System for calibrating multiple solar surfaces

The present invention relates to solar tracking calibrators, especially to photovoltaic, focused photovoltaic systems, and tracking systems in focused solar thermal systems that need to be constantly repositioned to maintain alignment with the sun. ..

Cross-reference of related technologies This application is filed on December 3, 2010, all of which is incorporated herein by reference. US Patent Application No. 61/419685, US filed May 27, 2011 National Practical Patent No. 13/118274, and US Practical Use filed on July 13, 2011 It claims the priority of Patent No. 13/182297.

The surface is precisely repositioned and calibrated with two degrees of freedom to reduce the price of solar energy. Numerous developments have been made to reduce strikes. Helio in a concentrating solar thermal system The stat array uses a mechanism that changes position on a double axis to normalize the heliostat mirror. Centered by letting the vector bisect the angle between the current position of the sun and the target Adjust the direction of sunlight with respect to the tower. Exactly aligns the heliostat beam as a target To get it, nine parameters must be defined. The three parameters are the receiving side Needed to position the heliostat with respect to the get. One parameter is Needed to explain the reason for tolerances in the tilt home position. One parameter is needed to determine the mirror mounting offset and the non-defined axis Additional parameters are needed to determine the verticality. The last three parameters are global 3 It is needed to define the orientation of the heliostat in the axial coordinate system.

One way to define these nine parameters is to use an overly constrained mathematical system. This is the method to use. To fine-tune the heliostat in this way, the heliostat Contains information about the geometry of the device and the current pan / tilt angle with respect to a known angle. A relatively large number of accurate samples are needed. The main problem with current calibration methods is positive To obtain an exact individual set of samples, a precisely positioned sun detection device or light Each heliostat must be calibrated for the detection device. For large heliostats (eg> 20m²), This can be achieved by an attached solar sensor that tracks the sun throughout the day and compares the angle measured by the heliostat encoder system with the known angle of the sun. Workers must move this solar tracking device from heliostat to heliostat until the calibration process is complete. For smaller heliostats, this approach is less cost effective because the reflective area is smaller, while the effort required per heliostat is constant. Microheliostat installers are trying to solve this problem by placing solar sensors in known geometric locations in the field and calibrating each heliostat against these sensors. This approach is problematic because the calibration tower / sensor needs to be installed rigorously, which limits the flexibility of the heliostat installation and is part of the cost of a fully equipped system.

Similarly, to calibrate a photovoltaic (PV) tracker and a photovoltaic (CPV) tracker, the surface of the solar part in a 3-axis global coordinate system with respect to the home pan and tilt position. You need to know the orientation.

<p num="0006"><patcit num="1"><text>U.S. Patent Application No. 61/364729</text></patcit></p>

