actions under control model.Data communication between control module 211 and host computer 390 can pass through RS485 communication interfaces are realized.More detailed description on control module 211 may be referred to Fig. 2.

Drive module 213 can be operated with driving motor 270.213 driving motor 270 of drive module operating mode include pair Motor 270 carries out speed governing, operation, stopping, stepping, the operations such as at the uniform velocity.More detailed description on drive module 213 can join Examine Fig. 2.

Real-time running data acquisition module 231 can obtain the real-time running data of tracking bracket control system 200.It is described Real time data acquisition module 231 can include the angular transducer 330, one of current detecting unit 310, one Hall and encode Device 340 and a photosensitive sensor 350.

Current detecting unit 310 can be with measurement motor real-time current.The current detecting unit 310 can be current sense The combination of one or more of device, Hall element, universal meter, ammeter.The current detecting unit 310 detects the side of electric current Method can be the method based on hall sensing principle, method based on magnetic compensation principle etc..For example, hall sensing principle is based on, Hall current sensor measurement motor real-time current can be used.The motor that the current detecting unit 310 detects is electric in real time Stream can be exported to control module 211.When control module 211 detects that motor real-time current is more than current of electric reference value, Control module 211 can export shutoff signal and/or motor overload signal.The shutoff signal can be exported to drive module 213, order drive module 213 cuts off the power supply of motor 270.The motor overload signal can be exported to terminal device 150, life Terminal device 150 is made to send motor overload warning prompt.

Angular transducer 330 can measure tracking stent real-time angular.In some embodiments, angular transducer 330 can To determine tracking stent real-time angular by measuring the real-time angular of the turntable on tracking stent 111.The angular transducer 330 can be one kind in solid pendulum-type angular transducer, liquid pendulum-type angular transducer, gas pendulum angular transducer etc. or Several combinations.The angular transducer 330 can be installed on and be tracked on stent 111.In some embodiments, angle sensor Device 333 can be installed on the turntable of tracking stent.The tracking stent real-time angular that the angular transducer 330 detects can be with It exports to control module 211.

In some embodiments, multiple angular transducers 330 can measure the tracking real-time torsion resistance of stent.The multiple angle Degree sensor 330 can be installed on same tracking stent 111.For example, multiple angular transducers 330 can be installed on it is same with The different position of the turntable of track stent 111.For example, an angular transducer 330 can be installed on the top of the turntable；One Angular transducer 330 can be installed on the bottom of the turntable.Multiple tracking branch that the multiple angular transducer 330 detects Frame real-time angular may be output to control module 211.Control module 211 can be based on the multiple tracking stent real-time angular and calculate Track the real-time torsion resistance of stent.It is described tracking the real-time torsion resistance of stent can be it is multiple tracking stent real-time angulars between it is poor two-by-two It is worth maximum, average value of absolute value etc..

When control module 211 detects that the real-time torsion resistance of tracking stent is more than real-time torsion resistance reference value, can send Stop driving instruction and/or tracking stent abnormality warnings signal.The stopping driving instruction being exported to drive module 213, Order drive module 213 stops driving motor 270.The tracking stent abnormality warnings signal can be exported to terminal device 150, Order terminal device 150 sends the abnormality warnings prompting of tracking stent.

Hall encoder 340 can be with the real-time rotating speed of measurement motor.The Hall encoder 340 can detect motor 270 The position of constantly magnetic pole is rotated, and generates corresponding a pair of orthogonal pulse signal.It is generated based on Hall encoder 340 Pulse signal, it can be deduced that the rotating speed of motor 270.The real-time rotating speed of motor that the Hall encoder 340 detects can export To control module 211.When control module 211 detects that the real-time rotating speed of motor is more than motor speed reference value, mould can be controlled Block 211 can export shutoff signal and/or motor abnormality signal.The shutoff signal can be exported to drive module 213, order Drive module 213 cuts off the power supply of motor 270.The motor abnormality signal can be exported to terminal device 150, and order terminal is set Standby 150 send motor abnormality warning prompt.

Photosensitive sensor 350 can measure the surface emissivity intensity of tracking stent 111.The photosensitive sensor can be installed In the surface of tracking stent 111.The photosensitive sensor can be photo resistance, infrared ray sensor, UV sensor, light The combination of one or more of fine formula photoelectric sensor, color sensor etc..The tracking that the photosensitive sensor 350 detects Rack surface radiation intensity can be exported to control module 211.

In some embodiments, Real time data acquisition module 231 can also include a pressure sensor（It is not shown in figure In 3）, temperature sensor etc.（It is not shown in Fig. 3）.The tracking stent control system that Real time data acquisition module 231 obtains The real-time running data of system 300 can send seat in the plane 390 to or be stored in the data storage of Real time data acquisition module 231 Module（It is not shown in Fig. 3）In.More detailed description on real-time running data acquisition module 231 may be referred in Fig. 2 Content.

Limit switch 370 can limit the slewing area of tracking stent 111.Limit switch 370 can monitor tracking stent 111 exception turns to particular range in tracking stent 111（For example, outside normal range (NR)）When send tracking support angle it is different Regular signal.In some embodiments, the limit switch 370 can be installed on outside tracking stent normal angled scope.When with When track stent 111 is turned to outside normal angled scope, limit switch 370 can be touched.The limit switch 370 touch with After track stent 111, tracking stent abnormal signal can be sent to control module 211.When control module 211 receives the tracking After stent abnormal signal, it can send and stop driving instruction and/or tracking stent abnormality warnings signal.The stopping driving instruction can With output to drive module 213, order drive module 213 stops driving motor 270.The tracking stent abnormality warnings signal can To export to terminal device 150, order terminal device 150 sends the abnormality warnings prompting of tracking stent.The tracking stent is abnormal Warning prompt can be image alarm prompting, the prompting of short message alarm sounds, email alert, audible alarm is prompted, vibrations alarm carries Show, the combination of one or more of indicator light alarm sounds etc..

Tracking bracket control system 300 can install one or more limit switch.Limit switch may be mounted at just In normal angular range or outside normal angled scope.In some embodiments, tracking 111 normal angled scope of stent can be for- 45 ° Dao+45 °；One limit switch 370 can be installed on the position of -50 ° of tracking stent and limit switch 370 can be with It is installed on the position of+50 ° of tracking stent.When tracking stent 111 turns to -50 °, tracking stent 111 can touch limit switch 370.The limit switch 370 can prevent tracking stent 111 from being rotated further by control module 211, and send tracking stent Abnormal signal is to control module 211.When tracking stent 111 turns to+50 °, tracking stent 111 can touch limit switch 370. The limit switch 370 can prevent tracking stent 111 from being rotated further by control module 211, and it is abnormal to send tracking stent Signal is to control module 211.

Reference data acquisition module 233 can obtain the reference data of tracking bracket control system 300.The tracking stent The reference data of control system 300 can include the history data of tracking bracket control system 300, operating status reference The combination of one or more of value, environmental data etc..More detailed description on reference data may be referred in Fig. 2 Hold.

In some embodiments, the history data that reference data acquisition module 233 obtains can include tracking stent The history data of one or more equipment in control system 300.For example, history data can include tracking branch The history data of frame 111.In another example history data can include the history data of motor 270.Reference data Acquisition module 233 can obtain the history data of tracking bracket control system 300 from host computer 390.

In some embodiments, the operating status reference value that reference data acquisition module 233 obtains can include tracking branch The operating status reference value of one or more equipment in frame control system 300.For example, operating status reference value can include with The operating status reference value of track stent 111.In another example the operating status that operating status reference value can include motor 270 refers to Value.Reference data acquisition module 233 can obtain the operating status reference value of tracking bracket control system 300 from host computer 390. In some embodiments, the operating status reference value for tracking bracket control system 300 can pass through terminal device by user 150 inputs, and be stored in host computer 390.In some embodiments, the operating status reference of bracket control system 300 is tracked Value can be obtained by host computer 390 by calculating.The operating status reference value can be based on tracking bracket control system 300 History data is calculated.For example, current of electric reference value can be calculated by host computer 390 based on motor historical current Go out.The current of electric reference value can be in maximum, minimum value, average value, median, mode of motor historical current etc. One or more of combinations.More detailed description on operating status reference value may be referred to the content in Fig. 2.

