System and method for adaptive motion range for solar trackers

Abstract

A system includes a tracker configured to collect solar radiation and attached to a rotating mechanism for changing a plane of the tracker, and a controller in communication with the rotating mechanism. The controller is programmed to store a plurality of location-dependent solar tracking information, determine a location of the sun at a first particular time, calculate a first angle of the tracker based on the location of the sun, detect an accumulation at the first particular time, determine a first maximum range of motion of the tracker based on the accumulation, adjust the first angle of the tracker based on the first maximum range of motion of the tracker, and send an instruction to the rotating mechanism to change the plane of the tracker to the adjusted first angle.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. nonprovisional patent application No. 17 / 003,632, filed August 26, 2020, the entire disclosure of which is incorporated herein by reference. Technical Field

[0003] The present invention generally relates to a tracking system for adjusting solar arrays or solar panels, and more specifically, to adjusting the range of motion of a solar tracker to avoid ground accumulations / accumulations. Background Technology

[0004] In recent years, due to fossil fuel shortages and environmental pollution, various energy alternatives have been developed, such as clean and environmentally friendly energy sources, to replace fossil fuels. One solution is the use of solar energy. This type of solar energy use can be categorized into three types; one type converts solar energy into heat energy, which is then used for heating or boiling water. The converted heat energy can also be used to operate generators to produce electricity. The second type focuses sunlight and directs it into optical fibers for lighting. The third type uses solar cells to directly convert solar energy into electricity.

[0005] Solar trackers are a group of data collection devices such as solar modules. Some solar trackers are configured to follow the path of the sun to minimize the angle of incidence between the incident light and the solar tracker, thereby maximizing the collected solar energy. To properly face the sun, a program or device for tracking the sun is necessary. This is called a solar tracking system or tracking system. Methods for tracking sunlight can generally be categorized into methods using sensors or methods using programs.

[0006] Solar power generation systems typically require a large number of solar trackers to be installed on large, flat areas of land, necessitating significant land space because the modules of a solar tracker should not overlap. However, certain weather conditions, such as blizzards, sandstorms, and floods, can pose potential hazards to solar trackers, especially at the ends of their operational range.

[0007] This background section is intended to introduce the reader to technical aspects that may be relevant to the various aspects of this disclosure, which will be described and / or claimed below. It is believed that this discussion will help provide the reader with background information to facilitate a better understanding of the various aspects of this disclosure. Therefore, it should be understood that these statements should be read in this regard and not as an admission of prior art. Summary of the Invention

[0008] In some aspects, a system is provided. The system includes a tracker attached to a rotating mechanism for changing a plane of the tracker. The tracker is configured to collect solar radiation. The system also includes a controller in communication with the rotating mechanism. The controller includes at least one processor in communication with at least one storage device. The at least one processor is programmed to store a plurality of location-related / sun position determined solar tracking information in the at least one storage device. The at least one processor is further programmed to determine a location of the sun at a first particular point in time. The at least one processor is further programmed to calculate a first angle of the tracker based on the location of the sun and the plurality of location-related solar tracking information. In addition, the at least one processor is programmed to detect an accumulation amount at the first particular point in time. Moreover, the at least one processor is programmed to determine a first maximum range of motion of the tracker based on the accumulation amount. Furthermore, the at least one processor is programmed to adjust the first angle of the tracker based on the first maximum range of motion of the tracker. Additionally, the at least one processor is further programmed to send an instruction to the rotating mechanism to change the plane / orientation of the tracker to the adjusted first angle.

[0009] In other aspects, a method for operating a tracker is provided. The method is implemented by at least one processor in communication with at least one storage device. The method includes storing a plurality of location-related solar tracking information in the at least one storage device. The method also includes determining a location of the sun at a first particular point in time. The method further includes calculating a first angle of the tracker based on the location of the sun and the plurality of location-related solar tracking information. Additionally, the method includes detecting an accumulation amount at the first particular point in time. Moreover, the method includes determining a first maximum range of motion of the tracker based on the accumulation amount. Furthermore, the method includes adjusting the first angle of the tracker based on the first maximum range of motion of the tracker. Additionally, the method further includes sending an instruction to change the plane of the tracker to the adjusted first angle.

