CN103119380B - Robotic heliostat system and method of operation - Google Patents
Robotic heliostat system and method of operation Download PDFInfo
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- CN103119380B CN103119380B CN201180041483.4A CN201180041483A CN103119380B CN 103119380 B CN103119380 B CN 103119380B CN 201180041483 A CN201180041483 A CN 201180041483A CN 103119380 B CN103119380 B CN 103119380B
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- robot controller
- solar energy
- regulating wheel
- energy surface
- robot
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/45—Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
- F24S30/452—Vertical primary axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/50—Preventing overheating or overpressure
- F24S40/52—Preventing overheating or overpressure by modifying the heat collection, e.g. by defocusing or by changing the position of heat-receiving elements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S2030/10—Special components
- F24S2030/11—Driving means
- F24S2030/115—Linear actuators, e.g. pneumatic cylinders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S2030/10—Special components
- F24S2030/13—Transmissions
- F24S2030/134—Transmissions in the form of gearings or rack-and-pinion transmissions
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- Y—GENERAL 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings 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
related application
This application claims the priority of the U.S. Provisional Application number U.S. Provisional Application that on December 3rd, 61/364,729 and 2010 submits submitted on July 15th, 2010 numbers 61/419,685, by way of reference their entirety is incorporated to herein.The application relates to U.S. utility application 13/118,274, its entirety is incorporated to by way of reference herein.
Technical field
The present invention relates to solar-tracking and calibrator (-ter) unit, and relate to particularly for needing the reorientation continued to maintain the tracing system of photoelectricity, optically focused photoelectricity and the Photospot solar therrmodynamic system of aiming at the sun.
Background technology
In order to attempt reducing the price of solar energy, make about to reduce for accurately reorientation and calibration has many exploitations of the cost on the surface of two frees degree.In Photospot solar therrmodynamic system, heliostat array utilizes twin shaft re-orientation mechanism, by making the normal vector of heliostat be halved at the angle between current position of sun and target, by sunlight-redirector to arriving central tower.Then the heat generated from central tower can be used for creating the steam for commercial Application or the electric power for utility network.
Optically focused photoelectricity (CPV) system utilizes the advantage of double-shaft mechanism to realize so a kind of position, and wherein in this position, the normal vector on CPV surface overlaps with solar position vector.When aliging with the sun in CPV surface, daylight can be condensed to small-sized efficient photocell by internal optics.
Twin shaft navigation system also allows dull and stereotyped photoelectricity (PV) system to produce more power by solar-tracking.Compared with constant tilt system, the energy of the raw 35-40% of the annual fecund of twin shaft PV system.Although this energy production increase looks like attractive, current techniques is by increasing 40-50% by total system fund and maintenance cost, and the value that the double-shaft solar that marginalizes is followed the trail of.
For to control and traditional technical scheme of calibrating the problem on independent surface falls into one of following three primary categories: 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 for controlling and calibrating the electronic system on each surface.In addition, all components must have life-span of more than 20 years and this system needs to seal for harsh installation environment.In dispersion for controlling in the trial of fixed cost on independent surface, the thought of the conventional project teacher in individually actuating example sets up 150 square metres of (m
2) heliostat and the PV/CPV tracker of 225 square metres.To be lowered in this size although control cost, large tracker will bear the iron and steel of increase, ground and installation requirement.
Another kind method attempts solving this problem of fixedly controlling cost by group being formed on multiple surface together by hawser or mechanical linkages.Although this disperses motor activated cost effectively, it proposes strict requirement for land grade, greatly complicated installation process, and causes larger iron and steel cost due to the flintiness of necessity of this mechanical linkages.Because constant ground is settled and imperfection in the manufacture and installation, heliostat and CPV system need independent adjustment, and this increases system complexity and maintenance cost.
When with individually actuating or when tying compared with group's system, hydraulic pressure, bimetallic strip or biomimetic material is utilized to be limited to dull and stereotyped photovoltaic applications to the passive system following the trail of the sun and to perform poor.In addition, these systems can not perform the back-track algorithm for optimizing solar energy field for energy output and covered ground ratio.
Summary of the invention
A kind of robot controller for controlling the position on multiple solar energy surface in response to the motion of multiple solar energy surfaces regulating wheel, each solar watch mask has corresponding solar energy surface regulating wheel, this robot controller is positioned on track, and this robot controller comprises: processing unit; Be communicatively coupled to this processing unit for the position determination unit of position determining this robot controller; For in response to the instruction from this processing unit along the drive system of this this robot controller of rail moving; For determining the adjustment certainty annuity of the first adjustment parameter of the first solar energy surface regulating wheel of the plurality of solar energy surface regulating wheel; And for adjusting the mating system of this first solar energy surface regulating wheel based on this first adjustment parameter.
Show and describe concrete embodiment of the present invention and application herein, to be appreciated that, the invention is not restricted to precise arrangements disclosed herein and assembly, and under the prerequisite not departing from the spirit and scope of the present invention described in claim, various improvement can be made in the configuration of method and apparatus of the present invention, operation and details, change and distortion.
In one embodiment, the present invention can be used in conjunction with heliostat or solar tracker, wherein the microprocessor of heliostat or solar tracker, azimuth drives, the elevation angle drives, central control system and wiring are removed.By eliminating these assemblies, allow great cost to reduce compared with conventional system, and create the 4th actuating example: there is passive robot controlling initiatively.In this mode, individual machine people controller is born for calibration in the 3 d space and is adjusted the function responsibility on two or more solar energy surfaces.
In the second embodiment of the present invention, a kind of robot controller can move and control the rotation of the one or more regulating wheels close to aforementioned surfaces exactly between passive solar energy surface.These regulating wheels can be connected to axle that is hard or flexibility, and wherein this axle can be routed to gear train, screw component or directly arrive solar energy surface.Rotary input motion is converted to the movement on solar energy surface by this gear train, screw component or Direct Driving System.If this gear train, screw component or Direct Driving System can reverse drive, then additional regulating wheel can be used for activating arrestment mechanism.This robot controller can by the control of one or more regulating wheel, reorientation solar energy surface in one or two axle, and therefore substitute more than 100 groups wiring, motor, central controller and calibrating sensors.This also eliminates for driving the core engineering of large-scale heliostat and solar tracker to bear---the high, relatively-stationary of each surface is controlled cost.