In some embodiments, the environmental data that reference data acquisition module 233 obtains can include real time environmental data With history environment data.The real time environmental data can include real-time wind speed, real time temperature, in real time real-time air humidity, soil Earth humidity, real-time solar radiation, Real-time Precipitation, real-time snowfall, tracking stent geographical coordinate, the time, real-time solar azimuth or The combination of one or more of real-time sun altitude etc..The mode that the real time environmental data obtains can pass through data Collector or the real time environmental data that tracking bracket control system 300 is obtained from host computer 250.Reference data acquisition module 233 Host computer 390 can be sent to or be stored in reference data acquisition by obtaining the real time environmental data of tracking bracket control system 300 The data memory module of module 233（It is not shown in Fig. 3）In.

In some embodiments, reference data acquisition module 233 obtain history environment data can include historical wind speed, Historical temperature, history air humidity, history soil moisture, history solar radiation, history precipitation, history snowfall, history sun side The combination of one or more of parallactic angle or history sun altitude etc..Reference data acquisition module 233 can be obtained from host computer Take the history environment data of tracking bracket control system 300.For example, reference data acquisition module 233 can be from host computer 390 Memory module（It is not shown in Fig. 3）Obtain the history environment data of tracking bracket control system 300.It is described to be stored in host computer 390 memory module（It is not shown in Fig. 3）History environment data can be by network 120 from tracking bracket control system External information source beyond 300（For example, weather data storehouse）It obtains.Fig. 2 is may be referred on environmental data more detailed description In content.

Host computer 390 can store data, and perform analysis and the processing operation of data.Host computer 390 can be one Data Analysis Platform.In some embodiments, host computer 390 can include a processing engine 250（Content as shown in Figure 2）. Host computer 390 can store the various data that tracking bracket control system 300 is utilized, generates and exported in the process of running.Institute Stating data includes real-time running data, reference data（For example, history data, operating status reference value, environmental data）, meter Data or analysis result during calculation（For example, fault data, failure mode data）Deng one or more of combination. In some embodiments, host computer 390 can include a data memory module（It is not shown in Fig. 3）.The data storage Module can be the combination of one or more of disk, CD, hard disk, cloud disk, flash card, optical memory disc, solid-state disk etc..

Host computer 390 can be with the tracking stent control such as control module 211, terminal device 150, reference value acquiring unit 233 Other parts in system 300 processed carry out data transmission.For example, host computer 390, which can receive user, passes through terminal device 150 The data of input.In another example host computer 390 can receive the real time environmental data of the acquisition of reference value acquiring unit 233.Example again Such as, host computer 390 can export the history data for the tracking bracket control system 300 for being stored in host computer 390 to reference It is worth module 233.In some embodiments, host computer 390 can carry out immediate data transmission with real-time running data module 231. For example, the tracking stent real-time angular that host computer 390 can be measured with receiving angle sensor 330.In another example host computer 390 can To receive the motor real-time current of the measurement of current detecting unit 310.

Host computer 390 can perform analysis and the processing operation of data.The analysis can include logarithm with processing operation According to the combination for being classified, screen, converting, detect, predicting, compare, one or more of be fitted etc..The analysis and processing Operation can include the operating statuses of one or more tracking stents 111, selection one in analysis tracking bracket control system 300 Control model, the malfunction of the one or more tracking stents 111 of analysis of a or multiple tracking stents 111（Include whether event Barrier, fault type, failure cause, suggestion processing mode）, calculate the operating status reference value etc. of tracking system 300.Data analysis It can include test of outlier method, significance test method, linear regression analysis, variance analysis with handling the method used The combination of one or more of method, Principal Component Analysis, techniques of discriminant analysis, clustering methodology, Bayes statistical analysis methods etc..

Terminal device 150 can monitor tracking bracket control system 300.In some embodiments, terminal device 150 can be with The real-time running data of display tracking bracket control system 300, reference data（For example, history data, operating status refer to Value, environmental data）Deng one or more of combination.In some embodiments, terminal device 150 can receive alarm signal And send alarm sounds.The alarm signal can be generated by host computer 390.In some embodiments, terminal device 150 may be used also To receive fault data and show fault data.The fault data can be calculated by host computer 390 based on data analysis And it sends.In some embodiments, terminal device 150 can be sent out control signal control tracking bracket control system 300.Institute State the control that control signal can be the control command assigned by the user of terminal device 150 or terminal device 150 is calculated System order.The control signal can control the angle of the tracking setting tracking stent 111 of bracket control system 300, switching tracking Control model, setting fault alarm threshold value, setting permission of stent 111 etc..It can be on the more detailed description of terminal device 150 With reference to the content in figure 1 and Fig. 2.

It should be noted that above for tracking the description of bracket control system 300, it only for convenience of description, can not be The application is limited within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the system Principle after, may in the case of without departing substantially from this principle, modules are combined or are formed subsystem with Other modules connect, to implementing the various modifications and variations of the above method and systematic difference field in form and details.For example, In some embodiments, host computer 390 may further include data memory module（It is not shown in Fig. 3）, data analysis mould Block（It is not shown in Fig. 3）, mode selection module（It is not shown in Fig. 3）, failure analysis module block（It is not shown in Fig. 3）. In some embodiments, Real time data acquisition module 231 can directly be connected with host computer 390.For example, angular transducer 330 Tracking stent real-time angular can be uploaded to host computer 390, and be stored in the memory module of host computer 390（It is not shown in Fig. 3 In）In.

According to some embodiments of the present application, shown in Fig. 4 is an exemplary flow for tracking stent control method 400 Figure.Tracking stent control method 400 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 400 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 400 can only be performed by tracking bracket control system 200.

In step 410, the real-time running data for tracking bracket control system 200 can be obtained.The real-time running data Acquisition can be performed by real-time running data acquisition module 231.The real-time running data of the tracking bracket control system 200 It can include one kind or several in tracking stent real-time running data, motor real-time running data or other real-time running datas etc. The combination of kind.The real-time running data of the tracking bracket control system 200 can be a tracking bracket control system 200 The real-time running data of real-time running data or multiple tracking bracket control systems 200.The multiple tracking bracket control system 200 can derive from same power station or different power stations.For example, the real-time running data can be same Utilities Electric Co. in difference Solar power station in different tracking bracket control systems 200 real-time running datas.The tracking bracket control system 200 Real-time running data can be a tracking stent 111 real-time running data, it is multiple tracking stent 111 real time execution number According to or tracking bracket control system 200 in it is all tracking stents real-time running datas.For example, one can be obtained in step 410 The tracking stent real-time angular of a tracking stent 111 and/or the motor real-time current for the motor 270 for driving the support motion.It closes Fig. 2 is may be referred in the more detailed description of real-time running data.More detailed description on real-time running data can join Examine Fig. 2.

In step 430, the reference data for tracking bracket control system 200 can be obtained.The acquisition of the reference data can To be performed by reference data acquisition module 233.The reference data for obtaining tracking bracket control system 200 can include tracking The group of one or more of history data, environmental data, operating status reference data of bracket control system 200 etc. It closes.The reference data of the tracking bracket control system 200 can be the reference data of a tracking bracket control system 200, Or the reference data of multiple tracking bracket control systems 200.The multiple tracking bracket control system 200 can derive from same Power station or different power stations.For example, the reference data can be difference of the same Utilities Electric Co. in different solar power stations Track the reference data of bracket control system.The reference data can be one tracking bracket control system 200 in one with All tracking in the reference data of track stent 111, the reference data of multiple tracking stents 111 or tracking bracket control system 200 The reference data of stent.For example, historical point view and/or the driving of stent 111 are tracked in step 430 can obtain over 1 year The motor historical current of the motor 270 of the support motion.Fig. 2 is may be referred on the more detailed description with reference to operation data.

