CN103119380A - Robotic heliostat system and method of operation - Google Patents

Robotic heliostat system and method of operation Download PDF

Info

Publication number
CN103119380A
CN103119380A CN2011800414834A CN201180041483A CN103119380A CN 103119380 A CN103119380 A CN 103119380A CN 2011800414834 A CN2011800414834 A CN 2011800414834A CN 201180041483 A CN201180041483 A CN 201180041483A CN 103119380 A CN103119380 A CN 103119380A
Authority
CN
China
Prior art keywords
robot controller
solar energy
regulating wheel
robot
surperficial
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2011800414834A
Other languages
Chinese (zh)
Other versions
CN103119380B (en
Inventor
S·特鲁吉洛
D·富库巴
T·屈里尔
W·伯克哈里
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tesla Corp
Tesla Inc
Original Assignee
Black Swan Solar Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Black Swan Solar Inc filed Critical Black Swan Solar Inc
Publication of CN103119380A publication Critical patent/CN103119380A/en
Application granted granted Critical
Publication of CN103119380B publication Critical patent/CN103119380B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24SSOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S30/00Arrangements for moving or orienting solar heat collector modules
    • F24S30/40Arrangements for moving or orienting solar heat collector modules for rotary movement
    • F24S30/45Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
    • F24S30/452Vertical primary axis
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24SSOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S40/00Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
    • F24S40/50Preventing overheating or overpressure
    • F24S40/52Preventing overheating or overpressure by modifying the heat collection, e.g. by defocusing or by changing the position of heat-receiving elements
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24SSOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S50/00Arrangements for controlling solar heat collectors
    • F24S50/20Arrangements for controlling solar heat collectors for tracking
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24SSOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S30/00Arrangements for moving or orienting solar heat collector modules
    • F24S2030/10Special components
    • F24S2030/11Driving means
    • F24S2030/115Linear actuators, e.g. pneumatic cylinders
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24HEATING; RANGES; VENTILATING
    • F24SSOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
    • F24S30/00Arrangements for moving or orienting solar heat collector modules
    • F24S2030/10Special components
    • F24S2030/13Transmissions
    • F24S2030/134Transmissions in the form of gearings or rack-and-pinion transmissions
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02EREDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00Energy generation through renewable energy sources
    • Y02E10/40Solar thermal energy, e.g. solar towers
    • Y02E10/47Mountings or tracking

Abstract

A system and method for operating a robotic controller to automatically position multiple solar surfaces in order to increase solar energy generation from the solar surfaces. In an embodiment the robotic controller travels in a sealed track and adjusts the solar surfaces using magnetic communication.