Because independent robot must stand 5 to 8 hundred ten thousand adjustment cycles every year, desirable adjustment interface will not use contact to control the position of regulating wheel.In the third 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, then the regulating wheel interface of this robot controller can not comprise moving-member.
In the 4th embodiment, this robot controller can before adjustment, this position of period and sensing regulating wheel afterwards.This can making for realizing by the different magnet on the hall effect sensor on this robot controller or this regulating wheel or sheet metal.Metal detection method includes but not limited to: very low frequency (VLF), pulse induction (PI) and beat frequency oscillator (BFO).Robot can also use optical, electrical magnetic or physical markings system and method for sensing to determine the present position of regulating wheel.This interface also can be used for detecting independent station, solar energy surface, to reduce the complexity of independent robotic station's sensing mechanism.
In the 5th embodiment, the rapid adjustment for solar energy surface optimizes this robot controller.Robot adjuster can be analyzed rapidly: 1) this robot controller position in the 3 d space, 2) it in the 3 d space with solar watch relation of plane, 3) based on the current position of sun of time of day and position, and 4) the sensing position of wishing.After these four variablees known, this robot controller can calculate the necessary adjustment amount for independent solar energy surface.For PV and CPV application, can directly towards the sun or surperficial by the best angle that defines of backtracking control algolithm points to this solar energy.In addition, for PV application, robot can utilize depend on position, date and time information existing method to determine the position of the sun and to point to PV panel in an open-loop manner.Angle between the sun and central tower is divided into two needing this solar energy surface by heliostat power Tower System.Because this solar energy surface will not be continuously updated, optimum position in some applications by arrange this surface make this surface will be between adjustment optimum orientation midway.If the best elevation angle such as during adjustment is 26 degree, and the new maximum when follow-up adjustment is 27 degree, then this surface can be arranged in the inclination of 26.5 degree by robot controller.
After a computation, this robot controller can use plate to carry adjustment interface to control the position on solar energy surface.Final step in the process of robot controller is the distance analyzing adjacent adaptation stations, and utilizes plate to carry or external drive mechanism carrys out reorientation it self so that follow-up adjustment.
In the 6th embodiment, two of robot controller, three or more grades may be used for the field on reorientation solar energy surface economically.Top and the robot controller of the most expensive grade can comprise accurately calibration and adjust the necessary whole mechanism in field on solar energy surface.Middle grade robot controller can comprise whole mechanism required for reorientation solar energy surface and will be constructed to stand 10 years or more the execute-in-place in year.The functional unit that 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 for initial calibration and recalibration object.Middle grade robot controller may be used for normal operating and adjusts solar energy surface by based on the input from top robot controller.Inferior grade robot controller to may be used in emergency and will allow fast and the emergency of low cost defocuses and/or wind carries.
In the 7th embodiment, the field of robot controller is via wireless network, direct link system, external switch or store data by or surperficial group of solar energy surperficial close to independent solar energy, communicates each other and/or with central controller system.
In the 8th embodiment, this robot controller comprises multiple regulating wheel interface, thus side by side can adjust multiple solar energy surface.
In the 9th embodiment, this robot controller can without the need to stopping the position just controlling independent one or more regulating wheels.This can use rack-and-pinion system to realize, and wherein this rack-and-pinion system uses contact, magnetic and/or electromagnetically carrys out spinning regulating wheel.
In the tenth embodiment, this robot controller can be moved between stations by GT tube, enters to prevent large object, water and dust.Robot controller can also be wished by airtight to increase another entering redundant layer.
In the 11 embodiment, can routing machine people transfer tube, thus this robot controller easily can turn back to middle position.
In the 12 embodiment, two or more robot controllers can adjust one group of solar energy surface.This allows this solar energy surface relocation system redundancy when individual machine people fault.
In the 13 embodiment, this robot controller can comprise and utilizes the plate of radiator, active cooling/heating system and humidity control mechanism to carry atmosphere control system to maintain stationary temperature and environment for intraware.This system is carried in the useful life of stored energy mechanism particularly useful at the various plate of prolongation.
In the 14 embodiment, can wirelessly charge this robot controller.If solenoid is for controlling the rotation of this regulating wheel, then this interface can be reused in charging panel in proximity and carry energy storage system.
In the 15 embodiment, robot controller can comprise the diagnostic system that health plate can being carried assembly is relayed to other robot controller and/or central control system.This diagnostic system can by rule and periodically message communicating get back to teleoperator or access as required.Quality assurance in the field that this system also can be used for passive homing device or heliostat because this robot can Active measuring for the amount of the moment of torsion and energy that control the position of the regulating wheel on solar energy surface.This system is also used in the defects detection in the situation of the regulating wheel that can not rotate solar energy surface.This robot controller can also utilize plate set sensor to determine whether this robotic transfer pipe has any fault.
In the 16 embodiment, the fault solar energy surface for PV and CPV application can be detected.In this mode, this robot controller can communicate the current output of the field determined from solar energy surface with central power gathering system.If single solar energy surface rotates depart from the sun, and central power gathering system does not detect that power stage changes, then this robot controller can think that this solar energy surface is flaw.This solar energy surface can also be placed in particular orientation by it, to warn on-site maintenance staff PV or CPV system jam.
In the 17 embodiment, various pre-programmed control protocol and algorithm can be merged in this robot controller to process various field grade situation.Also these robot control algorithms can be upgraded by on-the-spot or teleoperator.
In the 18 embodiment, various security feature can be merged to prevent reverse-engineering and stealing in this robot.This robot can also comprise tracking feature to allow to recover to lose or stolen robot.