<p num="0007"> A robot controller for autonomously calibrating and inspecting the surfaces of two or more solar panels Therefore, it is possible to collect information on the surface of the solar part using the onboard sensor. To position the robot controller itself near the surface of the solar part so that it can be It is a robot controller including a drive system. Onboard communication unit (Onboard communication unit) relays information to the central processing network, and this process Ssa combines new information with stored historical data to calibrate the surface of the solar section. , And / or determine the momentary peak state.</p><p num="0008"> In the present specification, specific examples and applications of the present invention are illustrated and about them. As described, the invention is not limited to the exact components and components disclosed herein. The structure of the method and apparatus of the present invention without departing from the spirit and scope of the present invention described in the scope of. Please understand that various modifications, changes, and modifications can be made to the composition, behavior, and details. ..</p><p num="0009"> In one embodiment, the mobile robot controller is also an onboard global positioning system. Robo in global or relative coordinate systems by using a triangulation system The position of the controller can be obtained.</p><p num="0010"> In the second embodiment, the mobile robot controller is an external total station, distance inspection. Use an intelligent system, natural light camera system, or stereoscopic camera system To find the position of the robot controller in the global coordinate system or the relative coordinate system. Can be done.</p><p num="0011"> In the third embodiment, the mobile robot controller is in the global coordinate system or the relative coordinate system. Onboard distance detection system, natural light using the known position of the robot controller Global coordinates by using a type camera system or a stereoscopic camera system The geometric origin of the surface of the solar part in the system or relative coordinate system can be obtained.</p><p num="0012"> In the fourth embodiment, the mobile robot controller is an onboard magnetic compass, gyro. Compass, solid compass, accelerometer, inclinometer, magnetometer, gyroscope, or sunset Orientation of the robot controller in the global 3-axis coordinate system by using the sensor Can be sought.</p><p num="0013"> In the fifth embodiment, the mobile robot controller is a robot in a global three-axis coordinate system. On-board distance detection system, natural light camera system using the known orientation of the controller 3 axes on the surface of the solar part by using a system or a stereoscopic camera system The direction can be calculated.</p><p num="0014"> In the sixth embodiment, the mobile robot controller is a robot in a global three-axis coordinate system. On-board distance detection system, natural light camera system using the known orientation of the controller A pede on the surface of the solar section by using a tem or a stereoscopic camera system The non-vertical of the stall axis can be determined and the features can be investigated.</p><p num="0015"> In a seventh embodiment, the mobile robot controller lights the onboard light detection system. The surface of the solar part matches the sun in conjunction with the tube or fiber optic system You can decide if you are there.</p><p num="0016"> In the eighth embodiment, is the mobile robot controller a PV cell or CPV module? Use these instantaneous power output information to determine if the surface of the solar section matches the sun Can be determined.</p><p num="0017"> In the ninth embodiment, the mobile robot controller is turned on by shining light on the surface of the solar part. Uses a board positional light source to divert the power generated by the surface of the solar section. Can be dithered. Using this dither signal, the surface of the solar part is the best The prime state can be determined.</p><p num="0018"> In the tenth embodiment, the mobile robot controller collects from the surfaces of a plurality of solar parts. The generated data can be used to generate a map of the surface area of the solar section. this You can use virtual maps to optimize your backtracking algorithms.</p><p num="0019"> In the eleventh embodiment, the mobile robot controller was collected from the surface of the solar part. Use multiple data points to characterize manufacturing errors and current system backlash And history system backlash determined, on-site tolerance characteristics examined, ground set You can examine the characteristics of the ground setting.</p><p num="0020"> In the thirteenth embodiment, the mobile robot controller is an onboard processing unit, a central processing unit. Placed on the surface of a physical unit or individual solar panel or on another robot controller Communicating the information collected about the surface of the solar section by the distributed processing unit Can be done.</p><p num="0021"> The features and advantages described herein are not all inclusive, especially to those skilled in the art. Considering the drawings and specifications, a number of additional features and benefits will be revealed. In addition, books The terms used in the specification basically make the specification easier to read and understand. Selected for the purpose of describing or limiting the subject matter of the present invention. Please note that.</p>

<figref num="1">An embodiment of a robot controller capable of determining the position of the robot controller itself within the range of the surface of the solar part using the mounted elements is shown.</figref><figref num="2">An embodiment of a robot controller that can position the robot controller itself within a range of the surface of the solar section using mounted elements, along with calibrated in-field sensors, is shown.</figref><figref num="3">We show one method that a robot controller can use to know the distance to a heliostat, the geometric origin of a solar tracker.</figref><figref num="4">It is a figure which shows the process which a robot controller can use to determine the position of the surface of each solar part.</figref><figref num="5">It is a figure which shows the Example of the robot controller which can determine the orientation of the robot controller itself in the global three-axis coordinate system.</figref><figref num="6">We show one method that a robot controller can use to know the relative triaxial orientation of the surface of the solar part and the vertical pedestal axis of the surface of the solar part.</figref><figref num="7">The process that a robot controller can use to determine the orientation of the surface of the solar part in the global 3-axis coordinate system is shown.</figref><figref num="8">The process that the robot controller can use to consider the non-vertical support pedestal axis on the surface of the solar part is shown.</figref><figref num="9">Shown is an optical fiber system that can be used by a robot controller to determine if the surface of the solar section is currently oriented towards the sun.</figref><figref num="10">An embodiment of a current monitoring system enabled by a robot controller to determine the instantaneous output of a PV cell or CPV module is shown.</figref><figref num="11">An embodiment of an optical modulation system enabled by a robot controller to dither process the amount of light that hits the surface of the solar section is shown.</figref><figref num="12">Demonstrates the steps that a robot controller can use to optimize a field-level backtracking algorithm.</figref><figref num="13">Demonstrates the steps that a robot controller can use to determine field installation tolerances, manufacturing errors, backlash, and the surface environment over a period of time.</figref><figref num="14">An embodiment of a robot controller capable of communicating raw or processed data to an onboard processing unit, a central processing unit, a distributed processing unit, or another robot controller is shown.</figref>

In a preferred embodiment of the present invention, elements having the same reference number or functionally similar elements are used. Explained with reference to the figures shown. Also, in multiple figures, the number 1 of each reference number The number on the left corresponds to the figure in which the reference number was first used.