Description

Robot heliostat system and method for operating
Related application
The application requires the priority of the U.S. Provisional Application submitted on July 15th, 2010 U.S. Provisional Application that number on December 3rd, 61/364,729 and 2010 submitted number 61/419,685, and mode is by reference incorporated their integral body into this paper.The application relates to U.S. utility application 13/118,274, and mode is by reference incorporated its integral body into this paper.
Technical field
The present invention relates to solar-tracking and calibrator (-ter) unit, and relate to particularly the reorientation that continues for needs to keep the tracing system of the photoelectricity aimed at the sun, optically focused photoelectricity and Photospot solar heating power system.
Background technology
In order to attempt reducing the price of solar energy, the many exploitations of cost that have the surface of two frees degree about reduce being used for accurately reorientation and calibration have been made.In Photospot solar heating power system, the heliostat array utilizes the twin shaft re-orientation mechanism, by the normal vector that makes heliostat, is halved in the angle between current position of sun and target, and daylight is redirected to central tower.Then the heat that generates from central tower can be used for creating for the steam of commercial Application or is used for the electric power of utility network.
Optically focused photoelectricity (CPV) system utilizes the advantage of double-shaft mechanism in order to realize a kind of like this position, and wherein the normal vector on CPV surface overlaps with the solar position vector in this position.When align with the sun in CPV surface, internal optics can be with daylight optically focused to the small-sized efficient photocell.
The twin shaft navigation system also allows dull and stereotyped photoelectricity (PV) system to produce more power by solar-tracking.System compares with constant tilt, the energy that the annual fecund of twin shaft PV system is given birth to 35-40%.Although it is attractive that this energy production increase looks like, current techniques is passed through total system fund and maintenance cost are increased 40-50%, and the value that the double-shaft solar that marginalizes is followed the trail of.
Fall into one of following three primary categories for traditional technical scheme of controlling and calibrating the problem on independent surface: initiatively individually actuating, module or mirror are in groups and Passive Control.In active individually actuating model, each biaxial system needs two motor, microprocessor, stand-by power supply, field connection and is used for controlling and calibrating each surperficial electronic system.In addition, all components must have life-span more than 20 years and this system need to be for harsh installation environment sealing.In the trial that disperses for the fixed cost of controlling independent surface, the thought of the conventional project teacher in the individually actuating example is to set up 150 square metres of (m 2) heliostat and the PV/CPV tracker of 225 square metres.Be lowered in this size although control cost, large tracker will bear iron and steel, ground and the installation requirement of increase.
Another kind method attempts solving this problem of fixedly controlling cost by with hawser or mechanical linkages, the group being formed on a plurality of surfaces together.Although this disperses the motor activated cost effectively, it proposes strict requirement for the land grade, greatly complicated installation process, and because the flintiness of necessity of this mechanical linkages is caused larger iron and steel cost.Due to constant ground arrangement and imperfection in the manufacture and installation, heliostat and the independent adjustment of CPV system's needs, this increases system complexity and maintenance cost.
When comparing with individually actuating or knot group system, utilize hydraulic pressure, bimetallic strip or biomimetic material to come the passive system of sun-tracing be limited to dull and stereotyped photovoltaic applications and perform poor.In addition, these systems can not carry out for covering for Energy output and ground the back-track algorithm that ratio is optimized solar energy field.
Summary of the invention
A kind of robot controller of the position for control a plurality of solar energy surfaces in response to the motion of a plurality of solar energy surfaces regulating wheel, each solar watch mask has the surperficial regulating wheel of corresponding solar energy, this robot controller is positioned on track, and this robot controller comprises: processing unit; Can be coupled to communicatedly this processing unit with the position determination unit for the position of determining this robot controller; Be used in response to from the indication of this processing unit drive system along this this robot controller of rail moving; System is determined in the first adjustment of adjusting parameter for the surperficial regulating wheel of the first solar energy that is identified for the surperficial regulating wheel of these a plurality of solar energy; And the mating system that is used for adjusting based on this first adjustment parameter the surperficial regulating wheel of this first solar energy.
This paper has illustrated and has described concrete embodiment of the present invention and application, to be appreciated that, the invention is not restricted to accurate structure disclosed herein and assembly, and under the prerequisite that does not break away from the spirit and scope of the present invention described in claim, can make various improvement in configuration, operation and the details of method and apparatus of the present invention, change and distortion.
In one embodiment, can use the present invention in conjunction with heliostat or solar tracker, wherein the microprocessor of heliostat or solar tracker, azimuth driving, elevation angle driving, central control system and wiring are removed.By eliminating these assemblies, compare with conventional system and allow great cost, and create the 4th actuating example: have being controlled by mobile robot of active.In this pattern, individual machine people controller is born at the 3d space alignment and adjust the function responsibility on two or more solar energy surface.
In the second embodiment of the present invention, a kind of robot controller can move and control exactly the rotation near one or more regulating wheels of aforementioned surfaces between passive solar energy surface.These regulating wheels can be connected to hard or flexible axle, and wherein this axle can be routed to gear train, screw component or directly arrive solar energy surperficial.This gear train, screw component or Direct Driving System will be rotated the movement that input motion converts the solar energy surface to.If but this gear train, screw component or Direct Driving System are reverse drive, additional regulating wheel can be used for activating arrestment mechanism.This robot controller can be by the control of one or more regulating wheels, reorientation solar energy surface in one or two axle, and therefore substitute 100 groups of above wiring, motor, central controller and calibrating sensors.This has also eliminated for the core engineering that drives large-scale heliostat and solar tracker and has born---high, relatively-stationary the controlling cost on each surface.
Because 5 to 800 ten thousand adjustment cycles must be stood every year by independent robot, desirable adjustment interface will not controlled the position of regulating wheel with contact.In the 3rd embodiment, the present invention can utilize magnetic or electromagnetic interface to control the rotation of this regulating wheel.If utilize axial magnetic flux motor mechanism, the regulating wheel interface of this robot controller can not comprise moving-member.
In the 4th embodiment, this robot controller can be before adjusting, during and this position of sensing regulating wheel afterwards.This can be by the realization that makes of the different magnet on the hall effect sensor on this robot controller or this regulating wheel or sheet metal.The metal detection method includes but not limited to: very low frequency (VLF), pulse induction (PI) and beat frequency oscillator (BFO).The present position that robot can also make and use up, electromagnetism or physical markings system and method for sensing are determined regulating wheel.This interface also can be used for detecting independent station, solar energy surface, in order to reduce the complexity of independent robotic station's sensing mechanism.
In the 5th embodiment, optimize this robot controller for the rapid adjustment on solar energy surface.The robot adjuster can be analyzed rapidly: the 1) position of this robot controller in 3d space, 2) it in 3d space with solar watch relation of plane, 3) based on the current position of sun when Time of Day and position, and 4) the sensing position of wishing.After known these four variablees, this robot controller can calculate the necessary adjustment amount for independent solar energy surface.Use for PV and CPV, can be directly to point to this solar energy towards the sun or on by the best angle of recalling the control algolithm definition surperficial.In addition, use for PV, robot can utilize the existing method that depends on position, date and time information determine the position of the sun and point to the PV panel in the mode of open loop.Heliostat power Tower System will need this solar energy surface that the angle between the sun and central tower is divided into two.Owing to this solar energy surface constantly not upgraded, optimum position in some applications will arrange this surface make this surface will be between adjustment optimum orientation midway.If the best elevation angle when for example adjusting is 26 degree, and the new maximum when follow-up the adjustment is 27 degree, and robot controller can be arranged on this surface in the inclinations of 26.5 degree.
After calculating, this robot controller can carry with plate adjusts the position that interface is controlled the solar energy surface.Final step in the process of robot controller is the distance that analyzes adjacent adjustment station, and utilizes plate to carry or external drive mechanism comes reorientation it self so that follow-up adjustment.
In the 6th embodiment, two, three or more grades of robot controller can be used for the field on reorientation solar energy surface economically.The top and the robot controller of expensive grade can comprise accurately calibration and adjust the necessary whole mechanisms in field on solar energy surface.The middle grade robot controller can comprise the reorientation solar energy needed whole mechanisms in surface and will be constructed to stand 10 years or execute-in-place more for many years.The functional unit that the inferior grade robot controller can have a minimum number is with rapid adjustment solar energy surface and can be designed as the long-life for low cost.
Desirable Passively activated field can utilize a top robot controller to be used for initial calibration and recalibration purpose.The middle grade robot controller can be used for normal operating and will be based on adjust the solar energy surface from the input of top robot controller.The inferior grade robot controller can be used for emergency and will allow fast and cheaply emergency defocus and/or wind carries.
In the 7th embodiment, data are stored via wireless network, direct link system, external switch or by approaching independent solar energy surface or solar energy surface group in the field of robot controller, each other and/or with central controller system communication.
In the 8th embodiment, this robot controller comprises a plurality of regulating wheel interfaces, thereby it is surperficial side by side to adjust a plurality of solar energy.
In the 9th embodiment, this robot controller can need not to stop just controlling the position of independent one or more regulating wheels.This can realize with the rack-and-pinion system, and wherein regulating wheel is rotated with contact, magnetic and/or electro permanent magnetic by this rack-and-pinion system.
In the tenth embodiment, this robot controller can move between the station by GT tube, enters to prevent large object, water and dust.Can also wish that robot controller is entered redundant layer by airtight in order to increase another.
In the 11 embodiment, the robot transfer tube that can connect up, thereby this robot controller can easily turn back to middle position.
In the 12 embodiment, it is surperficial that two or more robot controllers can be adjusted one group of solar energy.This allows this solar energy surface relocation system redundancy in the situation of individual machine people fault.
In the 13 embodiment, this robot controller can comprise that the plate carrier gas that utilizes radiator, active cooling/heating system and humidity controlling organization waits control system and keep stationary temperature and environment for intraware.This system extend various plates and carry aspect the useful life of stored energy mechanism particularly useful.
In the 14 embodiment, this robot controller can wirelessly charge.If solenoid be used for to be controlled the rotation of this regulating wheel, this interface can be reused in induction type ground charging panel and carry energy storage system.
In the 15 embodiment, robot controller can comprise that the health that plate can be carried assembly is relayed to the diagnostic system of other robot controller and/or central control system.This diagnostic system can be got back to message communicating rule and periodic teleoperator or access as required.This system also can be used for quality assurance in the field of passive homing device or heliostat, because this robot can initiatively measure for the needed moment of torsion in position of the regulating wheel of controlling the solar energy surface and the amount of energy.This system also is used in the defects detection in the situation of the regulating wheel that can not rotate the solar energy surface.This robot controller can also utilize the plate set sensor to determine whether this robot transfer tube has any fault.
In the 16 embodiment, can detect the fault solar energy surface for PV and CPV application.In this pattern, this robot controller can be with central power scavenging system communication to determine the current output from the field on solar energy surface.If the rotation of single solar energy surface departs from the sun, and central power scavenging system do not detect power stage and changes, and this robot controller can think that this solar energy surface is flaw.It can also be placed on this solar energy surface in particular orientation, breaks down with warning PV of on-site maintenance staff or CPV system.
In the 17 embodiment, various pre-programmed control protocols and algorithm can be merged in this robot controller in order to process various field grade situations.Also can upgrade these robot control algorithms by scene or teleoperator.