The feature and advantage described in description 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, it should be noted that, in principle in order to easily and the object introduced select and be not the language that object in order to define or limit invention theme is selected to use in description.
Accompanying drawing explanation
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 by the explanation on the passive solar energy surface of accurate reorientation.
Fig. 2 is the explanation of do not need gear reduction unit to be converted to by the rotary input motion from one or more regulating wheel passive solar tracker that the list on solar energy surface or twin shaft control or heliostat according to the embodiment of the present invention.
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 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 robot controller according to the embodiment of the present invention.
Figure 10 is the robot controller with multiple regulating wheel interface according to the embodiment of the present invention.
Figure 11 is the explanation that just can control the robot controller of regulating wheel in adaptation stations without the need to stopping according to the embodiment of the present invention.
Figure 12 be for show according to the embodiment of the present invention can in the system with multiple solar energy surface the mode of routing machine people transfer tube.
Figure 13 is the explanation of the atmosphere control system for robot controller according to the embodiment of the present invention.
Figure 14 is that the Wireless power transfer interface that utilizes according to the embodiment of the present invention carrys out 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 only describes various embodiment of the present invention for illustrative purposes.Those skilled in the art will easily recognize the interchangeable embodiment can applying structure as herein described and method under the prerequisite not departing from principle of the present invention as herein described from discussion hereafter.
Detailed description of the invention
With reference now to accompanying drawing, the preferred embodiment of the present invention is described, the element that wherein identical in the accompanying drawings Reference numeral instruction is identical or functionally similar.And in the accompanying drawings, the leftmost numeral of each Reference numeral corresponds to the accompanying drawing using this Reference numeral first.
In the description for " embodiment ", " the first embodiment ", " the second embodiment " or mean to be included at least one embodiment of the present invention in conjunction with the specific features described in this embodiment, structure or feature for quoting of " embodiment " (such as).The appearance in phrase " embodiment ", " the first embodiment ", " the second embodiment " or " embodiment " (such as) various places in the description need not all relate to identical embodiment.
Represent according to about the algorithm of the operation on the data bit in computer storage and symbol, provide the some parts of hereafter detail specifications.These arthmetic statements and expression are that the those of skill in the art of data processing field are for conveying to the means of others skilled in the art most effectively by the essence of their work.Algorithm here, and be usually envisioned for be a kind of cause desired result from consistent sequence of steps.This step is the step of the physical operations needing physical quantity.These physical quantitys usually but be not must take to store, transmit, combine, compare and the form of optical, electrical, magnetic signal of other operations.Sometimes mainly for the reason of common use, these signals are called that bit, value, element, symbol, character, item, quantity etc. are easily.In addition, under prerequisite without loss of generality, sometimes the particular arrangement of the step of the expression of the distortion or physical quantity that need physical operations or physical quantity is called that module or code device are also easily.
But all these and similar term will be associated with suitable physical quantity and be only the convenient labels being applied to this tittle.Except non-specific statement, otherwise as apparent from the following discussion, should understand and run through whole description, the action and the process that utilize the term of such as " process " or " calculating " or " calculation " or " determination " or " display " and so on to relate to a kind of like this computer system or similar electronic computing device (such as specific computing machine) are discussed, wherein this computer system or similar electronic computing device operate and convert the register or memory or other this information storages that are represented as computer system, the data measured of physics (electronics) in transmission or display device.
Specified scheme of the present invention comprises the process steps and instruction that describe with the form of algorithm herein.It should be noted that, process steps of the present invention and instruction can be realized can being downloaded in software, firmware or hardware and when realizing in software being positioned on the different platform that used by various operating system and to be operated by it.The present invention can also be arranged in the computer program code that can perform on a computing system.
The invention still further relates to the device for performing operation herein.Can construct this device particularly for the object of such as concrete computer, or it can comprise the all-purpose computer optionally being activated by the computer program stored in a computer or reshuffled.This computer program can be stored the medium of any type comprising 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) such as but not limited to the disc of any type in a computer-readable storage medium or be applicable to store electrons instruction, and each in them is coupled to computer system bus.Memory can comprise any above equipment and/or can other equipment of store information/data/program.In addition, the computer related in description can comprise uniprocessor or can be that the multiple CPU design of application is to increase the framework of computing capability.
The algorithm provided herein and display do not relate to computer concrete arbitrarily or other devices inherently.Various general-purpose system also can be used for according to the program of instruction herein or can construct more special device easily and carry out manner of execution step.The change of these systems will be manifested from following description.In addition, with reference to programming language concrete arbitrarily, the present invention is not described.Will recognize, various programming language can be used for realizing instructing as of the invention described herein, and provides hereafter for any reference of concrete syntax in order to object disclosed in realization of the present invention and optimal mode.
In addition, in order to object that is readable and that illustrate totally selects the language that uses in description, and be not selected as defining or limiting subject matter.Therefore, disclosing of this paper is applicable to illustrate instead of limit the scope of the invention.
With reference now to accompanying drawing, Fig. 1 describe not there is independent microprocessor, azimuth drive motor, elevation drive motor, central control system, backup battery or calibrating sensors can by the passive surface (101) of accurate reorientation.Two regulating wheels (102) controlled by individual machine people controller can activate this system by flexible or hard driving shaft (103).Described system uses the in rotary moving of flexible cable self-retaining regulating wheel in future to convert azimuth gear train (104) and elevation angle screw component (105) to.Fixed adjustment wheel is wished because their allow can along the relatively simply robot controller of track or pipeline (106) movement.But this design restriction not necessarily, arranges path because robot controller does not need to be subject to and freely can move throughout the field on solar energy surface.
Robotic transfer's track can comprise the hollow square or circular pipe that are manufactured by aluminium, steel, non-non-ferrous metal, non-ferrous metal, plastics or composite.Can support this passive solar energy surface by base type in large quantities, this foundation type includes but not limited to: drive table (107), fot screw, ballast or simply by door bolt on rigid surface.Robotic transfer's pipeline also can serve as the base support on independent passive solar energy surface.