[0010] In another aspect, a controller for a tracker is provided. The controller includes at least one processor communicating with at least one storage device. The at least one processor is programmed to store a plurality of location-related solar tracking information in the at least one storage device to determine the tracker's angle based on the sun's position. The at least one processor is also programmed to determine the sun's position at a first specific time point. The at least one processor is further programmed to calculate a first angle of the tracker based on the sun's position and the plurality of location-related solar tracking information. Furthermore, the at least one processor is programmed to detect an accumulation / accumulation at the first specific time point. Furthermore, the at least one processor is programmed to determine a first maximum range of motion of the tracker based on the accumulation. Furthermore, the at least one processor is programmed to adjust the tracker's first angle based on the tracker's first maximum range of motion. Additionally, the at least one processor is also programmed to send instructions to change the tracker's plane to the adjusted first angle.

[0011] Various modifications to the features described above are possible. Other features may also be incorporated into the above aspects. These modifications and additional features may exist individually or in any combination. For example, the various features discussed below with respect to any of the illustrated embodiments may be incorporated individually or in any combination into any of the above aspects. Attached Figure Description

[0012] Figure 1 A perspective view of the solar module of a solar tracker is shown.

[0013] Figure 2 It shows along Figure 1 The cross-sectional view of the solar module taken by line AA.

[0014] Figure 3 A side view of a solar tracker in an example of this disclosure is shown.

[0015] Figure 4 It shows the method for execution Figure 3 The example system shown is an example of an adaptive motion range solar tracker.

[0016] Figure 5 It shows how to use Figure 4 The system shown is Figure 3 The example shown illustrates how a solar tracker performs an adaptive range of motion.

[0017] Figure 6 It shows the method for execution Figure 5 The process shown is an example configuration of the user's computer device.

[0018] Figure 7 It shows the method for executionFigure 5 The process shown is an example configuration of the server system.

[0019] In all the accompanying drawings, the corresponding reference numerals denote the corresponding parts. Detailed Implementation

[0020] The systems and processes described herein are not limited to the specific embodiments described herein. Furthermore, components of each system and process may be practiced independently of and separately from other components and processes described herein. Each component and process may also be packaged and combined with other components and processes.

[0021] Figure 1 This is a perspective view of the solar module 100 of the solar tracker. Figure 2 It is along Figure 1 The solar module 100 (cut from line AA) Figure 1 The cross-sectional view shown in the figure.

[0022] Module 100 includes a top surface 106 and a bottom surface 108. An edge 110 extends between the top surface 106 and the bottom surface 108. Module 100 is rectangular. In other embodiments, module 100 may have any shape that allows module 100 to function as described herein.

[0023] Frame 104 surrounds and supports module 100. Frame 104 is connected to module 100, for example... Figure 2 As shown, frame 104 protects the edge 110 of module 100. Frame 104 includes an outer surface 112 spaced apart from one or more layers 116 of module 100 and an inner surface 114 adjacent to the one or more layers 116. The outer surface 112 is spaced apart from and substantially parallel to the inner surface 114. Frame 104 can be made of any suitable material that provides sufficient rigidity, including, for example, metals or metal alloys, plastics, glass fibers, carbon fibers, and other materials capable of supporting module 100 as described herein. In some embodiments, the frame is made of aluminum, such as 6000 series anodized aluminum.

[0024] In the illustrated embodiment, module 100 is a photovoltaic module. Module 100 has a laminated structure comprising a plurality of layers 116. Layers 116 include, for example, glass layers, non-reflective layers, electrical connection layers, n-type silicon layers, p-type silicon layers, backing layers, and combinations thereof. In other embodiments, module 100 may have a more... Figure 2 The diagram shows more or fewer layers 116, including only one layer 116. The photovoltaic module 100 may include multiple photovoltaic modules, each made of photovoltaic cells.

[0025] In some embodiments, the module 100 is a thermal collector that heats a fluid, such as water. In such embodiments, the module 100 can include a tube of fluid that is heated by solar radiation. While the present disclosure can describe and illustrate photovoltaic modules, the principles disclosed herein also apply to solar modules 100 configured as thermal collectors or solar concentrators, unless otherwise noted.