With reference to "one example" or "example" in the present specification, the present invention relates to a plurality of examples. Specific features, structures, or properties described in succession are included in at least one embodiment of the invention. Means to be rare. "In one embodiment" or "Examples" at various points herein. The appearance of the phrase does not necessarily refer to the same embodiment.

Part of the detailed description below is represented by bitwise algorithmic and symbolic representations of the data in computer memory. Descriptions and representations of these algorithms are the means used by those skilled in the art of data processing to most effectively inform other those skilled in the art of their work. Algorithms are considered herein and generally in a coherent sequence of steps (instructions) to reach the desired result. The plurality of steps are steps that require physical processing of a physical quantity. Usually, but not necessarily, these physical quantities take the form of electrical, magnetic, or optical signals that can be stored, transferred, combined, compared, or otherwise processed. It is sometimes convenient to refer to these signals as bits, values, elements, symbols, letters, vocabularies, numbers, mainly because of their normal use. Moreover, it is sometimes convenient to refer to a configuration with steps that require the representation of a physical quantity or the physical processing or transformation of a representation of a physical quantity as a module or code device, without loss of generality.

However, these terms and similar terms are all related to appropriate physical quantities and are only convenient labels applied to these physical quantities. Unless otherwise stated, as will be apparent from the following description, throughout the description, "processing" or "computing" or "calculating" or "determining" or A description using words such as "displaying" or "determining" is a computer system memory or register or other such information storage device, information transmission device, or information display. It should be understood that it refers to the operation and processing of a computer system or similar electronic computing device (such as a particular computer) that processes and transforms data represented as physical quantities (electrons) within the device.

One aspect of the invention includes multiple process steps and instructions described herein in the form of algorithms. The process steps and instructions of the invention may be embodied in software, firmware, or hardware, where the process steps and instructions are downloaded, resident, and used by various operating systems. Note that it may be processed from different platforms. The present invention may reside in a computer program that can be executed in a computational processing system.

The present invention also relates to a device that performs the calculation herein. This device is for that purpose It may be configured for, for example, a specific computer, or it may be a computer. It may consist of a general-purpose computer whose operation or structure is selectively changed by a computer program stored in the computer. Such computer programs include, but are not limited to, floppy discs, optical discs, CD-ROMs, discs of any type including optical magnetic discs, read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, It can be stored on a computer-readable storage medium, such as a magnetic or optical card, a special purpose integrated circuit (ASIC), or any kind of medium suitable for storing electronic instructions. .. The memory may include any of the above-mentioned devices and / or other devices capable of storing information, data, programs. Further, the computer described herein may include a single processor or may be configured in an architecture that uses multiple processor designs with increased computing power.

The algorithms and displays presented herein are, in their own right, any particular. Not related to your computer or other equipment. Various general-purpose systems are also described herein. In writing, it is made available by a program that follows the teachings, or it is the work of the method. It turns out that it is convenient to configure a more limited device to perform the procedure. this The structure for these various systems will become clear from the explanation below. Furthermore, the present invention , Not described in relation to any particular programming language. Various programs Language is as described herein. Can be used to carry out the teachings of the present invention References to the following specific languages have opened the feasibility and best mode of the invention. It will be understood that it will be brought to show.

In addition, the language used herein is essentially selected for readability and educational purposes to illustrate the subject matter of the invention or to define the scope of the subject matter of the invention. Not selected. Therefore, the disclosure of the present invention illustrates, but does not limit, the scope of the present invention.

Then, referring to the drawing, Figure 1 shows the surface of the solar part using the mounted elements. Implementation of a robot controller that can determine the position of the robot controller itself in the area An example is shown. The robot controller is the surface of the first solar part (101) and the second solar panel. The position can be changed near the surface (106) of the roller part. The way to achieve this behavior is limited Physically move the robot controller in an environment that is not systematically maintained In an external system, that is, a collection of systems and a systematically maintained environment An external system that physically moves the robot controller, that is, a collection of systems, The robot itself can be moved autonomously in an environment that is not systematically maintained. In an onboard system, a collection of systems and a systematically maintained environment An onboard system that can move the robot itself autonomously, that is, a system Autonomous movement of the robot itself in an environment that is not systematically maintained with the aggregate A combination of an on-board system and an external system that can be used, and a systematic ring An on-board system and an external system that can autonomously move the robot itself at the boundary Includes combination with stem. In FIGS. 1 to 14, the robot controller is onboard. Smell that is not systematically maintained using a collection of sensors and electromechanical systems It shall be possible to move autonomously. In previous disclosures, in particular, July 2010 US Provisional Application No. 61/364729 (Patent Document 1) filed on 15th, December 3, 2010 US Provisional Application No. 61/419685, US Practical Patent Application No. 13/118274, And US Practical Patent Application No. 13/182297 has been developed in more detail and systematically. Position the robot controller in an environment that is or is not systematically maintained Explains how to change it in a lawful manner.