Fig. 2 illustrates the embodiment of do not need the rotary input motion of gear reduction unit in the future self-adjusting wheel (102) to convert to passive solar tracker that the single shaft on solar energy surface or twin shaft control or heliostat.Directly can activate this system by flexible drive shaft (103) in the mode of tip-tilt.In one embodiment, flexible drive shaft is directly connected to by the pin connector (201) being firmly fixed to a rotating shaft.Therefore the rotation of regulating wheel changes the rotation on solar energy surface on an axle in the mode of 1: 1.This system can utilize frictional force to lock the position on solar energy surface or to utilize above-cited number of patent application 13/118, other active arrestment mechanisms described in 274.
Fig. 3 illustrates the core with the passive system of initiatively robot controlling of the present invention and activates example.Robot controller (301) can promote it oneself along track (106), stops and using plate to carry rotation that regulating wheel interface (302) accurately controls the one or more regulating wheels (102) being connected to aforementioned solar energy surface near solar energy surface (101).Each regulating wheel is connected to the axle that can be routed to the hard or flexibility holding the design of many passive homing devices.The feature that the present invention pays close attention to robot controller is to guarantee that regulating wheel is by reliably and accurately reorientation.
Wish to provide a large amount of input torque to reduce the gear reduction required for reorientation solar energy surface to regulating wheel.The method of adjustment based on contact can be used, but often there is the alignment of poor station, mechanical fatigue and be difficult to seal with installation environment.If necessary, then robot controller can use such as actively mechanically engage, rub or based on the system of suction with the rotation of Mechanical course regulating wheel.
Fig. 4 shows an embodiment of the non-contact interface between robot controller and regulating wheel (102).This system uses the electromagnet (401) controlled independently to carry out 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 the permanent magnet in regulating wheel and/or the permanent magnet on robot controller (301).Utilize permanent magnet or can rotary drive system be connected to so that spinning regulating wheel based on the system of the adjustment interface of contact.Utilize the system of the electromagnet on robot controller side can be solid-state.In many embodiments, the adjustment interface using electric current to control the rotation of regulating wheel uses electromagnet, and it seems it is the most effective from the viewpoint of energy use and lifetime of system, to reduce regulating wheel interface to simplify axial flux or induction conductivity, wherein expensive assembly is included on robot controller.
Fig. 4 also show can comprise for before adjustment, afterwards and period detect the robot controller of system in the direction of regulating wheel.These systems can utilize one or more sensor (403) to detect the position of the not isolabeling (404) in regulating wheel.The type of mark includes but not limited to magnetic or metal material, physics sawtooth or can by the mark of optical, electrical magnetic or the identification of electrostatic 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, and between adjustment, do not rotate this takes turns.
Fig. 5 describes the summary of the assembly of the robot controller according to an embodiment of the invention.As can be seen from this figure, robot has and keeps its alignment and advance its idle pulley (501) and driving wheel (502) along closed orbit.These idle pulleys can be spring loaded, robot controller to be inserted to one or two side of this track.This robot controller can also comprise calibrated cameras (503) and structured luminescence mechanism, to find the direction on solar energy surface in the 3 d space.For the system/embodiment utilizing closed orbit, window or the track near solar energy surface can be arranged in for other openings that CF is transparent.This window allows calibrated cameras to observe the downside on solar energy surface.In robotic transfer's pipeline, punching can create this window.In order to allow track to keep sealing, this hole can be covered with a sheet glass, plastics or other transparent materials.
In order to reorientation solar energy surface, robot controller must can control the position of one or more regulating wheel.This can making for completing by the adjustment interface of the solid-state solenoid (401) of activation/deactivation independently by comprising.Regulating wheel turn-sensitive device (403) can allow the present position of robot controller determination regulating wheel.Other assemblies do not described of robot controller can include but not limited to independent station detecting unit, the whole world or relative position find unit, inner distribution, central processor unit, motor driving controller, drive motor encoder, plate carries atmosphere control system, battery management system, based on the charging system of contact, induction charging system, Proximity Sensor, data-storage system, for electric capacity storage system and the wireless data transmitter/receiver of regenerative braking object.The accurate placement of these assemblies depends on embodiment and different, because they can be loaded in the scope of robot controller with many configurations.
Fig. 6 shows the operating process of the robot controller according to an embodiment of the invention.This operating process shows that individual machine people's controller (301) can the how multiple solar energy surface (101) of reorientation.The function responsibility of this robot controller is that the one or more regulating wheels (102) combined near solar energy surface work, to maintain the direction on independent solar energy surface suitably.
When placement machine people controller first, its initial object understands its environment and its passive homing device/heliostat that will control.This moves from robot controller towards regulating wheel (601) and continues search near the braking point (602) of solar energy surface placement.This point can be the real marking on such as beam, magnet or metalwork.If there is real marking on beam, then can equip robot controller to detect this point with camera.If this braking point is magnetic or metal, then can carry out assembly robot controller with hall effect sensor or metal detector, to find this braking point.In one embodiment, the label for rotation sensing in regulating wheel or regulating wheel can be used as braking point.After 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, the application of motor brake, regenerative braking or these arrestment mechanisms.When equipment is decelerated, robot controller search finally adjusts point (604).After finding this point, its application is braked completely and himself is entered and stops (605) completely.
Robot controller, after himself being alignd suitably with one or more regulating wheel, finds the relative direction on it and solar energy surface.If this is robot controller access concrete solar energy surface adaptation stations first, then can arrange, by solar energy surface " zero " by solar energy surface being adjusted to zero slope and the rotation of zero degree azimuth or another definition.In order to realize this target, robot controller can engage regulating wheel (606) and start to rotate its (607).When, upon rotating, 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 for preventing the hard calibration by rotating over zero point from stopping.In such systems, no longer can after rotating wheels, robot controller can stop attempting adjustment System (609).In order to prevent passive surface or the damage of gear train attaching to passive surface, the regulating wheel interface of robot controller can comprise the mechanism for preventing this system from transmitting breakdown torque amount.