It, can be according to the real-time running data of the tracking bracket control system 200 of acquisition and tracking stent control in step 450 The reference data of system 200 processed determines the operating status of one or more tracking stents 111.In some embodiments, the fortune Determining for row state can be by data analysis module 253（Content as shown in Figure 2）It performs.The operating status can include event One or more of barrier state, manual mode, strong wind state, rainy day state, snowy day state, cloudy state and auto state etc. Combination.In some embodiments, data analysis module 253 determines that the process of operating status can include to the tracking stent The real-time running data of control system 200 classified with reference value, screened, being converted, being detected, being predicted, compared with, in fitting etc. One or more of combinations.

In some embodiments, the operating status for tracking stent 111 can pass through current curve diagram, component generated energy curve Figure, angle curve figure etc. determine.It for example, can be according to the history data of a tracking bracket control system 200, generation The current curve of the whole operation of the motor of one day.By the way that real-time current value and the current curve are compared, it can be determined that tracking Whether the operation of stent 111 is normal.It in another example can be according to the group of all tracking stents 111 in tracking bracket control system 200 Part generated energy generates the graph of solar irradiation and component generated energy.By comparing the curve of all tracking stents 111 The changing rule of figure, it can be determined that whether the operation of tracking stent 111 is normal.

In some embodiments, the operating status（For example, strong wind state, rainy day state, snowy day state, cloudy state） Determination process can judge real time environmental data（Including real-time wind speed, real-time rainfall, real-time snowfall, real-time radiation intensity） With the relation of operating status reference value.The operating status reference value can include wind speed reference value, rainfall reference value, snowfall ginseng Examine value, radiation reference value etc..The operating status reference value can be set by terminal device 150 or be obtained from other approach. When real-time wind speed is more than or equal to the wind speed reference value, the operating status of tracking stent 111 is determined as strong wind state.When real-time When rainfall is more than or equal to the rainfall reference value, the operating status of tracking stent 111 is determined as rainy day state.When real-time snowfall is big When equal to the snowfall reference value, the operating status of tracking stent 111 is determined as snowy day state.When real-time radiation intensity is less than When radiating reference value, the operating status of tracking stent 111 is determined as cloudy state.

In some embodiments, 111 operating status of stent is tracked（Such as, malfunction）Determine can be based on to tracking branch The analysis of the real-time running data and history data of frame control system 200（As described in Fig. 6）.In some embodiments, with Determining for 111 malfunction of track stent can be based on the real-time running data and other tracking stents to tracking stent 111（Do not exist Fig. 1 in Fig. 2 with showing）Real-time running data analysis（As described in Fig. 7）.In some embodiments, the event of stent 111 is tracked Determining for barrier state can be based on the real-time running data for tracking bracket control system 200 and the analysis of operating status reference value （As described in Fig. 8）.The determination process of malfunction can include test of outlier method, significance test method, regression analysis The combination of one or more of method, clustering method etc..

In some embodiments, the determination process for tracking the operating status of stent 111 can be based on to tracking stent 200 Real-time running data and the analysis of a variety of reference datas.Such as in step 450 or step 470, it can filter out with transporting in real time The history data or operating status reference value obtained under the same or similar environment of row data.The operating status determines Process can be referred to based on the history data after the real-time running data to tracking stent 111 and screening or operating status The analysis of value.In another example in step 450 or in step 470, can filter out and the real-time running data similar or identical time （For example, identical month）Lower acquisition history data or reference state runtime value.The determination process of the operating status can be with Based on the history data after the real-time running data to tracking stent 111 and screening or the analysis of operating status reference value.

In some embodiments, tracking the definite of 111 malfunction of stent can be based on the tracking branch to tracking stent 111 The analysis of frame real-time angular.For example, the tracking branch of tracking stent 111 and other tracking stents is analyzed using outlier detection method Frame real-time angular, whether the tracking stent real-time angular for judging to track stent 111 is exceptional value.If track the tracking of stent 111 Stent real-time angular is exceptional value, then confirms that tracking stent 111 is in malfunction.

In some embodiments, tracking the definite of the malfunction of stent 111 can be based on to multiple tracking stent 111 The analysis of history generated energy.For example, the history hair of tracking stent 111 and other tracking stents is analyzed using outlier detection method Electricity, whether the history generated energy for judging to track stent 111 is exceptional value.If the history generated energy of stent 111 is tracked as exception Value then confirms that tracking stent 111 is in malfunction.

In some embodiments, failure judgement type is further comprised to the confirmation for tracking 111 malfunction of stent.It is described Fault type can include the combination of one or more of demblee form failure, gradation type failure etc..Demblee form failure can refer to Suddenly change occurs for the operating status for tracking stent 111.For example, the tracking stent real-time angular of tracking stent 111 becomes larger suddenly. The operating status generation that gradation type failure can refer to tracking stent 111 is slowly varying.For example, the tracking stent of tracking stent 111 Real-time angular becomes larger.The fault type judge can based on to track stent 111 history data analysis, Detailed description may be referred to Fig. 2.

In some embodiments, analyzing failure cause is further comprised to the confirmation for tracking 111 malfunction of stent.It is described Confirming for failure cause can be based on to tracking the real-time running data of stent 111 and the matching analysis of failure mode data.Institute Stating the matching analysis includes compare, be fitted, associating.Detailed description on tracking 111 failure reason analysis of stent is shown in Described in Fig. 2.

In some embodiments, in step 450, the progress of stents 111 malfunctions all to power station can be tracked and determined. The malfunction determines can real-time running data and history data based on all tracking stents 111 in same day power station. The malfunction, which determines to apply, includes test of outlier method, significance test method, regression analysis, cluster point The combination of one or more of analysis method etc..For example, analyzing the real-time running data of all tracking stents 111, sentence It is disconnected whether abnormal with the presence of the real-time running data for tracking stent 111.In another example the history run to all tracking stents 111 Data and curves are analyzed, and determine whether that the history data of tracking stent 111 has exception.

The definite of the manual mode is whether to send control button signal based on control engine 210.When control engine 210 Control button pressed after, control engine 210 can send control button signal and give processing engine 250, will track stent 111 Motion state confirms as manual mode.

The auto state determines the definitive result based on other operating statuses.When tracking stent 111 is in non- When malfunction, strong wind state, rainy day state, snowy day state, any one of cloudy state or other operating statuses, tracking branch The operating status of frame 111 can be determined as auto state.

In step 470, can be controlled according to operating status definitive result selection of the step 450 to tracking stent 111 is corresponding Molding formula.The selection of the control model can be performed by mode selection module 255.The control model can include failure One or more of pattern, strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Combination.The selection of control model can be directed to a tracking stent 111 or for all in a tracking bracket control system 200 Tracking stent 111.According to the judging result of the operating status to tracking stent 111, one kind can be selected to tracking stent 111 Or several control models.

In some embodiments, when determining that 111, tracking stent is in a kind of operating status, mode selection module 255 The corresponding control model of the operating status can be selected to track the control model of stent 111.Such as tracking stent 111 Operating status is strong wind state, and it is strong wind pattern that mode selection module 255, which can select the control model of tracking stent 111,.When When determining that tracking stent 111 is in several operating statuses, mode selection module 255 can be selected according to the priority of operating status The corresponding control model of operating status of highest priority.For example, the operating status priority is malfunction>Manual mode >Strong wind state>Rainy day state>Snowy day state>Cloudy state>Auto state, tracking stent is simultaneously in malfunction and cloudy day During state, mode selection module 255 can select the corresponding fault mode of the malfunction of highest priority to track stent 111 Control model.The priority of the operating status can be set by user in terminal device 150.The operating status Priority can be set according to the default value of system 200.The priority of the operating status can be by system 200 by going through The self study of history data obtains.In another example the operating status priority is manual mode>Malfunction=strong wind state=rainy day State>Snowy day state>Cloudy state>Auto state, when tracking stent 111 is in malfunction with rainy day state simultaneously, pattern Simultaneous selection fault mode and rainy day pattern are to track the control model of stent 111 by selecting module 255.This kind of tracking stent control Control result under molding formula can be alarmed failure, while tracking stent 111 is adjusted to shape perpendicular to the ground State.