In the 18 embodiment, can merge various security features to prevent reverse-engineering and stealing in this robot.This robot can also comprise that tracking feature is to allow to recover loss or stolen robot.
The feature and advantage of describing in specification are not all-embracing, and particularly in view of drawing and description, many supplementary features and advantage will be apparent for those of ordinary skill in the art.In addition, should be noted that, in principle in order easily to select with the purpose of introducing and not to be the language that uses in the purpose selection specification that defines or limit the invention theme.
Description of drawings
Fig. 1 be according to the embodiment of the present invention there is no independent microprocessor, azimuth drive motor, elevation drive motor, central control system, backup battery or a calibrating sensors can be by the explanation on the passive solar energy surface of accurately reorientation.
Fig. 2 is that according to the embodiment of the present invention the gear reduction unit that do not need converts the rotation input motion from one or more regulating wheels to the list on solar energy surface or passive solar tracker that twin shaft is controlled or the explanation of heliostat.
Fig. 3 is the explanation of robot controller according to the embodiment of the present invention.
Fig. 4 is the explanation of the embodiment of the non-contact interface between robot controller and regulating wheel.
Fig. 5 is the explanation of the various assemblies of robot controller according to the embodiment of the present invention.
Fig. 6 is the flow chart of the operation of robot controller according to the embodiment of the present invention.
Fig. 7 is the flow chart of the operation of middle grade robot controller according to the embodiment of the present invention.
Fig. 8 is the flow chart of the operation of inferior grade robot controller according to the embodiment of the present invention.
Fig. 9 is the explanation of some communication technologys that can be used by according to the embodiment of the present invention robot controller.
Figure 10 is the robot controller with a plurality of regulating wheel interfaces according to the embodiment of the present invention.
Figure 11 is the explanation of robot controller that can need not to stop just controlling regulating wheel in adjusting the station according to the embodiment of the present invention.
Figure 12 be for show according to the embodiment of the present invention can be in the mode of wiring robot of the system transfer tube with a plurality of solar energy surfaces.
Figure 13 is the explanation for the atmosphere control system of according to the embodiment of the present invention robot controller.
Figure 14 is that according to the embodiment of the present invention the wireless power transmission interface that utilizes comes the explanation of the robot controller of rechargeable energy storing mechanism.
Figure 15 is the flow chart that the plate of robot controller according to the embodiment of the present invention carries the operating process of diagnosis and quality assurance system.
Accompanying drawing has only been described various embodiment of the present invention for illustrative purposes.Those skilled in the art will easily recognize the interchangeable embodiment that can use structure as herein described and method under the prerequisite that does not break away from principle of the present invention as herein described from discussion hereinafter.
The specific embodiment
With reference now to accompanying drawing, the preferred embodiment of the present invention is described, wherein identical Reference numeral indication in the accompanying drawings identical or function on similar element.And in the accompanying drawings, the leftmost numeral of each Reference numeral is corresponding to the accompanying drawing that uses first this Reference numeral.
In specification for " embodiment ", " the first embodiment ", " the second embodiment " or mean in conjunction with the described specific features of this embodiment, structure or characteristics for quoting of " embodiment " (for example) and be included at least one embodiment of the present invention.The appearance in phrase " embodiment ", " the first embodiment ", " the second embodiment " or the various places of " embodiment " (for example) in specification needn't all relate to identical embodiment.
According to algorithm and the symbolic representation about the operation on the data bit in computer storage, provide the hereinafter some parts of detail specifications.These arthmetic statements and expression are the means that the those of skill in the art of data processing field are used for most effectively their essence of work is conveyed to others skilled in the art.Algorithm here, and usually be envisioned for be a kind of cause desirable result from consistent sequence of steps.This step is the step that needs the physical operations of physical quantity.These physical quantitys usually but be not must take to store, transmit, make up, relatively and the form of the light of other operations, electricity, magnetic signal.Sometimes mainly for the former of common use thereby these signals are called bit, value, element, symbol, character, item, quantity etc. is easily.In addition, under prerequisite without loss of generality, sometimes will need the particular arrangement of step of the expression of the distortion of physical operations or physical quantity or physical quantity to be called module or code device is also easily.
But all these and similarly term will be associated with suitable physical quantity and be only the convenient labels that is applied to this tittle.unless concrete statement, otherwise as apparent from the following discussion, should understand and run through whole specification, the term that utilizes such as " processing " or " calculating " or " calculation " or " determining " or " demonstration " is discussed is related to a kind of like this computer system or similarly action and the processing of electronic computing device (such as specific computing machine), wherein this computer system or similar electronic computing device operation and conversion are represented as register or memory or other this information storages of computer system, the data of physics (electronics) amount in transmission or display device.
Specified scheme of the present invention comprises that this paper is with process steps and the instruction of the formal description of algorithm.Should be noted that, process steps of the present invention and instruction can be realized can being downloaded to be positioned on the different platform of being used by various operating systems and being operated by it in software, firmware or hardware and when realizing in software.The present invention can also be arranged in the computer program code that can carry out on computing system.
The invention still further relates to the device for the operation of carrying out this paper.Can construct particularly this device for the purpose of for example concrete computer, perhaps it can comprise the all-purpose computer that is optionally activated or reshuffled by the computer program that is stored in computer.This computer program can be stored in computer-readable recording medium the medium that disc such as but not limited to any type comprises floppy disk, CD, CD-ROM, magneto-optic disk, read-only storage (ROM), random access storage device (RAM), EPROM, EEPROM, magnetic or light-card, special IC (ASIC) or is applicable to any type of store electrons instruction, and each in them is coupled to computer system bus.Memory can comprise any above equipment and/or other equipment that can store information/data/program.In addition, the computer that relates in specification can comprise uniprocessor or can be to use a plurality of processor designs in order to increase the framework of computing capability.
The algorithm that this paper provides and demonstration do not relate to concrete computer or other devices arbitrarily inherently.Various general-purpose systems also can be used for according to the program of the instruction of this paper or can construct easily more special-purpose device and come the manner of execution step.To manifest the variation of these systems from following specification.In addition, with reference to any concrete programming language, the present invention is not described.Will recognize, various programming languages can be used for realizing instruction of the present invention as described herein, and provide hereinafter any reference for concrete syntax for the disclosed purpose of realization of the present invention and optimal mode.
In addition, totally select the language that uses in specification for purpose readable and explanation, and be not selected as defining or limiting subject matter.Therefore, disclosing of this paper is applicable to illustrate rather than limit the scope of the invention.
With reference now to accompanying drawing,, Fig. 1 described do not have independent microprocessor, azimuth drive motor, elevation drive motor, central control system, backup battery or a calibrating sensors can be by the accurate passive surface (101) of reorientation.Two regulating wheels (102) of being controlled by individual machine people controller can by flexibility or hard driving shaft (103) activate this system.Described system uses flexible cable azimuth gear train (104) and the elevation angle screw component (105) of converting in rotary moving of self-retaining regulating wheel in the future.The fixed adjustment wheel is wished, because their permissions can be along track or the mobile relatively simple robot controller of pipeline (106).But this design restriction does not necessarily arrange the path and can spread all over freely moving of solar energy surface because robot controller does not need to be subject to.
The robot transporting rail can comprise hollow square or the circular pipe of being made by aluminium, steel, non-non-ferrous metal, non-ferrous metal, plastics or composite.Can be by this passive solar energy of base type support to be surperficial in large quantities, this ground base type includes but not limited to: drive platform (107), fot screw, ballast or fastened with a bolt or latch to rigid surface simply.The robot transmission pipeline also can serve as the base support on independent passive solar energy surface.
Fig. 2 has showed that the rotation input motion that does not need the gear reduction unit wheel of self-adjusting in the future (102) converts single shaft or the passive solar tracker of twin shaft control or the embodiment of heliostat on solar energy surface to.Can be directly activate this system by flexible drive shaft (103) in the mode of tip-tilt.In one embodiment, flexible drive shaft is directly connected to the pin connector (201) that firmly is fixed to a rotating shaft.Therefore the rotation of regulating wheel changes the rotation on solar energy surface in the mode of 1: 1 on an axle.This system can utilize frictional force to lock the position on solar energy surface or utilize other arrestment mechanisms initiatively described in above-cited number of patent application 13/118,274.
Fig. 3 has showed the core actuating example with passive system of initiatively robot control of the present invention.Robot controller (301) can promote it oneself along track (106), stops and using plate to carry the rotation that regulating wheel interface (302) is accurately controlled the one or more regulating wheels (102) that are connected to aforementioned solar energy surface near solar energy surface (101).Each regulating wheel is connected to and can be routed to the hard or flexible axle that holds many passive homing device designs.The feature that the present invention pays close attention to robot controller is to guarantee that regulating wheel is by reliably and accurately reorientation.
Hope provides a large amount of input torques in order to reduce the needed gear reduction in surface of reorientation solar energy to regulating wheel.Can use the method for adjustment based on contact, seal with installation environment but often have poor station alignment, mechanical fatigue and be difficult to.If necessary, robot controller for example can use positive mechanical engagement, friction or control the rotation of regulating wheel with machinery based on the system of suction.
Fig. 4 has shown an embodiment of the non-contact interface between robot controller and regulating wheel (102).This system uses the electromagnet (401) of controlling independently to come the rotating metallic regulating wheel.This regulating wheel can have the different metallic forms (402) of permission certain electric magnetic coil discharge mode to change its swing.Other system/embodiment can utilize permanent magnet on regulating wheel and/or the permanent magnet on robot controller (301).Utilize permanent magnet or can be connected to rotary drive system so that the rotation regulating wheel based on the system of adjustment interface of contact.The system that utilizes the electromagnet on the robot controller side can be solid-state.In many embodiments, the adjustment interface of controlling the rotation of regulating wheel with electric current uses electromagnet, and it seems it is the most effective from the viewpoint of energy use and lifetime of system, to reduce the regulating wheel interface to simplify axial flux or induction conductivity, wherein expensive assembly is included on robot controller.
Fig. 4 also shown can comprise for before adjusting, afterwards and during detect the robot controller of system of the direction of regulating wheel.These systems can utilize one or more sensors (403) to detect the position of the not isolabeling (404) on regulating wheel.The type of mark includes but not limited to magnetic or metal material, physics sawtooth or can be by the mark of light, electromagnetism or the identification of static sensing mechanism.This system is useful, because it allows robot controller to confirm to rotate correctly reorientation solar energy surface by the input of varying number.It also allows robot to confirm that not rotating this between adjusting takes turns.
Fig. 5 has described the summary according to the assembly of the robot controller of an embodiment of the invention.As can be seen from this figure, robot has its alignment of maintenance and advances its idle pulley (501) and driving wheel (502) along closed orbit.These idle pulleys can be spring loaded, robot controller is inserted to one or two side of this track.This robot controller can also comprise calibrated cameras (503) and structuring lighting means, to find the direction on solar energy surface in 3d space.For the system/embodiment that utilizes closed orbit, window or can be arranged near the solar watch orbit of flates for other transparent openings of CF.This window allows calibrated cameras to observe the downside on solar energy surface.Punching can create this window in the robot transmission pipeline.In order to allow track to keep sealing, can cover this hole with a sheet glass, plastics or other transparent materials.