For the application not needing very large accuracy, robot controller can use these stoppings and the quantity that during being recorded in operation every day, regulating wheel rotates apart from initial calibration point, to estimate the current direction on surface.For applying more accurately, robot can also use structuring or natural lighting camera to analyze below solar energy surface, to determine its relative direction in the 3 d space.After obtaining this information, it is relayed to central processing unit to analyze.
Depend on Application of Solar Energy, may there is a need in X, Y and Z coordinate, find out the absolute of solar energy surface or relative position.This can utilize the plate of the triangulation system had for utilizing in solar energy surface field three positions to carry GPS unit to realize.In this second method, robot controller can transmit and measure the time delay from each defining point this.Use this information, its relative position can be determined for other assemblies in the field on solar energy surface.
Central authorities' process can be analyzed now and finds the input of unit, internal clocking from calibrated cameras, position and the known gears of itself and passive solar tracker/heliostat to be slowed down and known field geometric form combines (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 from the calibrated cameras of robot, position and/or can be used for direction in the 3 d space, approximate solar energy surface from the history adjustment information of past adjustment.In one embodiment, the passive solar tracker driven by regulating wheel or heliostat have anti-reverse drive characteristic.These systems only need primary calibration because wind and other power can not between adjustment mobile solar energy surface.
PV and CPV application can use and reach five information so that suitable reorientation.Distance between the direction of the direction on solar energy surface, the position of the sun, adjacent tracker, tracker and the size on predefined tracker region and solar energy surface.Standard solar-tracking algorithm only can need first and second information, but robot uses other three information correctly to perform backward tracing control algolithm.Therefore these algorithm optimization solar energy field so that shade between minimum tracker, and understand the shade that the current shade that generated by adjacent tracker and independent solar tracker will project on its neighbours.Here entirety is incorporated to Mack herein by way of reference, solar engineering: http://www.rw-energy.com/pdf/yield-of-s_wheel-Almansa-graphics. pdf finds the more details about backward tracing.
Heliostat application needs robot to find from the surperficial vector to solar energy target of solar energy.This can by finding the position on solar energy target and solar energy surface to realize in the whole world or relative coordinate plane.After the change of hope calculating solar energy surface location, the known gears that passive system analyzed by central processing unit slow down with determine should by by mechanically or the magnetic linkage regulating wheel of receiving solar energy surface rotate how many degree (612).
For not having inherent frictional force brakes or anti-reflective to the passive homing device of drive characteristic or heliostat, initiatively solar energy surface arrestment mechanism may be necessary.For these systems, this robot controller was deactivated this brake before this regulating wheel of rotation.Another regulating wheel can be utilized to activate this brake.Then robot controller can use its regulating wheel interface to rotate one or more regulating wheel.In one embodiment, robot controller have multiple can by the solenoid activated independently or in a cluster.This system can by controlling the rotation (613) of metal or magnetic regulating wheel as axial flux or inductor motor sparking using this coil.This coil can by touch system fire or the feedback (614) of regulating wheel sensing mechanism that can obtain the instant number of degrees from the rotation for determining regulating wheel.
After adjustment completes, if needed, central processing unit can send signal to activate this arrestment mechanism.This heavy engaging gear arrestment mechanism and prevent external force from changing the direction on solar energy surface until its next one from robot controller adjusts.As the final step of this process, robot controller can use plate to carry proximity transducer or pass by operation history to determine its current end (615) whether being in the row on solar energy surface.If so, then it can oppositely movement, until it arrives the first solar energy surface adjustment point (616).If not, then controller can repeat this adjustment circulation (617).Be also noted that the end that may connect robot transmission pipeline, thus it forms continuous print loop.In this embodiment, robot controller by continuation cycle machine people's transmission pipeline until night or stop safeguarding.
Determine that the processor of the behavior of robot controller and its sub-component can be located immediately on robot controller, be arranged in central processing station place or on another robot controller of field being positioned at solar watch face.Carry if processor is not plate, then robot controller may need wireless or immediate data link to receive operational order.
After surperficial one day of adjustment solar energy, robot controller may need the plate recharging it to carry stored energy mechanism.It likely recharged this system twice or more time in one day.
May wish that the robot controller of three or more grades is to adjust the field on solar energy surface.Fig. 6 illustrates the operating process of top robot controller.This robot can carry out work in conjunction with more uncomplicated robot controller.The object of top robot controller is to allow position to find the removal from middle grade and inferior grade robot controller of unit and calibrated cameras.In one embodiment, the field on solar energy surface only can use a top robot controller (if existence) and therefore by removing expensive assembly from this unit, can greatly reduce total system and robot controller alternative costs.
Fig. 7 shows the operating process of the more uncomplicated middle grade robot controller according to an embodiment of the invention.The Main Differences of this unit and the top robot controller described in Fig. 6 is that this adjuster does not have calibrated cameras or position finds unit.Find that unit and the data storage cell for the last known direction storing independent solar energy surface bear the function responsibility that calibrated cameras and position find unit by the data for communicating with other robot or central control station.When middle grade robot controller is not first with passive solar energy surface interaction and before having during data point, it can suppose this top robot controller correctly " zero " solar energy surface.
Different from top robot, from data storage cell instead of position, middle grade robot controller finds that unit obtains it for adjusting the input (701) of position a little.It also carries the relative direction on data storage cell and hall effect sensor instead of accurate calibrated cameras determination solar energy surface from plate.Data storage cell stores the quantity rotated from the regulating wheel at zero point, and regulating wheel sensing mechanism takes turns for determining the definite number of degrees (702) rotated.These data combined with known gears deceleration may be enough to be used in middle grade robot controller and come direction in the 3 d space, approximate solar energy surface.Due to middle grade robot controller do not have for directly determine solar energy surface really butt to method, so it can save the number of degrees of the regulating wheel rotation performed for one or more regulating wheel, therefore it can correctly be redirected solar energy surface in adjustment in the future.