It should be noted that above with respect to the description of tracking stent control method 400, it only for convenience of description, can not be The application is limited within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the application Basic principle after, change can be made to Transport capacity dispatching flow in the case of without departing substantially from this principle.For example, it can adjust Whole sequence of steps increases some steps or reduces some steps.For example, step 430 can be before step 410.Example again Such as, step 410 can be carried out at the same time with step 430.In another example after the step 450, it can be according to tracking stent operation shape Whether the definitive result of state judges to track stent 111 in malfunction.Detect tracking stent 111 be in malfunction it After can carry out fault alarm.In another example in step 430, can only obtain tracking bracket control system 200 with particular reference to Value.In some embodiments, the history data and environment of tracking bracket control system 200 can be only obtained in step 430 Data.In some embodiments, in step 430, the operating status reference value for tracking bracket control system 200 can only be obtained. In another example above-mentioned steps 410, step 430, step 450, which combine, can be used for determining for 270 malfunction of motor.

According to some embodiments of the present application, shown in Fig. 5 is an exemplary flow for tracking stent control method 500 Figure.Tracking stent control method 500 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 500 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 500 can only be performed by tracking bracket control system 200.

In step 510, the real-time running data for tracking bracket control system 200 where tracking stent 111 can be obtained. Description may be referred to step 410 as described in step 510（As shown in Figure 4）Content.In step 530, tracking stent can be obtained The reference data of control system 200.Description may be referred to step 430 as described in step 530（As shown in Figure 4）Content.

In step 550, can according to the real-time running data and reference data of the tracking bracket control system 200 of acquisition, The operating status of tracking stent 111 is determined using the method for curve fitting analysis.Determining for the operating status, can be by data Analysis module 253（As shown in Figure 2）It performs.The operating status can include malfunction, strong wind state, rainy day state, snow The combination of one or more of its state, cloudy state and manual mode, auto state etc..

In some embodiments, the determination process of malfunction can be carried out using curve-fitting method.It is described to utilize song Line fitting determines that the process of malfunction can include the real-time running data based on tracking stent 111 and draw real time execution fitting Curve, based on tracking stent reference data draw reference data matched curve, based on to the real time execution matched curve with Whether reference data matched curve is normal to judge the real time execution for tracking stent 111.When the real time execution number of tracking stent 111 When being more than a threshold value according to the deviation of matched curve and reference data matched curve, it may be determined that tracking stent 111 is in failure State.Otherwise, it can confirm that tracking stent 111 is in non-faulting state.For example, when the real-time tracking stent of tracking stent 111 When the deviation that angle curve and tracking stent refer to angle curve is more than more than special angle, it can confirm that at tracking stent 111 In malfunction.The special angle can be 2 degree, 3 degree, 4 degree, 5 degree, any angles such as 6 degree.In another example when motor 270 When real-time current curve and motor reference current curve are more than the special ratios of motor reference current, it can confirm that at motor 270 In malfunction.The special ratios can be the arbitrary proportions such as 20%, 30%, 40%, 50%, 60%.In another example, it is assumed that tracking branch The tracking stent of frame 111 is highly in real time H, tracking stent 111 shared n tracking stent history height in specific time, i-th A historical trace support height is Hi, the tracking real-time height H of stent and the n historical trace support height of tracking stent 111 Standard deviation is S.Analysis can include：

（1）：It highly carries out curve fitting with n tracking stent history to the tracking real-time height H of stent, digital simulation equation.It is bent The result of line fitting can be equation of linear regression.

（2）：Calculate the corresponding residual errors of the real-time height H of tracking stent.

（3）：Schottky photodetectors table is inquired about, determines the residual G under n+1 number of samples.

（4）：Judge the relation between G*S and the residual error for tracking the real-time height H of stent.If track real-time H pairs of the height of stent The residual error answered is more than G*S, it can be determined that the tracking stent of tracking stent 111 is highly in real time exceptional value, confirms tracking stent 111 In malfunction.Otherwise, it can confirm that tracking stent 111 is in non-faulting state.

In some embodiments, the curve matching can be the fitting between real-time running data and reference data.It is real Luck row data can include time, angular transducer, current of electric, wind speed, snowpack, rainfall, soil with reference data One or more combinations in data such as humidity, solar irradiation, component generated energy etc..It for example, can be with binding time and angle Sensor angles are spent, generate angle-time graph.In another example angular transducer angle and current of electric can be combined, generation electricity Stream-angle curve.

In another example with reference to current of electric and wind speed, electric current-wind speed curve figure is generated.In another example with reference to current of electric and product Snowfall generates electric current-snowpack graph.In another example with reference to current of electric and rainfall, soil moisture, electric current-rainfall is generated Amount-soil moisture graph.In another example binding time, amount of radiation and generated energy, generation generated energy-when m- amount of radiation graph.

In some embodiments, using the method for curve fitting analysis determine tracking stent 111 operating status can be The longitudinal comparison of data.The tracking and controlling method that tracking bracket control system 200 uses can include：（1）According to history run Data generate the current curve of the whole operation of motor in a period.The certain period of time can be one day, one week, one A month etc..（2）Determine the deviation value in curve.

In some embodiments, using the method for curve fitting analysis determine tracking stent 111 operating status can be The lateral comparison of data.The tracking and controlling method that tracking bracket control system 200 uses can include：（1）According to the of acquisition The real-time running data of one tracking stent 111 and second tracking stent 111 generates the whole operation of motor in certain period of time Current curve.（2）Compare current curve, find the deviation value in curve.

In some embodiments, the method that the operating status of tracking stent 111 is determined using the method for curve fitting analysis It can be the combination of lateral comparison and the longitudinal comparison of data.

In step 570, can be controlled according to operating status definitive result selection of the step 550 to tracking stent 111 is corresponding Molding formula.The selection of the control model can be performed by mode selection module 255.The control model can include failure One or more of pattern, strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Combination.Detailed content on control model selection course may be referred to step 470（As shown in Figure 4）.

It should be noted that above with respect to the description of control tracking stent, only for convenience of description, the application can not be limited System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the substantially former of the application After reason, change can be made to tracking stent control flow, to implementing above-mentioned control stream in the case of without departing substantially from this principle The various modifications and variations of the application field of journey in form and details.For example, with set-up procedure order or some steps can be increased Suddenly some steps are reduced or.For example, step 530 can be before step 510.In another example step 510 can with step 530 To be carried out at the same time.In another example after step 550, can tracking branch be judged according to the definitive result of tracking 111 operating status of stent Whether frame 111 is in malfunction.Fault alarm can be carried out after detecting that tracking stent 111 is in malfunction.Again For example, above-mentioned steps 510, step 530, step 550, which combine, can be used for determining for 270 malfunction of motor.

According to some embodiments of the present application, shown in Fig. 6 is an exemplary flow for tracking stent control method 600 Figure.Tracking stent control method 600 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 600 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 600 can only be performed by tracking bracket control system 200.

In step 610, the real-time running data for tracking bracket control system 200 where tracking stent 111 can be obtained. The acquisition of the real-time running data can be performed by real-time running data acquisition module 231.The tracking bracket control system 200 real-time running data can include tracking stent real-time running data, motor real-time running data and other real time executions Data.Such as the tracking stent real-time angular of tracking stent 111.In another example the motor real-time current of motor 270.On step 610 description may be referred to step 410（As shown in Figure 4）Content.