[0026] Figure 3 is a side view of a tracker 300 according to at least one embodiment. The tracker 300 includes a support column 305, one or more rotation mechanisms 310, and a tracker panel 315. The tracker panel 315 includes one to many modules 100 (shown in Figure 1 The tracker 300 (also referred to as a tracker row) controls the position of the plurality of modules 100 on the tracker panel 315. The rotation mechanism 310 is configured to rotate the tracker panel 315 to different angles Θ 340 to track the sun as described herein. A tracker controller 345 sends instructions to the rotation mechanism 310 to change the plane of the tracker 300. As used herein, the plane of the tracker 300 is the top surface 106 (shown in Figure 3 ) of the tracker panel 315 (shown in Figure 2 ). The rotation mechanism 310 rotates the tracker panel 315 along a single axis, where the range of motion 332 of the tracker panel 315 can include angles Θ 340 from -60 degrees to 60 degrees, where zero degrees is horizontal. The rotation mechanism 310 can be any rotation mechanism 310 capable of moving the tracker panel 315 between angles Θ 340 as described herein. In Figure 3 , the tracker panel 315 is at -60 degrees. The rotation mechanism 310 is capable of moving a single tracker panel 315, an entire row of tracker panels 315, or a group of tracker panels 315. In some embodiments, each tracker 300 is associated with its own rotation mechanism 310. The rotation mechanism 310 can include, but is not limited to, a linear actuator and a slew drive.

[0027] The tracker 300 is configured such that the top of the tracker 300 (measured at the top of the support column 305) is set at a height h 320 above the ground 318. The height h 320 is configured such that the tracker panel 315 of the tracker 300 does not contact the ground 318 when traversing the range of motion 332. To ensure that the tracker panel 315 does not contact the ground 318 at the ends of the range of motion 332, the height h 320 also includes a safety margin g 325. The safety margin g 325 ensures that the tracker panel 315 of the tracker 300 does not contact the ground 318 when in its extreme positions of the range of motion 332.

[0028] In many solar assemblies, when there is an accumulation on the ground 318, the tracker faceplate 315 of the tracker 300 is changed to a horizontal position until the accumulation is removed. The accumulation can include, but is not limited to, water, such as from a flood, snow, and sand. However, keeping the tracker faceplate 315 in a horizontal position is not efficient for power generation. In addition, when in a horizontal position, the tracker faceplate 315 can also accumulate snow or sand, which will then cover the modules 100 of the tracker faceplate 315 and prevent the tracker 300 from working to collect solar radiation. In addition, in the horizontal position, a large accumulation on the tracker faceplate 315 of the tracker 300 can overload the structure and, for example, cause damage to the tracker faceplate 315, support columns 305, and / or rotation mechanism 310.

[0029] The tracker 300 is in communication with a tracker controller 345. The tracker controller 345 instructs the tracker 300 at what angle Θ340 to set the tracker faceplate 315. In this embodiment, the tracker controller 345 is programmed to determine the position of the sun and calculate the corresponding angle Θ340 of the tracker faceplate 315. The tracker controller 345 is programmed to ensure that the angle Θ340 of the tracker faceplate 315 is within the range of motion 332. The tracker controller 345 can be in communication with and control a single tracker 300 or multiple trackers 300. The tracker controller 345 can be in communication with and control all of the trackers 300 in a row of trackers 300.

[0030] For each tracker 300, the tracker controller 345 provides solar tracking to maximize the solar radiation collected by the tracker 300. The tracker controller 345 determines the position of the sun relative to the center of the tracker 300. The tracker controller 345 stores the latitude, longitude, and altitude of the tracker 300. In at least one embodiment, the tracker controller 345 uses the National Renewable Energy Laboratory (NREL) equation to calculate the position of the sun at any given point in time. In an alternative embodiment, the tracker controller 345 is in communication with one or more sensors 350 capable of determining the current position of the sun. The tracker controller 345 is programmed to maximize the power production of the tracker 300 by minimizing the angle between the sun vector and the normal vector to the plane of the tracker faceplate 315.