After surperficial one day of adjustment solar energy, robot controller may need the plate recharging it to carry stored energy mechanism.It likely recharged this system twice or more time in one day.
Fig. 8 shows the operating process of the more uncomplicated inferior grade robot controller according to an embodiment of the invention.The object of inferior grade robot controller is similar with the spare tyre for automobile---and it is only for emergency.3rd class robot controller allows low cost and wind carries (wind stow) program fast.Its high speed emergency being also allowed for heliostat application defocuses program.This robot controller can have the operating process similar with the middle grade robot controller described in Fig. 7, but its may only need one adjust interface passive solar tracker or heliostat are moved to this wind carry position and will not need by the long-life set up.
During emergency procedure, inferior grade robot controller will not need the current location knowing solar energy surface, solar energy surface only must by otherwise a) move 2-5 degree away from its current location, or b) be moved to horizontal wind and carry position.It can have plate and carry airspeedometer to determine current wind speed or can be connected to inferior grade robot controller transmission signal to start the central network (801) that urgent wind carries program.This program start from robot controller move it oneself near independent solar energy surface, stop the regulating wheel (605) near solar energy surface and regulating wheel rotated predetermined rotation quantity (802).It can also determine whether regulating wheel stops the rotation (614) by Use Adjustment wheel sensing mechanism (403).If stopped the rotation, then this can indicate inferior grade robot controller to drive passive solar tracker or heliostat to enter its wind and carry hard stop.
Process for promptly defocusing even can be simpler than the process of carrying for urgent wind.An object of this program is the image of heliostat to remove from solar energy target, and inferior grade robot controller only needs the position that can change multiple solar energy surface fast.
Fig. 9 illustrates can by the field of robot controller for each other and/or the certain methods communicated with centralized network.These methods include but not limited to: RFDC (901), immediate data link (902), external switch or surperficial or passive solar energy surface group storage information (903) by close independent passive solar energy.For RFDC, each robot controller (905) can be equipped with the electromagnetic frequency transmitter that can communicate with other robot (301) or centralized network and/or receiver (904).
For immediate data transmission, each robot controller can be equipped with contact that can be mutual with the contact in other robot or centralized data cell.When these systems carry out physical contact, can from an equipment to another equipment transfering data.
People or robot site operator can activate special characteristic corresponding with specific preprogrammed activity on top, middle grade or inferior grade robot controller.Activate outside, magnetic or electromagnetic switch and can start these actions.If what such as inferior grade robot had a pre-programmed promptly defocuses feature, then middle grade robot may by bootup window and depression of push button switch activates it simply.
It is also useful for can storing related data near independent solar energy surface or surperficial group of solar energy.In one embodiment, the RFID chip (903) of placing near solar energy surface can be used for storing about each solar energy surface in field definitely or relative position and this how to correspond to the information of the initial position of each regulating wheel.These systems will need independent robot controller to have RFID writer and/or RFID card reader.Other methods for this locality storage data include but not limited to the data storage technology using based semiconductor, magnetic and/or light.
Figure 10 shows the robot controller (301) with multiple regulating wheel interface (302).The object increasing more adjustment interfaces is to distribute cost that the most expensive plate carries assembly and by allowing the adjustment frequently on the identical time cycle to allow controlling more accurately of solar energy surface (101).Described embodiment once can adjust two solar energy surfaces; This design is allowed to stop the quantity of circulation to reduce half the startup being used for the field on given solar energy surface.
Figure 11 shows the robot controller (301) that can control regulating wheel under the prerequisite not stopping adaptation stations.This system can utilize and control regulating wheel based on the gear of contact, magnetic or electromagnetism and rack system.Robot interface conceptually as tooth bar (1101) and regulating wheel (102) as gear (1102).Along with robot ride is through regulating wheel, its tooth bar interface that can activate its generalities thus its physically, magnetic ground or be electromagnetically coupled with an edge of regulating wheel.After coupling, directly the linear movement of robot controller can be converted to the rotation of regulating wheel.The interface (1101) that robot controller can activate it is for the second time coupled to separate it oneself with regulating wheel gear (1102).The time that robot controller can be coupled with regulating wheel by the speed and its adjustment interface carefully monitoring it, accurately control the rotation of regulating wheel.Such as, if robot controller move with the speed of 1 metre per second (m/s) and with edge join 1 second of the diameter regulating wheel (girth is for 10cm) that is 3.18cm, then it is by approximate 10 times of spinning regulating wheel.
Robot controller can utilize long sensor strip (403), and the instant number of degrees of sensor strip (403) the meter wheel rotation of this length are to confirm that regulating wheel (102) has been engaged and has correctly rotated.If do not stop or moving with the constant speed of 5MPH with the robot controller that physical contact is carried out on independent solar energy surface, can correctly reorientation up to the optical-electric module of 1.2MW.
Robot controller described in Figure 11 uses the electromagnet (401) of the independent actuation of long row to control the direction of regulating wheel.When these electromagnet be in (N-S-N-S-N-S) configuration in open time, they can rotate 4 polarity magnetic regulating wheels (N-S-N-S) by travelling simply through adaptation stations.The linear movement of robot is converted to the rotary motion of regulating wheel by this magnetic rack system.
Figure 12 to show in the field with a large amount of solar energy surface (101) how routing machine people transmission pipeline (106).This robotic transfer's pipeline can be entered robot controller by hermetically sealing to prevent large object, water and dust.In said embodiment, each passive solar tracker or heliostat have independent pedestal and robotic transfer's pipeline only must support the weight of robot controller.
Although this figure shows that independent robot controller normally can adjust the specific row on solar energy surface, it can utilize plate to carry drive motor to make it oneself return central station to safeguard (1201).This form of track wiring also allows site operation personnel by two or more robot controllers are inserted into the field that central station carrys out easily placement machine people controller.This central station also can be used for charging or maintenance purpose.