Robot controllers are elements that are implemented in an unsystematized environment. Ground obstacles to achieve autonomous outdoor location and navigation using only Equipped with flight system and flight control system so you don't have to encounter harmful objects It can be. Ground robot controllers include a) 3D terrain, b) surface density changes, and c) weather. Includes a collection of systems that can be moved due to the requirements of, and d) detected environmental instability. Must wait. An existing way to achieve these goals is with robot controllers. About a) mapping the terrain with a 3D visual system, b) the terrain safety in this field of view Calculate the entire area and the unsafe area, c) cross the safe area towards the desired destination Calculate the optimal path and d) drive mechanisms that may include drive motors, wheels, and related electronics. Activate and e) this service until you reach your destination or you don't know the route to your destination. It is to repeat the ikuru. Note that the robot controller (104) can recognize Obstacles are the surface of the solar part (101) and the structural system for supporting the surface of the solar part (10). 2) and the supporting foundation (103) on the surface of the solar part.

Then, an embodiment of a robot controller will be described. Robot controller it It is itself between the surface of the first solar part (101) and the surface of the second solar part (106). Includes a drive mechanism (105) for movement. Its drive mechanism is connected to an electric drive motor Using multiple wheels, the robot chassis, the station is the surface of the first solar part Or individual solar of terrain defined as a general area near the surface of the second solar part Proceed to part of the surface calibration station (107) of the section. The robot controller is an electric device The battery was used to supply energy to the drive motor and activate other electronic functions. A power supply can be used. The onboard 3D visual system (108) is a unique solar panel Structured camera system or natural light for recognizing surface or ground obstacles (109) A type camera system can be used. Onboard microprocessor system is safe to drive Area, enabled to calculate the optimum drive path (110), the electricity of the drive system Instructions can be sent to execute the optimum drive path for the motor.

The robot controller can determine the position of the robot controller in global coordinates It may include an onboard positioning system (111). Onboard positioning system during operation The system can constantly update the position of the system in global (X, Y, Z) coordinates. this The system is capable of communicating with multiple devices calibrated in the global coordinate system. It can be functioned by using a vise, i.e., a triangulation system. Triangulation system Three triangulation receivers / transmitters in the system onboard robot control Can communicate with La. In one embodiment, the mobile triangulation system measures the delay time between signals. Determine and measure the unprocessed distance to each triangulation transmitter. These signals are optical signals and electromagnetic signals. The number may be an audible signal. If the geometric positions of these three transmitters are known, The triangulation device can measure the relative position or global position in the area of the surface of the solar part. To. The robot controller is the robot controller in the area of the surface of the solar part. Uses 3D visual system (108) and SLAM algorithm to determine relative position Can be used.

Figure 2 is a calibration that acts as a systematic environment with minimal implemented elements. In the area of the surface of the solar part using the elements mounted with the in-field sensor An example of a robot controller capable of determining the position of the robot controller itself is shown. .. In an embodiment, the robot controller is an autonomous total station (total stat). Including onboard target (201) corresponding to ion) (202) obtain. In this configuration, the total station is located at a known position (203), b. The bot (104) automatically moves the back reflection target (201) over the entire area Let me. Its total station can measure the distance to the back reflection target , Informs the mobile robot controller (104) of the relative position of the target. Position detection Other systems and / or methods for doing so are, but are not limited to, multiple calibrated Distance inspection mounted on a robot controller that can determine the distance to the tower or target Utilizing an intellectual system, determining the distance to a calibrated tower or target Use one or more natural light cameras, or use structural light position detection technology Including to do.