For reorientation solar energy surface, robot controller must be able to be controlled the position of one or more regulating wheels.This can by can comprise can by the adjustment interface of the solid-state solenoid (401) of activation/deactivation independently make complete.Regulating wheel turn-sensitive device (403) can allow robot controller to determine the present position of regulating wheel.the assembly that other of robot controller are not described can include but not limited to independent station detecting unit, the whole world or relative position are found the unit, inner distribution, central processor unit, motor driving controller, the drive motor encoder, control system is waited in the plate carrier gas, battery management system, charging system based on contact, the induction charging system, Proximity Sensor, data-storage system, the capacitance stores system and the wireless data transmitter/receiver that are used for the regenerative braking purpose.The accurate placement of these assemblies depends on embodiment and difference, because they can be loaded in the scope of robot controller with many configurations.
Fig. 6 has shown the operating process according to the robot controller of an embodiment of the invention.Individual machine people's controller (301) how a plurality of solar energy surfaces of reorientation (101) are showed in this operating process.The function responsibility of this robot controller is in conjunction with one or more regulating wheels (102) work near the solar energy surface, to keep suitably the direction on independent solar energy surface.
When placement machine people controller first, its initial purpose is to understand its environment and its passive homing device/heliostat that will control.This is mobile and continue braking point (602) that search places near the solar energy surface towards regulating wheel (601) from robot controller.This point can be the real marking on for example beam, magnet or metalwork.If there is real marking on beam, can equip robot controller to detect this point with camera.If this braking point be magnetic or metal, can come the assembly robot controller with hall effect sensor or metal detector, to find this braking point.In one embodiment, the label that is used for rotation sensing on regulating wheel or regulating wheel can be used as the braking point.After the braking point being detected, robot controller can activate its arrestment mechanism (603).Braking method can include but not limited to: the mixing of the application of the deexcitation of drive motor, wheel braking, application, regenerative braking or these arrestment mechanisms of motor brake.When equipment is slowed down, the final point (604) of adjusting of robot controller search.After finding this point, it is used braking fully and himself is entered fully and stops (605).
Robot controller with himself with after one or more regulating wheels are alignd suitably, find the relative direction on it and solar energy surface.If the station is adjusted on this to be robot controller access first concrete solar energy surface, can be by the solar energy surface being adjusted to zero degree tilts and zero degree azimuth rotation or another definition arrange, with solar energy surperficial " making zero ".In order to realize this target, robot controller can engage regulating wheel (606) and begin to rotate its (607).When rotation, it can use plate to carry regulating wheel sensor (403) and confirm that this takes turns correctly rotation (608).This solar energy surface can have be used to preventing that the hard calibration that is rotated over zero point from stopping.In these systems, after no longer can rotating wheel, robot controller can stop attempting adjustment System (609).In order to prevent passive surface or to attach to the damage of the gear train on passive surface, the regulating wheel interface of robot controller can comprise be used to preventing that this system from transmitting the mechanism of breakdown torque amount.
For the application that does not need very large accuracy, robot controller can use these to stop and being recorded in operating period every day regulating wheel apart from the quantity of initial calibration point rotation, to estimate the current direction on surface.For using more accurately, robot can also with structuring or natural lighting camera analyze the solar energy surface below, to determine its relative direction in 3d space.After obtaining this information, it is relayed to central processing unit in order to analyze.
Depend on Application of Solar Energy, may also be necessary to find out the absolute or relative position on solar energy surface in X, Y and Z coordinate.This can utilize the plate that has for the triangulation system of three positions that utilize solar energy surface to carry the GPS unit and realize.In this second method, robot controller can transmit and measure the time delay of each defining point from this.Use this information, can determine for other assemblies in the field on solar energy surface its relative position.
Central authorities process can to analyze now from calibrated cameras, position and find the input of unit, internal clocking and its known gears with passive solar tracker/heliostat slowed down and known geometric form makes up (610).Can be used for calculating current solar energy vector (611) from the input of the internal clocking of robot and discovery or known GPS.Find the input of unit, regulating wheel sensing mechanism and/or can be used for the direction of approximate solar energy surface in 3d space from the historical adjustment information that the past is adjusted from the calibrated cameras of robot, position.In one embodiment, the passive solar tracker or the heliostat that are driven by regulating wheel have anti-reverse drive characteristic.These systems only need primary calibration because wind and other power can not be between adjusting mobile solar energy surface.
PV and CPV use to use and reach five information so that suitable reorientation.The size on the direction of the direction on solar energy surface, the position of the sun, adjacent tracker, the distance between tracker and predefined tracker zone and solar energy surface.Standard solar-tracking algorithm can only need first and second information, but robot correctly carries out the backward tracing control algolithm with other three information.These algorithm optimization solar energy field are so that shade between minimum tracker, and therefore understand the shade that the current shade that is generated by adjacent tracker and independent solar tracker will throw on its neighbours.Here by reference mode integral body is incorporated the Mack of this paper into, and solar engineering: http://www.rw-energy.com/pdf/yield-of-s_wheel-Almansa-graphics. pdf finds the more details about backward tracing.
Heliostat is used needs robot to find from the solar energy surface to the vector of solar energy target.This can realize by the position of finding solar energy target and solar energy surface in the whole world or relative coordinate plane.After the change of the hope of calculating position, solar energy surface, the known gears that central processing unit is analyzed passive system slow down with determine should with by mechanically or magnetic linkage receive how many degree (612) of regulating wheel rotation on solar energy surface.
For the passive homing device or the heliostat that do not have inherent frictional force braking or anti-reverse drive characteristic, initiatively solar energy surface arrestment mechanism may be necessary.For these systems, this robot controller is this brake of deexcitation before this regulating wheel of rotation.Can utilize another regulating wheel to activate this brake.Then robot controller can rotate one or more regulating wheels with its regulating wheel interface.In one embodiment, robot controller have a plurality of can be by independently or the solenoid that activates in a cluster.This system can be by striking sparks this coil to control as axial flux or inductor motor the rotation (613) of metal or magnetic regulating wheel.This coil can or can obtain feedback (614) from the regulating wheel sensing mechanism of the instant number of degrees of the rotation that is used for determining regulating wheel by touch system fire.
After adjustment is completed, and if needed central processing unit can transmitted signal to activate this arrestment mechanism.This reclosing is closed the gear arrestment mechanism and is prevented that external force from changing the direction on solar energy surface until adjust from its next one of robot controller.As the final step of this process, robot controller can with plate carry proximity transducer or in the past operation history determine its current end (615) that whether is in the row on solar energy surface.If so, it can oppositely move, until it arrives the first solar energy surface adjustment point (616).If not, controller can repeat this adjustment circulation (617).Be also noted that the end that may connect the robot transmission pipeline, thereby it forms continuous loop.In this embodiment, robot controller will continue cycle machine people transmission pipeline until night or stop safeguarding.
The processor of determining the behavior of robot controller and its sub-component can be located immediately on robot controller, is arranged in central treating stations place or on another robot controller of the field that is positioned at the solar watch face.Do not carry if processor is not plate, robot controller may need wireless or the immediate data link to receive operational order.
After surperficial one day of adjustment solar energy, the plate that robot controller may need to recharge it carries stored energy mechanism.It might be in one day twice or more times recharge this system.
May wish that the robot controller of three or more grades adjusts the field on solar energy surface.Fig. 6 has showed the operating process of top robot controller.This robot can come work in conjunction with more uncomplicated robot controller.The purpose of top robot controller is to allow the position to find that unit and calibrated cameras are from the removal of middle grade and inferior grade robot controller.In one embodiment, the field on solar energy surface can only be used a top robot controller (if existence) and therefore can by remove expensive assembly from this unit, greatly be reduced total system and robot controller alternative costs.
Fig. 7 has shown the operating process according to the more uncomplicated middle grade robot controller of an embodiment of the invention.The Main Differences of the top robot controller described in this unit and Fig. 6 is that this adjuster does not have calibrated cameras or the unit is found in the position.The data storage cell of being found the unit and being used for storing the last known direction on independent solar energy surface by the data that are used for communicating by letter with other robot or central control station is born the function responsibility that the unit is found in calibrated cameras and position.Before the middle grade robot controller has alternately and not with passive solar energy surface first during data point, it can suppose this top robot controller correctly " make zero " solar energy surface.
Different from top robot, the middle grade robot controller obtains from data storage cell rather than discovery unit, position the input (701) that it is used for the position of adjustment point.It is gone back slave plate and carries the relative direction that data storage cell and hall effect sensor rather than accurate calibrated cameras are determined the solar energy surface.The data storage cell storage is from the quantity of the regulating wheel rotation at zero point, and the regulating wheel sensing mechanism is used for determining the definite number of degrees (702) of wheel rotation.May be enough to be used in the middle grade robot controller with these data of known gears deceleration combination and be similar to the direction of solar energy surface in 3d space.Due to the middle grade robot controller do not have for directly determine the solar energy surface really butt to method, so it can save the number of degrees of the regulating wheel rotation of carrying out for one or more regulating wheels, so it can correctly redirected solar energy be surperficial in adjustment in the future.
After surperficial one day of adjustment solar energy, the plate that robot controller may need to recharge it carries stored energy mechanism.It might be in one day twice or more times recharge this system.
Fig. 8 has shown the operating process according to the more uncomplicated inferior grade robot controller of an embodiment of the invention.The purpose of inferior grade robot controller is similar with the spare tyre that is used for automobile---and it only is used for emergency.The 3rd class robot controller allow low-cost and fast wind carry (wind stow) program.Its high speed emergency that also is allowed for the heliostat application defocuses program.This robot controller can have and the similar operating process of middle grade robot controller described in Fig. 7, but it may only need one to adjust interface and passive solar tracker or heliostat are moved to this wind carry the position and will not need and set up by long-life ground.
During emergency procedure, the inferior grade robot controller will not need to know the current location on solar energy surface, the solar energy surface only must by otherwise a) move the 2-5 degree away from its current location, or b) be moved to horizontal wind and carry the position.It can have plate and carry airspeedometer to determine current wind speed or can be connected to the central network (801) that carries program to inferior grade robot controller transmitted signal to begin urgent wind.This program start from robot controller move it own near independent solar energy surface, stop near the regulating wheel (605) on solar energy surface and regulating wheel rotated predetermined rotation quantity (802).It can also use regulating wheel sensing mechanism (403) to determine regulating wheel whether stop the rotation (614).If stop the rotation, this can indicate the inferior grade robot controller to drive passive solar tracker or heliostat to enter its wind and carry hard stop.
The process that is used for promptly defocusing even can be simpler than the process of carrying for urgent wind.A purpose of this program is the image of heliostat is removed from the solar energy target, and the inferior grade robot controller only needs to change fast the position on a plurality of solar energy surface.