In step 630, the history data for tracking bracket control system 200 can be obtained.The tracking stent control The acquisition of the history data of system 200 can be performed by history data acquiring unit 235.The tracking stent control 200 history data of system can include tracking stent history data, motor history data, other history runs The combination of one or more of data.Such as it is described tracking bracket control system 200 history data can include with The tracking stent historical point view of track stent 111.In another example the history data of the tracking bracket control system 200 can be with Motor historical current including motor 270.

It, can be according to the real-time running data of the tracking bracket control system 200 of acquisition and tracking stent control in step 650 The history data of system 200 processed determines the operating status of tracking stent 111.Determining for the operating status, can be by counting It is performed according to analysis module 253.The operating status can include malfunction, strong wind state, rainy day state, snowy day state, the moon The combination of one or more of its state, manual mode and auto state etc..In some embodiments, step 630 is further Environmental data including obtaining tracking bracket control system 200.Step 650 can the ring based on tracking bracket control system 200 Border data determine the one kind or several whether tracking stent 111 is in strong wind state, rainy day state, snowy day state, cloudy state The combination of kind.Detailed description on strong wind state, rainy day state, snowy day state, cloudy state determining procedure may be referred to walk Rapid 450.

In some embodiments, the operating status（For example, malfunction）Determination process can include comparison one Track the current operating data and history data of stent 111.For example, generation recent one week, the daily angle of one month Sensor angles value operation curve.It is compared according to the angular transducer angle value operation curve, finds out difference to determine Track the operating status of stent 111.When angular transducer angle value occur difference it is bigger than normal, beyond threshold value, prejudged, remind angle Sensor performance is spent to be deteriorated.In another example generation recent one week, the daily motor current value operation curve of one month.According to institute It states motor current value operation curve to be compared, finds out difference to determine the operating status of tracking stent 111.Work as motor current value Generation difference is bigger than normal, beyond threshold value, is prejudged, and blocking occurs when 270 degradation of motor or tracking stent 111 being reminded to rotate Phenomenon.

In some embodiments, 111 operating status of stent is tracked（For example, malfunction）Determination process can apply 4d Method.The determination process using 4d methods can judge that the real-time running data of tracking stent 111 is with tracking stent control The relation of the history data average value of system 200.If the real-time running data of tracking stent 111 is averaged with history data The difference of value is more than 4 times of history data average deviation, it is determined that tracking stent 111 is in malfunction.For example, it is assumed that The tracking stent for tracking stent 111 is highly in real time H, and it is high that tracking stent 111 shares n tracking stent history in specific time Degree, i-th of historical trace support height is Hi, and the average value of historical trace height is, analysis can include：

（1）Calculate the average deviation d of tracking stent history height：

（1）

（2）Calculate tracking stent height and the difference H of the average value of tracking stent history height in real time：。

（3）Judge the relation of the H and 4d, if H is more than 4d, can determine that tracking stent 111 is in failure State.Otherwise, it may be determined that tracking stent 111 is in non-faulting state.

In some embodiments, the operating status of stent 111 is tracked（For example, malfunction）Determination process can apply T methods of inspection.The process of the t methods of inspection can include establish examine tracking stent 111 be in non-faulting state it is assumed that utilization Whether the null hypothesis of t values is true.For example, it is assumed that the tracking stent of tracking stent 111 is highly H in real time, it is assumed that tracking stent 111 N tracking stent history height is shared in specific time, i-th of historical trace support height is Hi, historical trace height Average value is, analysis can include：

（1）It establishes and assumes：H=

（2）Calculate t values：

, wherein（2）

（3）According to significance a and degree of freedom n-1, inquiry t check tables obtain critical value t₀。

（4）Based on t values and critical value t₀Relation judge whether null hypothesis true.If | |> t₀, then former vacation can be refused If, it is believed that there were significant differences with the tracking stent history height for height in real time for the tracking stent, confirms at tracking stent 111 In malfunction.Otherwise null hypothesis can be received, it is believed that the real-time height of tracking stent and the tracking stent history height Without significant difference, confirm that tracking stent 111 is in non-faulting state.

In some embodiments, the operating status of stent 111 is tracked（For example, malfunction）Determination process can also utilize Environmental data.The environmental data of the tracking bracket control system 200 can be performed by environmental data acquiring unit 239.It is described Real time environmental data and history environment data can be included by tracking the environmental data of bracket control system 200.For example, the tracking The environmental data of bracket control system 200 can include real-time wind speed.In another example the ring of the tracking bracket control system 200 Border data can include historical wind speed.In the history run number of real-time running data and tracking stent 111 to tracking stent 111 According to before being analyzed, the history data obtained under close environmental condition can be first filtered out based on real time environmental data. For example, the real time environmental data of tracking bracket control system 200 shows that real-time wind speed is more than some threshold value, correspondence can filter out Historical wind speed is more than the history data obtained under the threshold condition.The determination process of the breakdown judge can be based on tracking The real-time running data of stent 111 is unfolded with the history data after the screening.In another example in step 650 or step 670 It can filter out and obtain the history environment data obtained under same or similar month in month with real-time running data.The failure is sentenced Disconnected determination process can be unfolded based on the real-time running data for tracking stent 111 with the history data after the screening.

In step 670, can be controlled according to operating status definitive result selection of the step 650 to tracking stent 111 is corresponding Molding formula.The selection of the control model can be performed by mode selection module 255.The control model can include failure One or more of pattern, strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Combination.Detailed description on step 670 may be referred to step 470（As described in Fig. 4）Shown in content.

It should be noted that above with respect to the description of control tracking stent, only for convenience of description, the application can not be limited System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the substantially former of the application After reason, change can be made to tracking stent control flow, to implementing above-mentioned control stream in the case of without departing substantially from this principle The various modifications and variations of the application field of journey in form and details.For example, with set-up procedure order or some steps can be increased Suddenly some steps are reduced or.For example, step 630 can be before step 610.In another example step 610 can with step 630 To be carried out at the same time.In another example after step 650, can tracking branch be judged according to the definitive result of tracking 111 operating status of stent Whether frame 111 is in malfunction.Fault alarm can be carried out after detecting that tracking stent 111 is in malfunction.Again For example, above-mentioned steps 610, step 630, step 650, which combine, can be used for determining for 270 malfunction of motor.

According to some embodiments of the present application, shown in Fig. 7 is an exemplary flow for tracking stent control method 700 Figure.Tracking stent control method 700 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 700 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 700 can only be performed by tracking bracket control system 200.

Step 710, the first tracking stent, such as the real-time running data of tracking stent 111 can be obtained.The real-time fortune The acquisition of row data can be performed by real-time running data acquisition module 231.The real-time running data of the first tracking stent It can include in tracking stent real-time angular, tracking stent real time temperature, the real-time height of tracking stent, tracking stent real-time azimuthal One or more of combinations.

In step 730, one or more second can be obtained and track stent, such as the real-time fortune of multiple tracking stents 111 Row data.The second tracking stent can be in identical or different tracking bracket control system 200 with tracking stent 111.

In step 750, the real time environmental data of tracking bracket control system 200 where tracking stent 111 can be obtained.Institute Stating real time environmental data can be performed by environmental data acquiring unit 239.For example, real-time wind speed.The real time environmental data can To include the combination of one or more of real-time wind speed, real-time rainfall, real-time snowfall, real-time radiation etc..

It, can be according to the real-time running data of the first of acquisition the tracking stent and the second tracking stent, tracking in step 770 The environmental data of bracket control system 200 determines the operating status of the first tracking stent.Determining for the operating status, can be with It is performed by data analysis module 253.The operating status can include malfunction, strong wind state, rainy day state, snowy day shape The combination of one or more of state, cloudy state, manual mode and auto state etc..Detailed description on step 770 can To refer to step 450（As described in Fig. 4）.