In a system where the environment of the robot controller is sufficiently constrained, this data is solar. -Used to assist the robot in determining the position of the robot in the area of the surface of the part It is possible to use it. For example, a robot controller moves along a fixed line structure. If the robot controller uses the least squares method to align all position points to the approximate line As such, multiple position readings can be used.

Figure 3 shows the geometry of a heliostat, or solar tracker, with a robot controller. We show one system that can be used to know the distance to the scientific origin. solar The geometric origin (301) of the surface of the part can be defined as the point at which the surface of the solar part swirls. To. The structural optical camera system (302), which includes a structural photophore and a sensor, has X, Y, and Z seats. From the robot controller to the geometric origin of the surface of the solar part (301) at the mark, Is a mark on the support structure (102) or support foundation (103) on the surface of the solar part. It can be used to detect the distance to (303). This mark is the geometric origin It may have a predetermined offset with respect to. Robot controller up to this point By determining the distance, by utilizing a pre-determined geometric offset The distance to the origin of the surface of the roller part can be approximated.

Others that can be used by the robot controller to achieve similar purposes The system is not limited to utilizing natural light cameras or camera systems, Utilizing one or more laser distance sensors, utilizing a physical probe system, Alternatively, the surface of the solar part, or the support structure of the surface of the solar part or the surface of the solar part. A system capable of detecting signals emitted by a location on a surface support foundation Is included. Mark (303) or one on the surface of individual solar panels Group marks are, but are not limited to, back-reflective targets, color-coded targets, solar -A unique physical feature on the surface of the part or its supporting structure, or a magnetic signal, It may include a signal emitting device that emits an electromagnetic signal or an audible signal.

If the environment of the robot controller is more constrained, this information will tell the robot that the robot is solar Can be used to assist in determining the distance of the surface of a part to the geometric origin Is said to be. As an example, the robot controller is the geometric origin of the surface of the solar part (30). Robot control if constrained to a geometric line with a known offset amount from 1) -La calculates the offset amount in one dimension when the other two dimensions are assumed. Just need it.

Figure 4 shows global coordinates or relatives on the surface of two or more individually controlled solar panels. A process that can be used by a robot controller to measure a position in coordinates is shown. this The process is a combination of a plurality of methods and processes shown in FIGS. 1 to 3.

The calibration method begins with step 401, which creates a 3D map of the surroundings. This map Allows the robot controller to calculate safe and unsafe areas in this terrain Can be issued (402). The robot controller inspects the distance to the surface of each solar part Equipped with a station detection system that can be issued, combined with a calculated safe area This information was provided to calculate the optimal route to the next station or calibration zone. Can be used for (403). In an embodiment, the robot controller is an individual helio One or more onboard cameras that can detect key features on the stat Have. Other embodiments include, but are not limited to, each heliostat, which is a heliostat. Emits a signal intercepted by a device in a calibration robot that measures signal attenuation and surrounds Robots are equipped with SONAR or LiDAR type systems to map and analyze Eh, using a TOF (time of flight) type 3D scanning system, or the surface of the solar part Or laser distance in combination with a back-reflection target strategically placed on its support structure Use a sensor system.

In step 404, the robot controller activates its drive mechanism and stays. Move towards the calibration zone. Station detection while moving between stations The mechanism continuously updates the optimum drive path with respect to the drive mechanism until it reaches the destination. May be used to be made available (405). In this example, the destination is Solar -Defined by a robot controller within range for calibrating the surface of the part. Pu Rothes steps 401-405 include wheels, caterpillar trucks, movable legs, joints, Or about a drive mechanism that uses a chain drive that changes the position of the robot controller Is the same. In an alternative embodiment, the drive system controls between stations. Track mechanism, cable mechanism, or rail mechanism can be used to change the position of the la Noh. The robot controller communicates with an external drive or a set of drives. Change the position of and execute.

In step 406, the robot controller connects to the onboard position determination mechanism, 3 Know the absolute or relative position of the robot controller in D space. Draw in Figures 1 and 2 As you can see, this is a real-time whole earth that knows position information with high accuracy in the global coordinate system. It can be realized by a ball positioning system. Another way to measure position in 3D space is Standard global positioning system and known sensors that emit voice or light, but not limited to Triangulation from, and multiple sensors in the robot that measure the distance to a known position, Recognize patterns at various distances, or manual all-station surveying systems or Includes camera-based systems that communicate with autonomous all-station surveying systems.