Fig. 9 has showed and can be used for each other and/or the certain methods of communicating by letter with centralized network by the field of robot controller.These methods include but not limited to: RFDC (901), immediate data link (902), external switch or the surperficial or surperficial group of the passive solar energy storage information (903) by close independent passive solar energy.For RFDC, can equip each robot controller (905) with electromagnetic frequency transmitter and/or the receiver (904) that can communicate by letter with other robot (301) or centralized network.
For the immediate data transmission, can with can with other robot or centralized data cell on the mutual contact of contact equip each robot controller.When these systems carry out physical contact, can be from an equipment to another equipment transfering data.
That people or robot site operator can activate is top, the special characteristic corresponding with specific preprogrammed activity on middle grade or inferior grade robot controller.Activate outside, magnetic or electromagnetic switch and can start these actions.If what for example the inferior grade robot had a pre-programmed promptly defocuses feature, the middle grade robot may be able to activate it simply by bootup window and depression of push button switch.
Can be also useful near independent solar energy surface or solar energy surface group storage related data.In one embodiment, the RFID chip (903) of placing near solar energy surface can be used for storing about each solar energy surface in the field definitely or relative position and this how corresponding to the information of the initial position of each regulating wheel.These systems will need independent robot controller to write card device and/or RFID card reader to have RFID.Other methods that are used for local storage data include but not limited to use the data storage technology of based semiconductor, magnetic and/or light.
Figure 10 has shown the robot controller (301) with a plurality of regulating wheel interfaces (302).The purpose that increases more adjustment interfaces is the cost that distributes the most expensive plate to carry assembly and adjusting more frequently on the identical time cycle allows controlling more accurately of solar energy surface (101) by permission.Described embodiment can once be adjusted two solar energy surfaces; The quantity that allows this design to stop circulating for the startup of the field on given solar energy surface reduces half.
Figure 11 has shown and can not stop adjusting the robot controller (301) of controlling regulating wheel under the prerequisite at station.This system can utilize based on the gear of contact, magnetic or electromagnetism and rack system and control regulating wheel.The robot interface conceptually as tooth bar (1101) and regulating wheel (102) as gear (1102).Along with robot ride through regulating wheel, its can activate it the tooth bar interface of generalities thereby its physically, an edge of magnetic ground or electromagnetic ground and regulating wheel is coupled.After coupling, can directly the linear movement of robot controller be converted to the rotation of regulating wheel.Robot controller can activate its interface (1101) for the second time so that its own solution with regulating wheel gear (1102) is coupled.Robot controller can be by carefully monitoring it speed and the time of its adjustment interface and regulating wheel coupling, accurately control the rotation of regulating wheel.For example, if robot controller take the speed of 1 metre per second (m/s) move and with edge join 1 second of diameter as the regulating wheel (girth is as 10cm) of 3.18cm, it will rotate regulating wheel approximate 10 times.
Robot controller can utilize long sensor strip (403), and the instant number of degrees of the sensor strip of this length (403) meter wheel rotation have been engaged and correctly rotation to confirm regulating wheel (102).Correctly reorientation is up to the optical-electric module of 1.2MW if the robot controller that does not stop or carrying out physical contact with independent solar energy surface moves with the constant speed of 5MPH.
Robot controller described in Figure 11 uses the electromagnet (401) of long row's independent actuation to control the direction of regulating wheel.When these electromagnet are in (N-S-N-S-N-S) configuration when opening, they can rotate 4 polarity magnetic regulating wheels (N-S-N-S) through adjusting the station by travelling simply.This magnetic rack system converts the linear movement of robot to regulating wheel rotatablely move.
Figure 12 has shown the robot transmission pipeline (106) that how to connect up in having the field on a large amount of solar energy surfaces (101).This robot transmission pipeline can be sealed airtightly to prevent that large object, water and dust from entering robot controller.In said embodiment, each passive solar tracker or heliostat have independent pedestal and robot transmission pipeline and only must support the weight of robot controller.
Although this figure shows independent robot controller and can normally adjust the specific row on solar energy surface, it can utilize plate to carry drive motor to make it oneself return to central station in order to safeguard (1201).This form of track wiring also allows the site operation personnel to come the easily field of placement machine people controller by two or more robot controllers being inserted into central station.This central station also can be used for charging or maintenance purpose.
Figure 12 also shows additional machine people's controller (301) that can use redundantly.In one embodiment, one or more standby machine people controllers are placed on central station.In the situation of robot fault, standby machine people controller can be driven into oneself it the appropriate sections of track, and the robot that promotes fault is to the end of pipeline and to return to the solar energy of the robot that distributes to fault surperficial.If the robot of fault does not have consistently may to need the standby machine people to come the initial recalibration process of summarizing in service chart 6 to the position on its distribution solar energy surface of central data system relaying.If this information is relayed to central data system exactly, the standby machine people can reopen the operation that this fault robot of beginning stops adjusting.
In the field on solar energy surface does not have the situation of central robot gathering system, two or more robots can be placed in a section of track.These two or more robots can set up constant data relays link.Robot can bear regular job (1202) simultaneously another robot as redundant robot (1203) to prevent due to the controller of the fault power loss that causes of the regulating wheel on reorientation solar energy surface correctly.
Figure 13 has shown an embodiment that is used for the atmosphere control system of robot controller (301).This system can include but not limited to comprise following assembly: fan (1301), radiator (1302), active heat pump, peltier device (Peltier device), electric heater, ventilating system, refrigerator, MCS, wetness sensor, temperature sensor and air cleaner.These climate controlling assemblies also can be discharged on the robot transmission pipeline of sealing, thereby this system environment that can be consistent, and this consistent environment extends the life-span of the critical failure assembly of robot controller.
Single battery reduces with battery, capacitor, ultracapacitor or other forms of energy accumulator and complexity is installed and the overall system cost can be useful, because can be replaced the electrified track of a mile.Figure 14 has shown an embodiment of the invention, and this embodiment utilizes the wireless power passing interface that the stored energy mechanism on robot controller is charged.May wish wireless charging mechanism, because the contact that they do not need to expose comes to the robot controller through-put power.Yet, need not to have plate and carry backup energy source for robot controller, and it can be by the electric tracks system power supply or by rail induction ground power supply.
The inductive charging station (1401) that is positioned at any position on the robot transmission pipeline can be by generating oscillating electromagnetic fields, to the robot controller transferring energy.Being arranged in line of induction ring (1402) on robot controller (301) can catch this energy and it is stored in plate and carry stored energy mechanism.Can utilize other power transmission forms to include but not limited to by robot controller: electrostatic induction, electromagnetic radiation and electrical conduction.
Figure 15 has shown that the plate that is used for robot controller carries the operating process of diagnosis and quality assurance system.Robot controller can continue to carry out the scheme of this process to allow scene or teleoperator to determine the instant health of field.Can every day, begin weekly, per month or as required some schemes of whole this process or this process, carry out the preventive maintenance of this system to allow the site operation people.Particularly, the diagnostic system of robot controller can be determined: a) by the general health (1501) of the independent robot controller of the state of key component definition, b) health of robot transmission pipeline (1502), c) health of passive solar tracker or heliostat (1503), and the d) health (1504) on independent PV or CPV surface.
This process can start from robot controller to central processing system or the whole operating datas (1505) of preserving of network trunk.These data can include but not limited to: the historical temperature and humidity reading on inside and outside sensor, the SOC/SOS reading that carries the historical electric current of assembly and voltage readings and carry stored energy mechanism from plate from the historical meteorological data of on-the-spot or on-the-spot outer surveillance, from whole plates.Then diagnostic system can compare this information and past operating data (1506) and compare (1507) with predefine safety operation scope.Irregular analysis can be used for determining the current health of independent assembly and/or preventative maintenance the (1508) of carrying out robot controller.
In order to determine the health (1502) of robot transmission pipeline, robot controller can be accessed the data (1509) of carrying camera or proximity sensor from the plate of the physical features that can check track.If find that abnormal as object arbitrarily reaches the perforation that on a large amount of dust accretions, a nest insect or track in track, in track section, the permission foreign body enters, robot controller can be to the scene or teleoperator's transmitted signal (1510).Scene or teleoperator can access live video from the camera of robot controller feedback in order to assess better its maintenance situation.
In order to determine the health of passive solar tracker or heliostat, robot controller can be accessed the data logging (1511) that generates by adjusting independent tracker.Its then can access the needed input torque/electric current of this measurement rotation regulating wheel amount data logging (1512) and understand the how in time change of this tolerance.If robot uses electromagnetic interface, determine that to the average current of this interface transmission this moment of torsion measures between can be by be recorded in the adjustment period.In an example, if diagnostic system recognizes the passive solar tracker that usually needs 95+/-6 ampere and need to begin suddenly 320+/-20 ampere to adjust during normal operating condition, its can think this independent passive homing device be functional disturbance and send warning (1513) to the on-site maintenance staff.Robot controller can also be used the health that checks and analyze independent solar tracker or heliostat based on the system of vision.This video input can be by direct repeating system to the health of site operation people with the assessment tracing system.If the moment of torsion of passive homing device/or current indication be in acceptable scope, can repeat for each the passive surface (101) under the control domain of robot this part (1503) of this process.
In order automatically to determine the health (1504) on independent PV or CPV surface, at first robot controller can move to independent tracker its optimum orientation (1515).Its then can with the devices communicating (1516) of the power stage of the independent string that can monitor central current transformer, header box or solar energy module.May only there be a module to activated owing to being engraved in when single in the system that robot controls in the module group, so that the power stage reading should keep is relatively constant.After setting up data link, robot can carry out searching algorithm (1517), wherein spirally mobile passive surface surveillance output simultaneously of robot in this searching algorithm.Then robot records maximum power point (1518) and adjusts tracker, thereby it is no longer in the face of the sun (1519).Diagnostic system can be measured the change (1520) of central current transformer, header box or the output of string grade.This Information Availability in by measure in central current transformer, header box or the output of string grade definite difference and with the specified output of this difference and module relatively (1521) determine the degeneration percentage of independent module with calculating degeneration percentage (1522).If change do not detected, this can indicate independent solar energy surface (101) to be helpless to total output of PV or CPV system.This module can be classified as defective and robot controller can be placed in particular arrangement this surface so that the potential problem (1523) of warning on-site maintenance staff with its adjustment interface.If degeneration percentage is in tolerance interval, can repeat for all surfaces under the control domain of robot this subprocess 1504 (1524).
Robot controller can also comprise that pre-programmed algorithm and security feature are to protect it oneself to avoid stealing and/or reverse engineering.Plate set controller and data storage cell can be encrypted to prevent control protocol and the access that is stored in the data in robot.In addition, can exist for detection of the sensor to the unauthorized access (comprise and attempt to open robot controller) of robot.Controller can be by notifying the teleoperator and/or wiping control algolithm and operating data responds this action.When arranging, can utilize the position of each robot and unique identifier to initialize each robot.No longer be in distribution locations if robot, site operation people or teleoperator detect robot, can take suitable action to obtain loss or stolen robot controller.
Although this paper illustrates and has described the specific embodiment of the present invention and application, but be appreciated that and the invention is not restricted to accurate structure disclosed herein and assembly, and under the premise without departing from the spirit and scope of the present invention, can make various improvement, change and distortion in configuration, operation and the details of method and apparatus of the present invention.