[0031] The tracker controller 345 instructs the rotation mechanism 310 to adjust the plane of the tracker panel 315 to an angle Θ340° such that the plane of the tracker panel 315 deviates no more than + / - 1° from tracking the sun. In some embodiments, the tracker controller 345 provides a step size of two degrees to the angle Θ340 of the plane of the tracker panel 315. This means that the tracker controller 345 adjusts the plane of the tracker panel 315 for every two degrees that the sun moves. The tracker controller 345 can adjust the angle Θ340 of the plane of the tracker panel 315 by any amount that is defined by the mechanical tolerances of the tracker 300 and the rotation mechanism 310. In some implementations, the tracker controller 345 instructs the rotation mechanism 310 to adjust each tracker panel 315 individually, where different tracker panels 315 in the same row can be adjusted to different angles Θ340. In other embodiments, the tracker controller 345 instructs that all tracker panels 315 in a row should be adjusted to the same angle Θ340. In some further embodiments, the tracker controller 345 can send instructions to trackers 300 in different rows. For example, the tracker controller 345 can control trackers 300 in two adjacent rows.

[0032] In the event of accumulation on the ground 318, the tracker controller 345 can limit the range of motion 332 of the tracker 300 to prevent damage to the tracker panel 315. Under these conditions, the tracker controller 345 determines the current amount of accumulation (or depth / thickness) s 330. The tracker controller 345 can determine the current amount of accumulation s 330 from a sensor 350. The sensor 350 can be associated with a single tracker 300 or a group of trackers 300. The sensor 350 is capable of detecting the current amount of accumulation s 330. The sensor 350 can be, but is not limited to, a snow sensor, a snow gauge, a sand gauge, an optical sensor capable of reading known markers to determine the depth of accumulation / thickness of accumulation, or any other sensor 350 that allows the tracker 300 to function as described herein. The tracker controller 345 can also receive the amount of accumulation s 330 from a remote computer device.

[0033] The tracker controller 345 limits the range of motion 332 of the tracker panel 315 of the tracker 300 to prevent damage to the tracker panel 315 or any other part of the tracker 300 while still providing solar tracking to maximize the collected solar radiation. The tracker controller 345 can use the following equation to determine the maximum angle Θ340 of the tracker panel 315.

[0034]

[0035] where θ is the absolute value of the maximum angle θ340, h is the height h320 of the tracker 300 at the top of the support column 305, g is the safety margin g 330, s is the accumulation s 330, and w is the width w 335 of the tracker panel 315 in the direction in which the tracker panel 315 rotates. The tracker controller 345 sets the motion range 332 based on the calculated maximum angle θ340.

[0036] The tracker controller 345 tracks the sun to know its position relative to the center of the tracker 300. The tracker controller 345 can determine this center as the center of a single tracker 300, the center of multiple rows of trackers 300 (also referred to as an array), and the center of an entire site of trackers 300. To calculate the position of the sun, the tracker controller 345 takes into account latitude, longitude, altitude, exact date and time, and other parameters. The tracker controller 345 can determine the current position of the sun or the position of the sun at a future point in time. The tracker controller 345 uses the position of the sun to determine the angle θ340 at which the normal vector of the tracker panel 315 will be as close as possible to the vector of the sun. The tracker controller 345 is programmed to adjust the tracker panel 315 when the sun moves 2 degrees; therefore, the tracker controller 345 calculates the angle θ340 of the tracker panel 315 so that it is closest to the sun vector over the time between adjustments. For example, if the sun vector is at -37 degrees and the sun is rising, the tracker controller 345 can adjust the tracker panel 315 to -36 degrees. This provides maximum coverage as the sun travels from -37 degrees to -35 degrees. In other examples, the tracker controller 345 is programmed to adjust the tracker panel 315 when a predetermined period of time has elapsed.

[0037] Over the course of a day, the tracker panel 315 rotates from -60 degrees to 60 degrees while following the sun. However, in some cases, there is an accumulation on the ground 318, and the tracker panel 315 can not be able to safely traverse the entire motion range 332, -60 to 60 degrees.

[0038] Figure 4 An example system 400 for performing adaptive motion range 332 of a solar tracker 300 is shown in accordance with one example of the present disclosure (both shown in Figure 3 In this example, the system 400 is used to control the tracker 300. The system 400 is a tracker control computer system that includes at least one tracker controller 345 configured to control the angle θ340 of the tracker panel 315 (both shown in Figure 4 In some examples, the tracker controller 345 is programmed to control multiple trackers 300 based on data received from one or more sensors 350.