The robot controller enters the calibration zone and the robot controller in the global coordinate system After determining the position of the rollers (406), the distance detection mechanism and / or known geometry Absolute distance to the geometric origin of the surface of the solar part in X, Y, Z coordinates using the arrangement To know (407). The robot controller uses this origin offset as the robot controller. Calculate the geometric position of the surface of the solar part in the global coordinate system by applying it to the known position of La Can (408). For example, in a robot controller, the robot controller itself is X. Helicopter, determined to be located globally at = 4000, Y = 4000, and Z = 4000 The origin of the osteostat is at the distances of X = 1, Y = 2, and Z = 3 from the reference point of the calibration robot. When it is recognized that it is located, the origin of the surface of the solar part is X = 4001 in the global coordinate system. , Y = 4002, and Z = 4003.

The calibration robot then carries the position data on the surface of each solar part. Can be sent to a storage unit, central communication system, or distributed communication system (409). Implementation In the example, the calibration robot includes a wireless transmitter. Other embodiments for transmitting data Wireless communication to the surface of individual solar panels and a group of solar panels, but not limited to Wireless communication to the surface or central controller of the unit and directly to the surface of the individual solar panel Data links and direct data links for multiple solar panel surfaces or central controllers And data transfer by the power supply of the calibration robot, or to the storage medium or RFID chip Includes data transfer by wireless writing of calibration data.

After the calibration process is complete (steps 401-409), the calibration robot should calibrate. Determine if the surface of the solar part is still there (410). Solar that needs to be calibrated If the surface of the part is still present, the process repeats step 401. All Helios Once the tat is calibrated, the robot controller is in its home or docking position. It can return to the place (411). This dock is a recharging station or information storage, or May include a data link for sending calibration data to the central controller.

Figure 5 shows the robot controller (104) itself in the global 3-axis coordinate system (501). It is a figure which shows the Example of the robot controller (104) which can obtain the direction. This In this example, the robot utilizes an onboard accelerometer to counter the gravity and magnetic compass. Find the direction to do, and find the direction with respect to the earth's magnetic poles. Robot suitable for global coordinate system Other methods of calibrating are onboard gyro compass, solid compass, GPS compass. Includes, but is not limited to, magnets, inclinometers, magnetometers, gyroscopes, or sun sensors Absent. Find the orientation of the robot controller with respect to the instantaneous sun vector using the sun sensor You may find it. The robot controller finds the current time and combines this information with the approximate GPS coordinates. By matching, the orientation of the robot controller with respect to the sun is set in the global 3-axis coordinate system. It can be mapped to (501).

In Fig. 6, the robot controller shows the relative three-axis orientation of the surface of the solar part and the solar part. Here is one method that can be used to detect the vertical pedestal axis of the surface of the. This way Now, let s introduce a stereoscopic camera system (302) equipped with a stereoscopic illumination type light emitting device and a sensor. Using the relative orientation of the surface of the solar part (101) and the vertical pedestal of the surface of the solar part The axis (103) may be detected. This camera system helps to increase the effective field of view It may be static or dynamic. The three-dimensional illumination type light emitting device has a dot pattern (60). 1) The surface of the solar part (101), its support structure (102), and its support foundation (1) 03) You may project it on top. A sensor that can detect this three-dimensional illumination type pattern Uses the information obtained from the camera to detect features and geometry such features It may be applied to a scientific plane.

The system that changes the position of the surface of the solar part checks the direction of the mobile robot controller. It may include functions that help in the output process. Pre-defined features for such features Back-reflective target arranged in a pattern, color-coded target, surface of solar part Or emits unique physical features of its supporting structure, or electromagnetic or audible signals Signal emitting devices include, but are not limited to.

Another way to determine the surface orientation of the solar part with respect to the robot controller is in advance. Use a defined or detected shape, use a natural light camera, Use a distance detection system by light or voice, or the physics of the surface of the solar part Magnetism that interacts with a target element or is emitted by a known location on the surface of the solar part Includes the use of probing systems to detect signals, electromagnetic signals, or audible signals However, it is not limited to them. Use this probing system to turn the inclinometer into a solar section Place it on or near the vertical pedestal axis of the surface and directly calculate the non-vertical of the vertical pedestal axis You may put it out.

Figure 7 shows the orientation of the surface of the solar part in the global 3-axis coordinate system by the robot controller. Shows the processes that can be used to determine. This process is detailed in Figure 4. Sea urchin starts from steps 401 ~ 405. In step 701, the robot controller For robot controllers in the global coordinate system by accessing the onboard orientation detection mechanism The place may be detected. As shown in Figures 5-6, this is a calibration robot for the global coordinate system. It may be carried out by an onboard accelerometer and compass that orients the device.