In some embodiments, 111 operating status of stent is tracked（For example, malfunction）Determination process can apply 4d Method.The determination process using 4d methods can judge that the real-time running data of tracking stent 111 is with tracking stent control The relation of the history data average value of system 200.If the real-time running data of tracking stent 111 is averaged with history data The difference of value is more than 4 times of history data average deviation, it is determined that tracking stent 111 is in malfunction.For example, it is assumed that The tracking stent for tracking stent 111 is highly in real time H, and it is high that tracking stent 111 shares n tracking stent history in specific time Degree, i-th of historical trace support height are Hi, and the average value of historical trace height is H, and analysis can include：

（1）Calculate the average deviation d of tracking stent history height：

（1）

（1）It establishes and assumes：H=

（2）Calculate t values：

, wherein（2）

It, can be according to operating status definitive result selection corresponding control of the step 770 to the first tracking stent in step 790 Molding formula.The selection of the control model can be performed by mode selection module 255.The control model can include failure One or more of pattern, strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Combination.Detailed description on step 790 may be referred to step 470（As described in Fig. 4）.

It should be noted that above with respect to the description of control tracking stent, only for convenience of description, the application can not be limited System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the substantially former of the application After reason, change can be made to Transport capacity dispatching flow in the case of without departing substantially from this principle.It for example, can be suitable with set-up procedure Sequence increases some steps or reduces some steps.For example, step 750 can be before step 710.In another example step 710th, step 730 can be carried out at the same time with step 730.In another example after step 770, can be transported according to tracking stent 111 Whether the definitive result of row state judges to track stent 111 in malfunction.Detecting that tracking stent 111 is in failure shape Fault alarm can be carried out after state.It can be used in another example above-mentioned steps 710, step 730, step 750 are combined with step 770 In determining for 270 malfunction of motor.In some embodiments, the operating status of tracking stent 111 is judged in step 770（Example Such as malfunction, auto state, manual mode）During operation environment data are not required, step 750 can skip.

According to some embodiments of the present application, shown in Fig. 8 is an exemplary flow for tracking stent control method 800 Figure.Tracking stent control method 800 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 800 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 800 can only be performed by tracking bracket control system 200.

In step 810, the real-time running data for tracking bracket control system 200 where tracking stent 111 can be obtained. The acquisition of the real-time running data can be performed by real-time running data acquisition module 231.The tracking bracket control system 200 real-time running data can include tracking stent real-time running data, motor real-time running data and other real time executions Data.For example, the real-time running data of the tracking bracket control system 200 can include the tracking stent of tracking stent 111 Real-time angular.In another example the motor that the real-time running data of the tracking bracket control system 200 can include motor 270 is real When electric current.

In step 830, the operating status reference value for tracking bracket control system 200 can be obtained.The tracking stent control The acquisition of the operating status reference value of system 200 processed can be performed by operating status reference value acquiring unit 237.The tracking branch 200 operating status reference value of frame control system can include tracking support operation state reference value, motor operating state reference value, The combination of one or more of other operating status reference values.Such as the tracking stent of tracking stent 111 refers to angle.Example again Such as, the motor reference current of motor 270.

It, can be according to the real-time running data of the tracking bracket control system 200 of acquisition and tracking stent control in step 850 The operating status reference value of system 200 processed, environmental data determine the operating status of tracking stent 111.The operating status is really It is fixed, it can be performed by data analysis module 253.The operating status can include malfunction, strong wind state, rainy day state, The combination of one or more of snowy day state, cloudy state, manual mode and auto state etc..In some embodiments, walk Rapid 830 further comprise the environmental data for obtaining tracking bracket control system 200.Step 850 can be based on tracking stent control Whether the environmental data of system 200 determines tracking stent 111 in strong wind state, rainy day state, snowy day state, cloudy state One or more of combinations.On strong wind state, rainy day state, snowy day state, the detailed description of cloudy state determining procedure It may be referred to step 450.

In some embodiments, tracking 111 operating status of stent（For example, malfunction）Determination process can be Determine the real-time running data of tracking stent 111 and the relation of the operating status reference value of tracking bracket control system 200.Work as institute When stating the difference between the real-time running data of tracking stent 111 and the operating status reference value more than specific threshold, determine Tracking stent 111 is in malfunction.The specific threshold can be special value or special ratios.The specific threshold can To be set by user in terminal device 150.The specific threshold can be set according to the default value of system 200.It is described specific Threshold value can be by system 200 by being obtained to the self study of historical data.Such as the real-time height of tracking stent of tracking stent 111 For H, the tracking stent reference altitude of tracking bracket control system 200 is.The tracking branch of the tracking bracket control system 200 Frame reference altitudeCan track the tracking stent history height maxima of stent 111 or tracking bracket control system 200 All tracking stent history height averages or the special value inputted by terminal device 150.When | H|>During 0.2cm, recognize Malfunction is in for tracking stent 111.In another example the tracking stent of tracking stent 111 is highly in real time H, stent control is tracked The tracking stent reference altitude of system 200 processed is, when | H|>5%When, it is believed that tracking stent 111 is in malfunction.

In step 870, can be controlled according to operating status definitive result selection of the step 850 to tracking stent 111 is corresponding Molding formula.The selection of the control model can be performed by mode selection module 255.The control model can include failure One or more of pattern, strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Combination.The detailed description of process on control model selection may be referred to step 470（As described in Fig. 4）.

It should be noted that above with respect to the description of control tracking stent, only for convenience of description, the application can not be limited System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the substantially former of the application After reason, change can be made to Transport capacity dispatching flow in the case of without departing substantially from this principle.It for example, can be suitable with set-up procedure Sequence increases some steps or reduces some steps.For example, step 830 can be before step 810.In another example step 810th, step 830 can be carried out at the same time.In another example after step 850, can be determined according to tracking 111 operating status of stent As a result whether judge to track stent 111 in malfunction.It can be into detecting that tracking stent 111 is in after malfunction Row fault alarm.In another example above-mentioned steps 810, step 830, step 850, which combine, can be used for 270 malfunction of motor really It is fixed.According to some embodiments of the present application, the tracking stent control method shown in Fig. 6-8 can be used independently can also be mutual It is used in combination.Such as the definite of tracking 111 motion state of stent can be simultaneously based on to the real-time of tracking bracket control system 200 The vertical analysis for running data and history data, the real-time running data and the operation data that track bracket control system 200 The analysis of reference value.In another example tracking 111 motion state of stent determines simultaneously be based on to tracking bracket control system A tracking stent real-time running data horizontal analysis more than 200, the real-time running data for tracking bracket control system 200 and operation number According to the analysis of reference value.

According to some embodiments of the present application, shown in Fig. 9 is an exemplary flow for tracking stent control method 900 Figure.Tracking stent control method 900 can be performed by Fig. 2-tracking shown in Fig. 3 bracket control system 200,300.In order to describe It is convenient, tracking stent control method 900 is illustrated below in conjunction with tracking bracket control system 200, it is not intended that with Track stent control method 900 can only be performed by tracking bracket control system 200.

In step 910, terminal device 150 can be started.The terminal device 150 can include laptop 151, hand Machine 152, tablet computer 153, control and monitor console 154, computer（It is not shown in Fig. 1）, TV（It is not shown in Fig. 1）, projection set It is standby（It is not shown in Fig. 1）, smartwatch（It is not shown in Fig. 1）, smart phone（It is not shown in Fig. 1）One kind in or Several combinations.

It, can be with initialization program in step 920.Described program can be that data analysis module 253 carries out data analysis Program, mode selection module 255 carry out the program of model selection, failure analysis module 257 carries out the program of accident analysis, control The combination of one or more of program that engine 210 is controlled etc..