[0039] Tracker 300 is configured to track the position of the sun to collect solar radiation. As described herein, tracker 300 is associated with rotation mechanism 310, which rotates module 100 ( Figure 1 Tracker panel 315 (shown in the image) Figure 3 (Both are shown in the diagram) to track the position of the sun. The tracker controller 345 ensures that the tracker panel 315 is positioned only within the tracker's range of motion 332 at an angle θ340. During accumulation, the tracker controller 345 uses Equation 1 to determine the maximum angle θ340 that the tracker panel 315's range of motion 332 can be turned to during solar tracking.

[0040] In system 400, sensor 350 receives signals about the conditions around tracker 300. Sensor 350 may include, but is not limited to, snow sensors, snow gauges, sand gauges, optical sensors capable of reading known markers to determine accumulated thickness, or any other sensor 350 that allows tracker 300 to operate as described herein. Sensor 350 may also include an optical sensor for detecting the current position of the sun. Sensor 350 is connected to tracker controller 345 via various wired or wireless interfaces, including but not limited to networks such as local area networks (LANs) or wide area networks (WANs), dial-up connections, cable modems, internet connections, wireless, and dedicated high-speed Integrated Services Digital Network (ISDN) lines. Sensor 350 receives data about the current conditions at the location of tracker 300. Sensor 350 may be associated with individual trackers 300, entire rows of trackers 300, an entire tracker array 300, and / or an entire field. In other examples, sensor 350 communicates with array controller 405 and / or site controller 410, and sensor information or data describing the sensor information is thereby sent to tracker controller 345.

[0041] The array controller 405 is a computer that includes a web browser or software application that enables the array controller 405 to communicate with one or more of the tracker controllers 345, another array controller 405, and the site controller 410 using the Internet, a local area network (LAN), or a wide area network (WAN). In some examples, the array controller 405 is communicatively coupled to the Internet through a number of interfaces including, but not limited to, at least one of a network, such as the Internet, a LAN, a WAN, or a digital subscriber line (DSL), a dial-up connection, a cellular phone connection, a satellite connection, and a cable modem. The array controller 405 can be any device that is capable of accessing a network such as the Internet, including, but not limited to, a desktop computer, a laptop computer, a personal digital assistant (PDA), a cellular phone, a smart phone, a tablet, a phablet, or other web-enabled connectable equipment. The array controller 405 is a computing device for monitoring a plurality of tracker controllers 345 in communication with a plurality of trackers 300.

[0042] The site controller 410 is a computer that includes a web browser or software application that enables the site controller 410 to communicate with one or more of the tracker controllers 345, the array controller 405, and the client system 425 using the Internet, a local area network (LAN), or a wide area network (WAN). In some examples, the site controller 410 is communicatively coupled to the Internet through a number of interfaces including, but not limited to, at least one of a network, such as the Internet, a LAN, a WAN, or a digital subscriber line (DSL), a dial-up connection, a cellular phone connection, a satellite connection, and a cable modem. The site controller 410 can be any device that is capable of accessing a network such as the Internet, including, but not limited to, a desktop computer, a laptop computer, a personal digital assistant (PDA), a cellular phone, a smart phone, a tablet, a phablet, or other web-enabled connectable equipment. The site controller 410 is a computing device for monitoring a plurality of array controllers 405, each in communication with a plurality of tracker controllers 345. The site controller 410 and / or the array controller 405 can provide information to the tracker controllers 345, such as, but not limited to, weather information, forecast information, sun position information, and other information that allows the tracker controllers 345 to operate as described herein.

[0043] The client system 425 is a computer that includes a web browser or software application that enables the client system 425 to communicate with one or more of the tracker controller 345, the array controller 405, and the site controller 410 using the Internet, a local area network (LAN), or a wide area network (WAN). In some examples, the client system 425 is communicatively coupled to the Internet through a number of interfaces including, but not limited to, at least one of a network, such as the Internet, a LAN, a WAN, or a

[0044] The database server 415 is communicatively coupled to a database 420 that stores data. In one example, the database 420 is a database that includes, but is not limited to, the latitude, longitude, and altitude of a location based on exact date, time, latitude, longitude, altitude, and other parameters, the current time, the range of motion 332, and the current sun position. In some examples, the database 420 is stored remotely from the tracker controller 345. In some examples, the database 420 is decentralized. In this example, one can access the database 420 via the client system 425 by logging onto one of the tracker controller 345, the array controller 405, and the site controller 410.