Here, the processing unit of the robot controller obtains the relative orientation of the surface of the solar part. Information can be requested from the onboard sensor used to perform (702). Then this information By projecting the relative orientation of the surface of the solar part onto the detected global orientation of the robot. Can be mapped to the global coordinate system (703). Next, the calibration robot is an individual solar On-board data storage unit, central communication system, and Can be transmitted to a distributed communication system (704).

After the calibration process is complete, the calibration robot still has the surface of the solar part to calibrate. Determine if (410). If there is still a surface of the solar part that needs to be calibrated The process repeats step 401. After all heliostats have been calibrated, Robo The controller can return to its home or docking position (411).

Figure 8 shows the robot controller using a vertical unit inside the robot controller. A pro that can be used to investigate the non-vertical features of the pedestal axis of the heliostat This vertical unit may take the form of a software algorithm, for example. .. This process is performed in steps 401-405 as detailed in Figure 4 and as shown in Figure 7. It starts from 701. Here, the processing unit of the robot controller is the surface of the solar part. Can request information from the onboard sensor used to determine the relative orientation of the pedestal axis (801). Next, this information is used for the pedestal axis relative orientation of the robot's detected global. It can be mapped to the global coordinate system by projecting it in the direction (802). Calibration process As a final step in the robot controller, the detected global offset Compare the known gravity vector or the approximate gravity vector with the pede on the surface of the solar part. Calculate the non-vertical axis of the stall axis (803).

The calibration robot then turns on the foundation of the surface of the solar part or the non-vertical of the pedestal axis. Can be transmitted to a data storage unit, central communication system, or distributed communication system (8) 04). After the calibration process is complete, the calibration robot will cover the surface of the solar section to be calibrated. Determine if there is (410). There is still a surface of the solar part that needs to be calibrated If so, the process repeats step 401. After all heliostats have been calibrated The robot controller can return to its home or docking position (41) 1).

Figure 9 shows whether the surface of the solar section is currently facing the sun. It is a figure which shows the optical fiber system which can be used by a robot controller. To. In an embodiment of this system, the robot controller is equipped with a photodetector (901). I need to get it. This device includes narrowband optics (902) and fiber optic cables (9). 03), and an optical fiber system (905) with any light scattering optics (904) ) Output can be detected. Narrowband optics are off-axis direct Prevent sunlight) from entering the fiber cable and predetermine if necessary Has adjustable sensitivity to the sun half-width range. Purpose of fiber optic cable Can route cables as needed, so from narrowband optics To make the data more accessible, i.e. the light output or the lack of light output And. Light scattering optics give this data much better access and robots Place the photodetector device (901) of the controller near the end of the fiber optic cable Make it unnecessary to do.

The purpose of this system is to determine if the surface of the solar section is currently facing the sun It is to be. This information monitors the robot controller's photodetector (901) Closed-loop calibration with a search algorithm that simultaneously adjusts the surface position of the solar part It may be used as a technique. Use this information to get an approximate global position and internal clock By using it to calculate the current sun vector, the solar part in the global coordinate system You may find the orientation of the surface of.

Figure 10 shows a robot control to determine the instantaneous output of a PV cell or CPV module. An embodiment of a current monitoring system that can be used by rollers is shown. This system The purpose of is to determine if the surface of the solar part is aligned with the sun. To. As shown in Figure 9, this information is used when used in closed-loop calibration techniques or in the Earth constellation. This is useful when determining the orientation of the surface of the solar part in the target system. Current monitoring system (1 001) is mainly suitable for PV application examples and CPV because it does not require new system elements. Although useful in examples, it may also be used in heliostat applications. This system is various Inverter, string, or individual panel-level PV system with advanced detection technology The instantaneous output of a light or concentrating photovoltaic system can be determined. These technologies have Using the roving Hall effect sensor (1003), the wire (1002) or wire Indirect current detection by measuring the magnetic field generated by the loop, voltmeter and / Or direct current detection by physically inserting an ammeter into the photovoltaic system, or Can transmit instantaneous current output information to the robot controller (104) Includes, but is not limited to, connecting to devices.