Claims (20)

1. robot controller that is used for controlling in response to the motion of a plurality of solar energy surfaces regulating wheel the position on a plurality of solar energy surfaces, each solar watch mask has the surperficial regulating wheel of corresponding solar energy, described robot controller is positioned on track, and described robot controller comprises:
Processing unit;
Position determination unit can be coupled to described processing unit communicatedly to be used for determining the position of described robot controller;
Drive system, be used in response to from the indication of described processing unit along the described robot controller of described rail moving;
Adjust and determine system, adjust parameter for first of the surperficial regulating wheel of the first solar energy that is identified for the surperficial regulating wheel of described a plurality of solar energy; And
Mating system is used for adjusting parameter based on described first and adjusts the surperficial regulating wheel of described the first solar energy.
2. robot controller as claimed in claim 1,
Wherein, with the described solar energy surperficial regulating wheel adjacent primary importance of the described robot controller of described position determination unit identification on described track; And
Wherein, described drive system is located described robot controller on described primary importance.
3. robot controller as claimed in claim 2, wherein, described robot controller comprises:
Hall effect sensor; And
Described position determination unit is utilized the magnetic flux letter between a solar energy surface regulating wheel in the regulating wheel of described hall effect sensor and described solar energy surface, with described robot controller location recognition be with described solar energy surface regulating wheel in the surperficial regulating wheel of a described solar energy adjacent.
4. robot controller as claimed in claim 3, wherein, described between described solar energy surface regulating wheel in described hall effect sensor and described solar energy surface regulating wheel communicated by letter the described solar energy surface regulating wheel in the regulating wheel of described solar energy surface is identified as described the first solar energy surface regulating wheel, and is described primary importance with described location recognition.
5. robot controller as claimed in claim 2, wherein, robot controller comprises:
Hall effect sensor; And
Described mating system is utilized the magnetic coupling between described hall effect sensor and the surperficial regulating wheel of described the first solar energy, adjusts parameter based on described first and rotates the surperficial regulating wheel of described the first solar energy.
6. robot controller as claimed in claim 1,
Wherein, described mating system comprises rack and pinion mechanism, can adjust parameter based on described first and automatically adjust described rack and pinion mechanism, and described mating system is adjusted described the first solar energy regulating wheel when described robot controller is moving.
7. robot controller as claimed in claim 1, wherein, the described track that described robot controller is passed seals to prevent entering significantly arbitrarily of dust or water.
8. robot controller as claimed in claim 1 also comprises:
Be used for advancing along described track the driving wheel of described robot controller.
9. robot controller as claimed in claim 1 also comprises:
Be used for the power storage system of power storage to described robot controller.
10. robot controller as claimed in claim 9, wherein, described power storage system is electrical energy storage.
11. robot controller as claimed in claim 9, wherein, described power storage system wirelessly recharges.
12. robot controller as claimed in claim 1 also comprises for the energy receiving equipment from described track received power.
13. robot controller as claimed in claim 12, wherein, described energy receiving equipment from described track inductively or the direct connection that uses described track come received power.
14. robot controller as claimed in claim 1, wherein, described position determination unit utilizes triangulation method to identify the described position of described robot controller, and described triangulation method receives the signal from least three equipment that are positioned near the described robot controller outside local.
15. robot controller as claimed in claim 1, wherein, described position determination unit comprises that the HA Global Positioning Satellite receiver is to identify the described position of described robot controller.
16. robot controller as claimed in claim 1 also comprises:
Atmosphere control system is set to receive signal from described processor in order to relax the environmental condition of described robot controller operation.
17. robot controller as claimed in claim 1 also comprises:
Communication system is used for wirelessly communicating by letter with at least one of central server, the second robot controller and/or central controller.
18. robot controller as claimed in claim 1 also comprises:
Camera is for detection of at least one in the direction on one or more described solar energy surfaces and/or described track abnormal.
19. one kind is used for robot controller and controls the method for the position on a plurality of solar energy surfaces in response to the motion of a plurality of solar energy surfaces regulating wheel, each solar watch mask has the surperficial regulating wheel of corresponding solar energy, described robot controller is positioned on track, said method comprising the steps of:
Determine the position of described robot controller;
Along described track, described robot controller is moved to the position of the surperficial regulating wheel of the first solar energy in the surperficial regulating wheel of contiguous described a plurality of solar energy;
Be identified for first of the surperficial regulating wheel of described the first solar energy and adjust parameter; And
Adjust parameter based on described first and adjust the surperficial regulating wheel of described the first solar energy.
20. method as claimed in claim 19 also comprises step: wirelessly communicate by letter with at least one in central server, the second robot controller and/or central controller.
CN201180041483.4A 2010-07-15 2011-07-13 Robotic heliostat system and method of operation Active CN103119380B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US36472910P 2010-07-15 2010-07-15
US61/364,729 2010-07-15
US41968510P 2010-12-03 2010-12-03
US61/419,685 2010-12-03
PCT/US2011/043905 WO2012009470A1 (en) 2010-07-15 2011-07-13 Robotic heliostat system and method of operation