Figure 12 also shows the additional machine people controller (301) that can use redundantly.In one embodiment, one or more standby machine people controller is placed on central station.When robot fault, it can be driven into the appropriate sections of track by standby machine people controller itself, the robot promoting fault to pipeline end and to return to the solar energy of the robot distributing to fault surperficial.If the robot of fault does not have consistently to the position on its distribution solar energy surface of central data system relaying, then standby machine people may be needed to carry out the initial recalibration process summarized in service chart 6.If this information is relayed to central data system exactly, then standby machine people can reopen the operation that this failed machines people of beginning stops adjusting.
When the field on solar energy surface does not have 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 transfer link.Robot can bear regular job (1202) simultaneously another robot as redundant robot (1203) to prevent the controller due to fault can not the correctly regulating wheel on reorientation solar energy surface and the power loss that causes.
Figure 13 shows an embodiment of the atmosphere control system for robot controller (301).This system can include but not limited to comprise following assembly: fan (1301), radiator (1302), initiatively 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 robotic transfer's pipeline of sealing, thus this system environment that can be consistent, and this consistent environment extends the life-span of the critical failure assembly of robot controller.
Use battery, capacitor, ultracapacitor or other forms of energy accumulator reduce installation complexity and overall system cost can be useful, because single battery can replace the electrified track of a mile.Figure 14 shows an embodiment of the invention, and this embodiment utilizes wireless power passing interface to the stored energy mechanism charging on robot controller.Wireless charging mechanism may be wished, because they do not need the contact exposed to come to robot controller through-put power.But, for robot controller, carry backup energy source without the need to having plate, and it by electric tracks system power supply or can be powered by rail induction.
The inductive charging station (1401) being positioned at any position on robotic transfer's pipeline can be passed through to generate oscillating electromagnetic fields, to robot controller transferring energy.The line of induction ring (1402) be arranged on robot controller (301) can be caught this energy and is stored in plate and be carried stored energy mechanism.Other power transimission forms can be utilized to include but not limited to by robot controller: electrostatic induction, electromagnetic radiation and electrical conduction.
Figure 15 plate shown for robot controller carries the operating process of diagnosis and quality assurance system.Robot controller can continue to perform the scheme of this process with the instant health allowing scene or teleoperator to determine field.Can every day, start some schemes of this process whole or this process weekly, monthly or as required, with the preventive maintenance allowing site operation people to perform this system.Particularly, the diagnostic system of robot controller can be determined: the general health (1501) of independent robot controller a) defined by the state of key component, b) health (1502) of robotic transfer's pipeline, the health (1504) of the c) health (1503) of passive solar tracker or heliostat, and d) independent PV or CPV surface.
This process can start from the operating data (1505) that robot controller is all preserved to central processing system or network trunk.These data can include but not limited to: the historical temperature on inside and outside sensor and moisture readings, the history meteorological data from on-the-spot or on-the-spot outer surveillance, the historical current carrying assembly from whole plate and voltage readings and carry the SOC/SOS reading of stored energy mechanism from plate.Then this information can be compared (1506) with past operating data and compare (1507) with predefined safe operating range by diagnostic system.Irregular analysis can be used for determining that the current health of independent assembly and/or execution the preventative of robot controller are safeguarded (1508).
In order to determine the health (1502) of robotic transfer's pipeline, the robot controller plate can accessed from the physical features that can check track carries the data (1509) of camera or proximity sensor.If find arbitrarily extremely to reach the perforation that a large amount of dust accretions in track, in track section, a nest insect or track allow foreign body to enter as object, then robot controller can send signal (1510) to scene or teleoperator.On-the-spot or teleoperator can access live video that the camera from robot controller feeds back to assess its maintenance situation better.
In order to determine the health of passive solar tracker or heliostat, robot controller can access the data logging (1511) generated by adjusting independent tracker.Then it can access the data logging (1512) of the amount of the input torque/electric current required for this measurement spinning regulating wheel and understand this tolerance and how to change in time.If robot uses electromagnetic interface, then can by being recorded in adjustment period between the average current that transmits to this interface determine that this moment of torsion is measured.In an example, if diagnostic system recognizes that the passive solar tracker usually needing 95+/-6 ampere starts suddenly to need 320+/-20 ampere to adjust during normal operating condition, then it can think that this independent passive homing device is functional disturbance and sends warning (1513) to on-site maintenance staff.Robot controller can also use the system of view-based access control model to check and analyze independent solar tracker or the health of heliostat.This video input can by direct repeating system to site operation people to assess the health of tracing system.If the moment of torsion/of passive homing device or current indication are in acceptable scope, then can repeat this part (1503) of this process for each passive surface (101) under the control domain of robot.
In order to automatically determine the health (1504) on independent PV or CPV surface, first independent tracker can be moved to its optimum orientation (1515) by robot controller.It then can with the devices communicating (1516) of power stage of independent string that can monitor central current transformer, header box or solar energy module.Due to when single, be engraved in robot controlling system in may only have a module to activated, so power stage reading should keep relative constancy in module group.After setting up data link, robot can perform searching algorithm (1517), and wherein in this searching algorithm, robot spirally moves the surveillance output simultaneously of passive surface.Then robot records maximum power point (1518) and adjusts tracker, and thus it is no longer in the face of the sun (1519).Diagnostic system can measure the change (1520) that central current transformer, header box or string grade export.This Information Availability in by measure central current transformer, header box or string grade export in definite difference and this difference is compared (1521) with the specified output of module to calculate the degeneration percentage that degeneration percentage (1522) determines independent module.If change do not detected, then 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 use its adjustment interface to be placed on this surface in particular arrangement so that the problem (1523) warning on-site maintenance staff potential.If degeneration percentage is in tolerance interval, then can repeat this subprocess 1504 (1524) for all surfaces under the control domain of robot.