In step 930, the real-time running data and reference value for tracking bracket control system 200 can be obtained.It is described real-time The acquisition of operation data can be performed by real-time running data acquisition module 231.The acquisition of the reference value can be by reference number It is performed according to acquisition module 233.

In step 940, can judge to track based on the real-time running data and reference value of tracking bracket control system 200 The malfunction of stent 111.The detailed description determined on tracking 111 malfunction of stent may be referred to step 450 （As shown in Figure 4）.

In step 950, when confirming that tracking stent 111 is in malfunction in step 940, alarm can be carried out. The alarm can be sent by terminal device 150.The alarm sounds that terminal device 150 is sent can be carried including image alarm Show, the prompting of short message alarm sounds, email alert, audible alarm prompting, vibrations alarm sounds, one in indicator light alarm sounds etc. Kind or several combinations.For example, the terminal devices 150 such as laptop 151, mobile phone 152, tablet computer 153, control and monitor console 154 After alarm signal is received, alarm sounds window can be shown.In another example 152 grade terminal devices 150 of mobile phone are receiving police After the number of notifying, alarm sounds short message can be shown.In another example 154 grade terminal devices 150 of control and monitor console are receiving alarm signal Afterwards, alarm sounds can be made a sound, can also show alarm sounds lamp.

In step 960, when confirming that tracking stent 111 is in non-faulting state in step 940, tracking stent can confirm that 111 operating status, and select control model.Determining for the operating status of the tracking stent 111, can be by data analysis mould Block 253 performs.The operating status can include strong wind state, rainy day state, snowy day state, cloudy state, manual mode with The combination of one or more of auto state etc..The detailed description of the determination process of the operating status may be referred to step In 450（As described in Fig. 4）Content.The selection of the control model can be performed by mode selection module 255.The control Pattern can include one kind in strong wind pattern, rainy day pattern, snowy day pattern, cloudy pattern, manual mode and automatic mode etc. Or several combination.Selection course on the control model may be referred to step 470（As described in Fig. 4）.

It should be noted that above with respect to the description of control tracking stent, only for convenience of description, the application can not be limited System is within the scope of illustrated embodiment.It is appreciated that for those skilled in the art, understanding the substantially former of the application After reason, change can be made to Transport capacity dispatching flow in the case of without departing substantially from this principle.It for example, can be suitable with set-up procedure Sequence increases some steps or reduces some steps.For example, step 910 and/or step 920 can be skipped.In another example in step After rapid 950, the fault data of tracking stent 111 can be shown on terminal device 150, including faulty equipment, fault time, event Hinder the combination of one or more of type, failure mode, failure cause, suggested solution, troubleshooting progress etc..It is described Fault data can send terminal device 150 to by processing engine 250.

Basic conception is described above, it is clear that those skilled in the art, foregoing invention discloses only As an example, and the restriction to the application is not formed.Although do not clearly state herein, those skilled in the art may The application is carry out various modifications, improve and is corrected.Such modification, improvement and amendment are proposed in this application, so such Modification improves and corrects the spirit and scope for still falling within the application example embodiment.

Meanwhile the application has used particular words to describe embodiments herein.Such as " one embodiment ", " one implements Example ", and/or " some embodiments " mean a certain feature relevant at least one embodiment of the application, structure or feature.Cause This, it should be highlighted that and it is noted that " embodiment " or " implementation that are referred to twice or repeatedly in different position in this specification Example " or " alternate embodiment " are not necessarily meant to refer to the same embodiment.In addition, in one or more embodiments of the application Some features, structure or feature can carry out appropriate combination.

In addition, it will be understood by those skilled in the art that each side of the application can be by several with patentability Species or situation are illustrated and described, and include the combination or right of any new and useful process, machine, product or substance Their any new and useful improvement.Correspondingly, the various aspects of the application can be performed completely by hardware, can be complete By software（Including firmware, resident software, microcode etc.）It performs or is performed by combination of hardware.Hardware above or software are equal It is referred to alternatively as " data block ", " module ", " engine ", " unit ", " component " or " system ".In addition, each side of the application may The computer product being located in one or more computer-readable mediums is shown as, which compiles including computer-readable program Code.

Computer-readable signal media may include the propagation data signal containing computer program code in one, such as in base It takes or the part as carrier wave.The transmitting signal may there are many form of expression, including electromagnetic form, light form etc., Or suitable combining form.Computer-readable signal media can be any computer in addition to computer readable storage medium Readable medium, the medium can realize communication, propagation or transmission by being connected to an instruction execution system, device or equipment For the program used.Program coding in computer-readable signal media can be passed by any suitable medium It broadcasts, the combination including radio, cable, fiber optic cables, RF or similar mediums or any of above medium.

Computer program code needed for the operation of the application each several part can use any one or more programming language, Including Object-Oriented Programming Language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET With Python etc., conventional procedural programming language such as C language, Visual Basic, Fortran 2003, Perl, COBOL 2002nd, PHP and ABAP, dynamic programming language such as Python, Ruby and Groovy or other programming languages etc..The program coding Software package can be run or be independent on the user computer completely to run on the user computer or partly in user Operation part is run in remote computer or is run on a remote computer or server completely on computer.In latter case Under, remote computer can be connected by any latticed form with subscriber computer, such as LAN（LAN）Or wide area network （WAN）Or it is connected to outer computer（Such as pass through internet）Or it is used in cloud computing environment or as service such as soft Part services（SaaS）.

In addition, except clearly stating in non-claimed, the order of herein described processing element and sequence, digital alphabet Using or other titles use, be not intended to limit the order of the application flow and method.Although by each in above-mentioned disclosure Kind of example discusses some it is now recognized that useful inventive embodiments, but it is to be understood that, such details only plays explanation Purpose, appended claims are not limited in the embodiment disclosed, on the contrary, claim is intended to cover and all meets the application The amendment of embodiment spirit and scope and equivalent combinations.For example, although system component described above can be set by hardware It is standby to realize, but can also be only achieved by the solution of software, such as pacify on existing server or mobile equipment Fill described system.

Similarly, it is noted that real to one or more invention so as to help in order to simplify herein disclosed statement Apply the understanding of example, above in the description of the embodiment of the present application, sometimes by various features merger to one embodiment, attached drawing or In descriptions thereof.But this disclosure method is not meant to carry in the required aspect ratio claim of the application object And feature it is more.In fact, the feature of embodiment will be less than whole features of the single embodiment of above-mentioned disclosure.

Description ingredient, the number of number of attributes are used in some embodiments, it should be appreciated that such to be used for embodiment The number of description has used qualifier " about ", " approximation " or " generally " to modify in some instances.Unless it in addition says It is bright, " about ", " approximation " or " generally " show that the number allows the variation for having ± 20%.Correspondingly, in some embodiments In, the numerical parameter used in description and claims is approximation, approximation feature according to needed for separate embodiment It can change.In some embodiments, numerical parameter is considered as defined significant digit and is retained using general digit Method.Although for confirming that the Numerical Range of its scope range and parameter are approximation in some embodiments of the application, specific real It applies in example, being set in for such numerical value is reported as precisely as possible in feasible region.

For each patent, patent application, patent application publication object and other materials that the application quotes, such as article, book Entire contents, are incorporated herein as reference by nationality, specification, publication, document or object etc. hereby.With teachings herein Except application history file that is inconsistent or generating conflict, to the conditional file of the application claim widest scope（Currently Or it is additional to afterwards in the application）Also except.If it should be noted that description in the application attaching material, definition and/ Or the use of term with it is herein described it is interior have place that is inconsistent or conflicting, with the description of the present application, definition and/or term Use subject to.

Finally, it will be understood that embodiment described herein is only to illustrate the principle of the embodiment of the present application.Other Deformation may also belong to scope of the present application.Therefore, as an example, not a limit, the alternative configuration of the embodiment of the present application is visual To be consistent with teachings of the present application.Correspondingly, embodiments herein is not limited only to the implementation that the application is clearly introduced and described Example.