Publications (2)

Publication Number Publication Date
CN103119380A true CN103119380A (en) 2013-05-22
CN103119380B CN103119380B (en) 2015-07-15

Family

ID=45465923

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201180041483.4A Active CN103119380B (en) 2010-07-15 2011-07-13 Robotic heliostat system and method of operation

Country Status (10)

Country Link
US (1) US20120012101A1 (en)
EP (1) EP2593726A4 (en)
JP (1) JP5995845B2 (en)
CN (1) CN103119380B (en)
AU (1) AU2011279154B2 (en)
BR (1) BR112013000735A2 (en)
CA (1) CA2804887A1 (en)
CL (1) CL2013000147A1 (en)
MX (1) MX336475B (en)
WO (1) WO2012009470A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107861525A (en) * 2017-12-07 2018-03-30 三峡大学 A kind of solar tracking device and method

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9631840B2 (en) * 2008-06-12 2017-04-25 Ronald P. Corio Single axis solar tracking system
AU2010303403A1 (en) * 2009-10-07 2012-05-03 Robert Orsello Method and system for concentration of solar thermal energy
CA2800095A1 (en) 2010-05-28 2011-12-01 Thomas Currier Heliostat repositioning system and method
AU2011336375B2 (en) * 2010-12-03 2017-03-30 Solarcity Corporation Robotic heliostat and calibration system and method
US8442790B2 (en) 2010-12-03 2013-05-14 Qbotix, Inc. Robotic heliostat calibration system and method
US9746207B1 (en) * 2011-03-16 2017-08-29 Solarreserve Technology, Llc Tracking modules including tip/tilt adjustability and construction features
US9494341B2 (en) * 2011-05-27 2016-11-15 Solarcity Corporation Solar tracking system employing multiple mobile robots
JP2014047952A (en) * 2012-08-30 2014-03-17 Babcock-Hitachi Co Ltd Solar heat collecting system, operating method for the same and power-generating plant having solar heat collecting system
US10006666B2 (en) 2012-10-18 2018-06-26 Solarflame Corporation Solar heat collecting apparatus and solar heat collecting method
JP6231737B2 (en) * 2012-10-18 2017-11-15 株式会社SolarFlame Solar heat collector
KR20140131090A (en) * 2013-05-03 2014-11-12 한국전자통신연구원 Method of managing reflecting plate for fruit tree and method using the same
FR3015650A1 (en) * 2013-12-20 2015-06-26 Amaterrasu DEVICE FOR POSITIONING A SOLAR WALL AND SYSTEM FOR CAPTURING SOLAR ENERGY COMPRISING SUCH A DEVICE
US9427872B1 (en) * 2014-12-21 2016-08-30 Google Inc. Devices and methods for encoder calibration
US10201901B2 (en) * 2015-01-29 2019-02-12 Canon Kabushiki Kaisha Robot apparatus, method for controlling robot, program, and recording medium
CN108602187A (en) * 2015-09-09 2018-09-28 碳机器人公司 Mechanical arm system and object hide method
US10126131B2 (en) * 2015-10-26 2018-11-13 Enphase Energy, Inc. Automated photovoltaic geospatial location
GB2571851B (en) 2016-11-16 2022-01-05 Walmart Apollo Llc Systems and methods to deter theft of commercial products
US11855581B2 (en) * 2017-07-18 2023-12-26 Polar Racking Inc. Solar panel support and drive system
US10439550B1 (en) * 2018-09-18 2019-10-08 Sebastian Goodman System and method for positioning solar panels with automated drones
JP7366655B2 (en) * 2019-09-10 2023-10-23 東芝テック株式会社 Contactless power supply system and power transmission equipment
DE102020125045B4 (en) 2020-09-25 2022-04-28 Deutsches Zentrum für Luft- und Raumfahrt e.V. Heliostat for solar power plants or solar concentrators, as well as solar systems
FR3129464B1 (en) * 2021-11-24 2023-11-17 Commissariat Energie Atomique Device and method for controlling a solar energy reflector, solar power plant equipped with such a device

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4509501A (en) * 1982-01-13 1985-04-09 Hunter Larry D Solar energy collecting system using a primary reflector based on a pyramid structure
US20030002201A1 (en) * 2001-06-29 2003-01-02 Storage Technology Corporation System and method for exchanging tape cartridges in an automated tape cartridge library system
US6587750B2 (en) * 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US20040202062A1 (en) * 2000-12-04 2004-10-14 Storage Technology Corporation Method and system for accessing multiple rows of media objects in an automated storage library using a single track robotic mechanism
US6898484B2 (en) * 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
CN1982752A (en) * 2005-12-14 2007-06-20 江志 Mechanical transmission with light-selector omnibearing motion driven and solar system thereof
CN201102245Y (en) * 2007-09-14 2008-08-20 强而青科技开发有限公司 Miniature solar robot
US20080308094A1 (en) * 2006-02-03 2008-12-18 Johnston Glen Trough reflectors for solar energy collectors
US20090320827A1 (en) * 2006-06-28 2009-12-31 Thompson Technology Industries, Inc. Solar array tracker controller
US20100082171A1 (en) * 2008-10-01 2010-04-01 Toru Takehara Network topology for monitoring and controlling a solar panel array