[0045] Figure 5 An example process 500 to perform adaptive range of motion 332 of the solar tracker 300 (both shown in Figure 4 Figure 3 In this embodiment, the process 500 is performed by the tracking controller 345 (shown in Figure 3 Figure 3 The process 500 includes a step of ensuring that the range of motion 332 of the tracker 300 remains away from any accumulation on the ground 318 (shown in

[0046] The tracking controller 345 stores the range of motion 332 of the tracker 300 in at least one storage device, such as the database 420 (shown in Figure 4 ​​(As shown) – 505+ location-related solar tracking information items are stored. This information may include, but is not limited to, the latitude, longitude, and altitude of the location, the current time, the range of motion 332, and the sun's position based on the exact date, time, latitude, longitude, and altitude. Tracker controller 345 determines 510 the sun's position at a first specific time point. Tracker controller 345 calculates 515 the first angle 340 of tracker 300 based on the sun's position and the multiple location-related solar tracking information items. Figure 3 (as shown in the image).

[0047] The tracker controller 345 detects the accumulated amount s 330 at a first specific time point 520. Figure 3 (As shown in the diagram). Available from one or more sensors 350 ( Figure 3 The accumulated amount s330 is received by a remote computer device (e.g., array controller 405, site controller 410, and client system 425) or a remote computer device (e.g., array controller 405, site controller 410, and client system 425).

[0048] Tracker controller 345 determines a first maximum motion range 332 of tracker 300 based on accumulated amount s 330. Tracker controller 345 stores the maximum motion range 332 of the tracker, which is from -60 degrees to 60 degrees. Tracker controller 345 determines the maximum motion range 332 of tracker 300 based on the tracker 300's height h 320, accumulated amount s 330, safety margin g 325, and width w 335 (all within the tracker 300's height h 320, accumulated amount s 330, safety margin g 325, and width w 335). Figure 3 As shown, the first maximum range of motion 332 is more restricted than the tracker's maximum range of motion 332 (for example, the maximum range of motion 332 is -60 degrees to 60 degrees due to the accumulation of s 330 on the ground 318, while the first maximum range of motion 332 is -56 degrees to 56 degrees) to determine the first maximum range of motion 332.

[0049] The tracker controller 345 adjusts a first angle 340 of the tracker 300 based on a first maximum range of motion 332 of the tracker 300. The tracker controller 345 compares the first angle 340 with the first maximum range of motion 332 to determine if the first angle 340 exceeds the first maximum range of motion 332. If the first angle 340 exceeds the first maximum range of motion 332, the tracker controller 345 adjusts the first angle 340 to be within the first maximum range of motion 332. For example, if the first maximum range of motion 332 is -47 to 47 degrees and the first angle 340 is 55 degrees, the first angle 340 is adjusted to 47 degrees to be within the first maximum range of motion 332, while still keeping the normal vector of the tracker panel 315 as close as possible to the vector of the sun. If the first angle 340 is -30 degrees, the tracker controller 345 does not adjust the first angle 340.

[0050] The tracker controller 345 sends instructions to the rotating mechanism 310 via 535. Figure 3 (as shown in the diagram) to change the plane of tracker 300 to an adjusted first angle 340. As used herein, the plane of tracker 300 is tracker panel 315 ( Figure 3 The top surface 106 (as shown) Figure 2 (as shown in the image).