Robot controller can also comprise pre-programmed algorithm and security feature with protect it oneself from stealing and/or reverse engineering.Plate set controller and data storage cell can be encrypted to prevent control protocol and the access being stored in the data in robot.In addition, the sensor for detecting the unauthorized access (comprise and attempt to open robot controller) to robot can be there is.Controller can by notifying that teleoperator and/or erasing control algolithm and operating data respond this action.When arranging, the position of each robot and unique identifier can be utilized to initialize each robot.If robot, site operation people or teleoperator detect that robot is no longer in distribution locations, then suitable action can be taked to that obtain loss or stolen robot controller.
Although illustrate herein and describe 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, various improvement, change and distortion can be made in the configuration of method and apparatus of the present invention, operation and details.
Claims (20)
1. one kind for controlling the robot controller of the position on multiple solar energy surface in response to the motion of multiple solar energy surface regulating wheel, each solar watch mask has corresponding solar energy surface regulating wheel, described robot controller is positioned on track, and described robot controller comprises:
Processing unit;
Position determination unit, is communicatively coupled to described processing unit for the position determining described robot controller;
Drive system, in response to the instruction from described processing unit along robot controller described in described rail moving;
Adjustment certainty annuity, for determining the first adjustment parameter of the first solar energy surface regulating wheel of described multiple solar energy surfaces regulating wheel; And
Mating system, for adjusting described first solar energy surface regulating wheel based on described first adjustment parameter.
2. robot controller as claimed in claim 1,
Wherein, the primary importance adjacent with described solar energy surface regulating wheel on the track of robot controller described in described position determination unit identification; And
Wherein, described drive system locates described robot controller in described primary importance.
3. robot controller as claimed in claim 2, wherein, described robot controller comprises:
Hall effect sensor; And
Described position determination unit utilizes the magnetic communication between a solar energy surface regulating wheel in described hall effect sensor and described solar energy surface regulating wheel, is adjacent with the described solar energy surface regulating wheel in the regulating wheel of described solar energy surface by described robot controller location recognition.
4. robot controller as claimed in claim 3, wherein, described solar energy surface regulating wheel in the regulating wheel of described solar energy surface is identified as described first solar energy surface regulating wheel by the described magnetic communication between the described solar energy surface regulating wheel in described hall effect sensor and described solar energy surface regulating wheel, and is described primary importance by described location recognition.
5. robot controller as claimed in claim 2, wherein, robot controller comprises:
Hall effect sensor; And
Described mating system utilizes the magnetic coupling between described hall effect sensor and described first solar energy surface regulating wheel, rotates described first solar energy surface regulating wheel based on described first adjustment parameter.
6. robot controller as claimed in claim 1,
Wherein, described mating system comprises rack and pinion mechanism, can automatically adjust described rack and pinion mechanism, the described first solar energy regulating wheel of described mating system adjustment when described robot controller moves based on described first adjustment parameter.
7. robot controller as claimed in claim 1, wherein, the described track sealing of being passed by described robot controller enters significantly to prevent dust or any of water.
8. robot controller as claimed in claim 1, also comprises:
For advancing the driving wheel of described robot controller along described track.
9. robot controller as claimed in claim 1, also comprises:
For by 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 controllers as claimed in claim 9, wherein, described power storage system wirelessly recharges.
12. robot controllers as claimed in claim 1, also comprise for the energy acceptance equipment from described track received power.
13. robot controllers as claimed in claim 12, wherein, described energy acceptance equipment from described track inductively or the direct connection using described track carry out received power.
14. robot controllers 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 of the described robot controller outside be positioned near this locality.
15. robot controllers as claimed in claim 1, wherein, described position determination unit comprises GPS receiver to identify the described position of described robot controller.
16. robot controllers as claimed in claim 1, also comprise:
Atmosphere control system, the signal being set to receive from described processing unit is to relax the environmental condition of described robot controller operation.
17. robot controllers as claimed in claim 1, also comprise:
Communication system, for wirelessly communicating with at least one in central controller with central server, the second robot controller.
18. robot controllers as claimed in claim 1, also comprise:
Camera, at least one in the exception in the direction and described track of detecting one or more described solar energy surface.
19. 1 kinds of methods controlling the position on multiple solar energy surface for robot controller in response to the motion of multiple solar energy surface regulating wheel, each solar watch mask has corresponding solar energy surface regulating wheel, 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 first solar energy surface regulating wheel in the regulating wheel of contiguous described multiple solar energy surfaces;
Determine the first adjustment parameter of described first solar energy surface regulating wheel; And
Described first solar energy surface regulating wheel is adjusted based on described first adjustment parameter.
20. methods as claimed in claim 19, also comprise step: wirelessly communicate with at least one in central controller with central server, the second robot controller.
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- 2011-07-13 MX MX2013000499A patent/MX336475B/en unknown
- 2011-07-13 JP JP2013519803A patent/JP5995845B2/en active Active
- 2011-07-13 BR BR112013000735A patent/BR112013000735A2/en not_active IP Right Cessation
- 2011-07-13 WO PCT/US2011/043905 patent/WO2012009470A1/en active Application Filing
- 2011-07-13 CN CN201180041483.4A patent/CN103119380B/en active Active
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| Publication number | Publication date |
|---|---|
| AU2011279154A1 (en) | 2013-01-24 |
| MX336475B (en) | 2016-01-20 |
| BR112013000735A2 (en) | 2016-05-24 |
| CA2804887A1 (en) | 2012-01-19 |
| JP5995845B2 (en) | 2016-09-21 |
| EP2593726A4 (en) | 2017-05-03 |
| MX2013000499A (en) | 2013-06-05 |
| AU2011279154B2 (en) | 2015-06-18 |
| CN103119380A (en) | 2013-05-22 |
| WO2012009470A1 (en) | 2012-01-19 |
| US20120012101A1 (en) | 2012-01-19 |
| WO2012009470A8 (en) | 2012-06-21 |
| EP2593726A1 (en) | 2013-05-22 |
| CL2013000147A1 (en) | 2013-11-08 |
| JP2013535641A (en) | 2013-09-12 |
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