Family Cites Families (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4172443A (en) * 1978-05-31 1979-10-30 Sommer Warren T Central receiver solar collector using analog coupling mirror control
JPS5836885B2 (en) * 1979-05-18 1983-08-12 工業技術院長 How to adjust the angle of a plane mirror in a heliostat reflector
IN171673B (en) * 1987-09-24 1992-12-05 Rieter Ag Maschf
JPH06153489A (en) * 1992-11-11 1994-05-31 Sony Corp Spindle drive equipment
JP2678569B2 (en) * 1993-09-01 1997-11-17 慎一 秋山 Magnetic rotation transmission device
US5819189A (en) * 1996-04-12 1998-10-06 Hk Systems, Inc. Control system for a monorail vehicle
DE19615943A1 (en) * 1996-04-22 1997-10-23 Uwe Kochanneck Solar system
US5787878A (en) * 1996-09-23 1998-08-04 Ratliff, Jr.; George D. Solar concentrator
US6498290B1 (en) * 2001-05-29 2002-12-24 The Sun Trust, L.L.C. Conversion of solar energy
MXPA04004069A (en) * 2001-10-30 2005-01-25 Loeschmann Thomas Solar energy system.
US6959993B2 (en) * 2003-07-10 2005-11-01 Energy Innovations, Inc. Solar concentrator array with individually adjustable elements
JP2005269709A (en) * 2004-03-16 2005-09-29 Maguneo Giken:Kk Magnetic rotation transmitting unit and sealed agitator
KR20080058360A (en) * 2005-09-28 2008-06-25 톰슨 테크놀로지 인더스트리즈, 아이엔씨. Solar panel array sun tracking system
CN1828173A (en) * 2005-12-16 2006-09-06 高俊普 Solar energy water boiler robot
US7380549B1 (en) * 2006-08-21 2008-06-03 Ratliff George D Solar energy concentrator for power plants
US8122878B1 (en) * 2006-10-20 2012-02-28 Energy Innovations, Inc. Solar concentrator with camera alignment and tracking
TWI451577B (en) * 2008-07-02 2014-09-01 Sunplus Mmedia Inc Solar tracking device and method for tracking thereof
EP2161516B1 (en) * 2008-09-03 2011-11-16 Novatec Solar GmbH Solar thermal array
US8437875B2 (en) 2008-10-27 2013-05-07 Eusebio Guillermo Hernandez Outdoor home cleaning robot
JP4477685B1 (en) * 2008-12-26 2010-06-09 三井造船株式会社 Cleaning robot system and control method thereof
EP2396608A4 (en) * 2009-02-13 2015-01-28 Esolar Inc Heliostat field cleaning system
NZ575249A (en) * 2009-03-02 2011-06-30 Open Building Solutions Ltd Re-closable dust cover for track of support carriage of sliding door or window, with carriage constructed as a sliding fastener of cover
US8260460B2 (en) * 2009-09-22 2012-09-04 GM Global Technology Operations LLC Interactive robot control system and method of use
US8642936B2 (en) * 2009-10-01 2014-02-04 Yang Pan Intelligent solar energy collection system with a dedicated control device
US20110088684A1 (en) * 2009-10-16 2011-04-21 Raja Singh Tuli Solar Energy Concentrator
US20110209696A1 (en) * 2009-10-27 2011-09-01 O'rourke Gregory M Three point solar tracking system and method
MX2010002418A (en) * 2010-03-02 2011-09-15 Univ Mexico Nacional Autonoma Method and device for mirrors position adjustment of a solar concentrator.
CA2800095A1 (en) * 2010-05-28 2011-12-01 Thomas Currier Heliostat repositioning system and method
US8442790B2 (en) * 2010-12-03 2013-05-14 Qbotix, Inc. Robotic heliostat calibration system and method
US9020636B2 (en) * 2010-12-16 2015-04-28 Saied Tadayon Robot for solar farms
US8657991B2 (en) * 2011-02-08 2014-02-25 Chevron U.S.A. Inc. Robotic solar panel string assembly process

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4509501A (en) * 1982-01-13 1985-04-09 Hunter Larry D Solar energy collecting system using a primary reflector based on a pyramid structure
US20040202062A1 (en) * 2000-12-04 2004-10-14 Storage Technology Corporation Method and system for accessing multiple rows of media objects in an automated storage library using a single track robotic mechanism
US20030002201A1 (en) * 2001-06-29 2003-01-02 Storage Technology Corporation System and method for exchanging tape cartridges in an automated tape cartridge library system
US6587750B2 (en) * 2001-09-25 2003-07-01 Intuitive Surgical, Inc. Removable infinite roll master grip handle and touch sensor for robotic surgery
US6898484B2 (en) * 2002-05-01 2005-05-24 Dorothy Lemelson Robotic manufacturing and assembly with relative radio positioning using radio based location determination
CN1982752A (en) * 2005-12-14 2007-06-20 江志 Mechanical transmission with light-selector omnibearing motion driven and solar system thereof
US20080308094A1 (en) * 2006-02-03 2008-12-18 Johnston Glen Trough reflectors for solar energy collectors
US20090320827A1 (en) * 2006-06-28 2009-12-31 Thompson Technology Industries, Inc. Solar array tracker controller
CN201102245Y (en) * 2007-09-14 2008-08-20 强而青科技开发有限公司 Miniature solar robot
US20100082171A1 (en) * 2008-10-01 2010-04-01 Toru Takehara Network topology for monitoring and controlling a solar panel array

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107861525A (en) * 2017-12-07 2018-03-30 三峡大学 A kind of solar tracking device and method
CN107861525B (en) * 2017-12-07 2023-03-31 三峡大学 Sunlight tracking device and method

Also Published As

Publication number Publication date
MX2013000499A (en) 2013-06-05
WO2012009470A1 (en) 2012-01-19
CL2013000147A1 (en) 2013-11-08
WO2012009470A8 (en) 2012-06-21
AU2011279154B2 (en) 2015-06-18
CA2804887A1 (en) 2012-01-19
JP5995845B2 (en) 2016-09-21
US20120012101A1 (en) 2012-01-19
JP2013535641A (en) 2013-09-12
EP2593726A1 (en) 2013-05-22
BR112013000735A2 (en) 2016-05-24
CN103119380B (en) 2015-07-15
MX336475B (en) 2016-01-20
EP2593726A4 (en) 2017-05-03
AU2011279154A1 (en) 2013-01-24

Similar Documents

Publication Publication Date Title
CN103119380B (en) Robotic heliostat system and method of operation
CN103097829B (en) System and method reorientated by heliostat
CN104020768B (en) Infrared temperature measurement track inspection robot
US8442790B2 (en) Robotic heliostat calibration system and method
CN104391506A (en) Transformer station guide rail type inspection robot
CN102063746B (en) Program-controlled patrol machine and program-controlled patrol method for transformer station
CN101667322B (en) Disaster relieving system and method
CN105403931B (en) A kind of hybrid scheme airfield runway foreign body detecting system
CN106849355A (en) A kind of transformer station's detecting system based on X-ray machine people
CN108319265A (en) The control system and method for a kind of ground running robot for electric power computer room inspection
JP6232032B2 (en) Robot heliostat calibration system and method
SE0601854L (en) Detector and alarm system for monitoring of moving objects
CN105978619B (en) Unattended continental rise ADS-B receiving station and monitoring system
CN116652902A (en) Intelligent inspection robot for rail-mounted tunnel
CN202025364U (en) Programmable control inspection machine for substation
CN206757363U (en) The transformer substation operation safety detecting system positioned based on laser scanning and ultra wide band
Zhang et al. Safety monitoring system design based on acousto-optical-image measurement sensors in underground pipe gallery
JP2006350600A (en) Moving monitoring robot
CN219656927U (en) Hydraulic engineering flood prevention alarm device
CN201532551U (en) Disaster rescue system
US20230139317A1 (en) System and method for wireless transmission of energy
Zhao Design of Inspection Robot System for Mining Belt Conveyor
JP2023070948A (en) Intrinsically safe explosion-proof type detection system
CN117047795A (en) Robot system and robot of patrolling and examining of nuclear power station intelligence
KR20210104423A (en) RFID Auxiliary Sensor System for Train Autonomous Driving

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20151223

Address after: American California

Patentee after: SILEVO, Inc.

Address before: California, USA

Patentee before: Kebotix

CP01 Change in the name or title of a patent holder

Address after: California, USA

Patentee after: Tesla Corp.

Address before: California, USA

Patentee before: Tesla Motors, Inc.

CP01 Change in the name or title of a patent holder
TR01 Transfer of patent right

Effective date of registration: 20191023

Address after: California, USA

Patentee after: Tesla Motors, Inc.

Address before: California, USA

Patentee before: SILEVO, Inc.

TR01 Transfer of patent right