Figure 11 shows a robot controller to dither the amount of light that hits the surface of the solar section. An embodiment of an optical modulation system that can be used by One purpose of this system Modulates the amount of artificial or natural light that hits the surface of the solar section, while at the same time the system By measuring the output of the individual solar panel surface status or overall maximum It is to judge the prime state. One statistically significant element of the PV system is effectively on If no power output change is detected at the system level while switched on / off, the above mentioned It may be assumed that the surface of the roller portion has stopped functioning.

Next, one method of realizing this dithering effect will be described. The system is onbo Light hitting the surface (101) of the solar section using a directional light emitting device (1101) Increase the amount of. When the light emitting device is switched off, it hits the surface of the solar part. The amount of light is reduced. This system may be used during the day. However, the modulated signal is cis. It is more statistically significant at night when the reference power output of the system is almost zero.

In Figure 12, the robot controller has the best field-level backtracking algorithm. Shows the processes that can be used to optimize. Backtracking algorithm , Can be applied only to non-condensing PV application examples. The reason is backtracking In Lugorism, the surface of the solar part is separated from the sun vector to avoid being shaded. It is necessary to turn in the direction of. Unbalanced power loss when an area of the PV module is shaded May occur.

This process begins by running the process described in Figures 4, 7, and 8. The current position, orientation, and non-perpendicularity of the surface of each solar panel and its pedestal axis. Ask (1201). Process 1201 is then affected by backtracking analysis Repeated on the surface of any solar part that could be kicked (1202). these The surface group of the solar part of the solar panel may be defined in advance or programmed in advance. .. A robot controller may be used to determine or detect a safe area, in which case A safe zone is the first set given a known or detected field configuration. Defined as a place where the surface of the roller part cannot be shaded by the surface of the second solar part To.

The collected information is then used to generate a 3D map of the surface area of the solar section. (1203). The surfaces of the solar parts are now a) shaded by each other or b) mutually To determine if it has the capacity to be shaded, determine the shape and area of the surface of the solar part. There must be. Robot controllers are individual using an onboard visual system The shape and area of the surface of the solar part may be detected, or this information may be used by humans. It may be determined by the data (1204). The surface of the solar part is adjacent to the surface of the solar part Directivity to simulate the sun vector to determine if it is behind Lighting can be applied to the generated 3D map of the surface of the solar section (1205). Yin is inspected If issued, the calculation system will show that the surface of the first solar part is behind the surface of the second solar part. You may find the minimum amount of change required for the orientation of the surface of the first solar panel to prevent it from becoming ( 1206). This calculation process is used for the future orientation of the surface of the solar part and the future solar vector. Repeatedly about the angle (1207), individual solar in the area of the surface of the solar part The optimum position of the surface of the part may be determined in advance (1208).

Figure 13 shows the robot controller with field installation tolerances, manufacturing errors, backlash, and And show the processes that can be used to investigate the characteristics of the land environment over time. Manufacturing These errors resulting from defects in the process and installation process are due to the surface of the solar section. A set of historical data points containing information about the measured orientation and / or position is incorrect Compare with the expected orientation and / or position of the solar part surface if there is no difference It may be determined by. This process is described in Figure 4, Figure 7, and Figure 8. Beginning with the execution of the process, the surface of each solar part and its pedestal axis present Find the current position, orientation, and non-vertical (1201). Then process 1201 saw A historical data set is created repeatedly on the surface of the Rah section (1301). Step In P1302, the estimated orientation of the surface of the solar part and the known solar vector are also recorded. Is done. The computational system then compares the measured data, the predicted data, and the known data. , Create an error map for the position of the sun and the predicted orientation of the surface of the solar part ( 1303). Using this error detection process, a table of solar parts that are out of the margin of error The surface may be detected. By using this error map and effectively closing the calibration loop You can fine-tune the sun tracking control algorithm or the backtracking control algorithm.

Figure 14 shows the raw or processed data onboard processing unit, central processing unit. (1401), distributed processing unit (1402), or other robot controller (1) An embodiment of the robot controller (104) capable of transmitting to 403) is shown. Alternative In an embodiment, the robot controller is adjacent to the surface of one or more solar panels. Communicate with the surface of those solar panels even when not, and get information from the surface of those solar panels You can receive it.

Although specific examples and application examples of the present invention have been illustrated and described, the present invention is the present invention. A book described in the claims, not limited to the exact components and components disclosed in the detailed document. Configuration, operation, and details of the methods and devices of the invention without departing from the spirit and scope of the invention. It should be understood that various modifications, changes, and modifications can be made to.