Claims

A kind of 1. method for controlling the first tracking stent, which is characterized in that the described method includes：

Data are obtained, the acquisition data include：

The real-time running data of tracking bracket control system where obtaining the first tracking stent, the tracking stent control system System includes the first tracking stent and one second tracking stent, the real-time running data bag of the tracking bracket control system Include the real-time running data of the first tracking stent and the real-time running data of the second tracking stent；

The reference data of the tracking bracket control system is obtained, the reference data of the tracking bracket control system is including described The history data of bracket control system is tracked, the history data of the tracking bracket control system includes described first Track the history data of stent and the history data of the second tracking stent；

The reference data of real-time running data and the tracking bracket control system based on the tracking bracket control system, really The operating status of the fixed first tracking stent；And

Operating status based on the described first tracking stent selects control model, wherein described determine that described first tracks stent Operating status includes：

Determine the real-time running data and the history data or described second of the first support of the first tracking stent Track the first relation of the history data of stent；

Determine the real-time running data and the second of the real-time running data of the described second tracking stent of the first tracking stent Relation；And

The operating status of the first tracking stent is determined based on first relation and second relation.
2. the method as described in claim 1, which is characterized in that the real-time running data or described the of the first tracking stent The real-time running data of two tracking stents includes tracking stent real-time angular, tracking stent real time temperature, tracking stent side in real time At least one of position or the real-time height of tracking stent.
3. method as claimed in claim 2, which is characterized in that further comprise：

With angular transducer measurement the first tracking stent real-time angular.
4. the method as described in claim 1, which is characterized in that the history data or described the of the first tracking stent The history data of two tracking stents includes tracking stent historical point view, tracking stent historical temperature, tracking stent history side At least one of position or tracking stent history height.
5. the method as described in claim 1, which is characterized in that it is described acquisition data can further obtain motor, accumulator, The data of at least one of inverter or header box.
6. the method as described in claim 1, which is characterized in that the real-time running data of the tracking bracket control system includes The real-time running data of the motor, the real-time running data of the motor are electric in real time including motor real-time current, motor At least one of pressure or motor real time temperature.
7. method as claimed in claim 6, which is characterized in that further comprise：

The motor real-time current is measured by current detecting unit.
8. method as claimed in claim 5, which is characterized in that the history data of the tracking bracket control system includes The history data of the motor, the history data of the motor include motor historical current, motor history electricity At least one of pressure or motor historical temperature.
9. the method as described in claim 1, which is characterized in that the reference data of the tracking bracket control system is further wrapped Environmental data is included, the environmental data includes wind speed, wind direction, temperature, atmospheric pressure, air humidity, irradiation, radiation intensity, drop Rainfall, snowfall, soil moisture, geographical coordinate, time, radiation at least one of source azimuth angle or radiation source elevation angle.
10. the method as described in claim 1, which is characterized in that the control model includes warning mode, strong wind pattern, rain At least one of day mode, cloudy pattern, snowy day pattern, manual mode or automatic mode.
11. the method as described in claim 1, which is characterized in that the reference data of the tracking bracket control system is further Include the operating status reference value of the described first tracking stent, the operating status of the definite first tracking stent is further Including：

The real-time running data for comparing the first tracking stent tracks support operation state reference value to obtain with described first 3rd relation；And

The operating status of the first tracking stent is determined based on the 3rd relation.
12. the method as described in claim 1, which is characterized in that the first tracking support operation state includes tracking stent Failure, the method is further included judge the type of the first tracking bracket failure.
13. the method as described in claim 1, which is characterized in that the reference data of the tracking bracket control system is further Include the failure mode data of the tracking bracket control system, the failure mode data of the tracking bracket control system

The failure mode data of failure mode data and the second tracking stent including the described first tracking stent, the side Method further comprises：

The operating status of described first tracking stent is matched with the failure mode data of the tracking bracket control system Obtain matching result；And

Based on matching result, the reason for determining the first tracking stent failure.
14. a kind of tracking bracket control system, which is characterized in that including：

First tracking stent；

Second tracking stent；

Data acquisition module；

Processing module；

Wherein, the data acquisition module is configured as obtaining real-time running data and the reference of the tracking bracket control system Data, the real-time running data of the tracking bracket control system include real-time running data and the institute of the described first tracking stent The real-time running data of the second tracking stent is stated, the reference data of the tracking bracket control system includes the tracking stent control The history data of system processed, the history data of the tracking bracket control system include the described first tracking stent The history data of history data and the second tracking stent；

The processing module is configured as real-time running data and the tracking stent based on the tracking bracket control system The reference data of control system, determine it is described first tracking stent operating status and：

Operating status based on the described first tracking stent selects control model, wherein described determine that described first tracks stent Operating status includes：

Determine the real-time running data and the history data of the first support of the first tracking stent

Or the first relation of the history data of the second tracking stent；

Determine the real-time running data and the second of the real-time running data of the described second tracking stent of the first tracking stent Relation；And

The operating status of the first tracking stent is determined based on first relation and second relation.
15. system as claimed in claim 14, which is characterized in that the real-time running data or described of the first tracking stent It is real-time that the real-time running data of second tracking stent includes tracking stent real-time angular, tracking stent real time temperature, tracking stent At least one of orientation or the real-time height of tracking stent.
16. system as claimed in claim 15, which is characterized in that further comprise angular transducer, the angular transducer It is configured as measuring the first tracking stent real-time angular.
17. system as claimed in claim 14, which is characterized in that the history data or described of the first tracking stent The history data of second tracking stent includes tracking stent historical point view, tracking stent historical temperature, tracking stent history Orientation or at least one for tracking stent history height.
18. system as claimed in claim 14, which is characterized in that the data acquisition module be configured as further obtain with The data of at least one of track bracket control system motor, accumulator, inverter or header box.
19. system as claimed in claim 14, which is characterized in that the real-time running data bag of the tracking bracket control system The real-time running data of the motor is included, the real-time running data of the motor is real-time including motor real-time current, motor At least one of voltage, motor real time temperature.
20. system as claimed in claim 19, which is characterized in that further comprise current detecting unit, the current detecting Unit obtains the motor real-time current.
21. method as claimed in claim 18, which is characterized in that the history data bag of the tracking bracket control system The history data of the motor is included, the history data of the motor includes motor historical current, motor At least one of history voltage or motor historical temperature.
22. method as claimed in claim 14, which is characterized in that the reference data of the tracking bracket control system is further Including environmental data, the environmental data include wind speed, wind direction, temperature, atmospheric pressure, air humidity, irradiation, radiation intensity, Precipitation, snowfall, geographical coordinate, time, radiation at least one of source azimuth angle or radiation source elevation angle.
23. system as claimed in claim 14, which is characterized in that the control model includes warning mode, strong wind pattern, rain At least one of day mode, cloudy pattern, snowy day pattern, manual mode or automatic mode.
24. system as claimed in claim 14, which is characterized in that the reference data of the tracking bracket control system is further Include the operating status reference value of the described first tracking stent, the operating status of the definite first tracking stent is further Including：

The real-time running data for comparing the first tracking stent tracks support operation state reference value to obtain with described first 3rd relation；And

The operating status of the first tracking stent is determined based on the 3rd relation.
25. system as claimed in claim 14, which is characterized in that the first tracking support operation state includes tracking stent Failure, the method is further included judge the type of the tracking bracket failure.
26. system as claimed in claim 14, which is characterized in that the reference data of the tracking bracket control system is further Include the failure mode data of the tracking bracket control system, the failure mode data of the tracking bracket control system includes The failure mode data of the failure mode data of the first tracking stent and the second tracking stent, the method are further Including：

The operating status of described first tracking stent is matched with the failure mode data of the tracking bracket control system Obtain matching result；And

Based on matching result, determined for first described the reason for tracking stent failure.