[0051] Tracker controller 345 determines the second position of the sun at a second specific time point. Tracker controller 345 calculates a second angle 340 of tracker 300 based on the sun's position and multiple location-related solar tracking information. Tracker controller 345 detects a second accumulation amount s 330 at the second specific time point. Tracker controller 345 determines a second maximum range of motion 332 of tracker 300 based on the second accumulation amount s 330. Tracker controller 345 adjusts the second angle 340 of tracker 300 based on the second maximum range of motion 332 of tracker 300. Tracker controller 345 sends a command to rotation mechanism 310 to change the plane of tracker 300 to the adjusted second angle 340. For example, at a subsequent time point, the accumulation amount s 330 has changed (increased or decreased), and then tracker controller 345 updates the range of motion 332 of tracker 300 based on the new accumulation amount s 330. The tracker controller 345 continuously repeats steps 505 to 535 to ensure that the tracker panel 315 remains unaffected by the accumulation on the ground 318.

[0052] Once the sun 315 has moved a predetermined amount, the tracker controller 345 also repeats steps 505 to 535 to change the plane of the tracker 300. The tracker controller 345 determines whether the difference between the sun's current position and its second position exceeds a predetermined threshold. This can be based on a change in the sun's angle or after a specific amount of time has elapsed. If the difference exceeds the predetermined threshold, the tracker controller 345 sends a command to the rotation mechanism 310 to change the plane of the tracker 300 to the adjusted second angle.

[0053] The tracker controller 345 can also determine whether the accumulated amount s 330 has changed over time. The tracker controller 345 can detect a second accumulated amount s 330 at a second specific time point. Based on the second accumulated amount s 330, the tracker controller 345 determines a second maximum range of motion 332 for the tracker 300. Based on the second maximum range of motion 332, the tracker controller 345 adjusts a first angle 340 of the tracker 300. The tracker controller 345 sends a command to the rotation mechanism 310 to change the plane of the tracker 300 to the adjusted first angle 340. When the accumulated amount s 330 exceeds the height h 320 of the tracker 300 minus the safety margin g 325, the tracker controller 345 also instructs the rotation mechanism 310 to change the plane of the tracker 300 to a horizontal position.

[0054] In some embodiments, the tracker controller 345 communicates with a plurality of trackers 300 and instructs each of the trackers 300 to adjust to a first angle 340. Each of the trackers 300 includes a rotation mechanism 310, and the tracker controller 345 sends instructions to each of the rotation mechanisms 310 to change the plane of the corresponding tracker 300 to the first angle 340. In an alternative embodiment, the rotation mechanism 310 is attached to each of the trackers 300, and the tracker controller 345 instructs the rotation mechanism 310 to change the plane of the plurality of trackers 300 to the first angle 340.

[0055] Process 500 can be executed dynamically in real time. Parts of process 500 can also be executed in advance. For example, tracker controller 345 can determine all angles 340 of a day based on knowing where the sun will be at each moment of the day. Then, tracker controller 345 can adjust the angle 530 at each moment of the day based on the accumulated amount s 330 present at that moment and how the range of motion 332 of tracker 300 changes. One or more steps of process 500 can also be executed by site controller 410, array controller 405, and / or other computer devices, and the results can be provided to tracker controller 345 to know when to adjust tracker 300 and to what angle.

[0056] Figure 6 The process 500 is shown. Figure 5 The example configuration of user computer device 602 is shown in the diagram. User computer device 602 is operated by user 601. User computer device 602 may include, but is not limited to, tracker controller 345, sensor 350 (both in…). Figure 3 (shown in the diagram), array controller 405, site controller 410 and client system 424 (all in...)Figure 4 The user computer device 602 includes a processor 605 for executing instructions. In some examples, the executable instructions are stored in a memory area 610. The processor 605 can include one or more processing units (e.g., configured as a multi-core configuration). The memory area 610 is any device allowing storage and retrieval of information, such as executable instructions and / or transaction data. The memory area 610 can include one or more computer readable media.

[0057] The user computer device 602 also includes at least one media output component 615 for presenting information to the user 601. The media output component 615 is any component capable of transmitting information to the user 601. In some examples, the media output component 615 includes an output adapter (not shown), such as a video adapter and / or an audio adapter. The output adapter is operatively coupled to the processor 605 and is operatively couplable to an output device, such as a display device (e.g., a cathode ray tube (CRT), a liquid crystal display (LCD), a light-emitting diode (LED) display, or an “electronic ink” display) or an audio output device (e.g., a speaker or headphones). In some examples, the media output component 615 is configured to present a graphical user interface (e.g., a web browser and / or a client application) to the user 601. The graphical user interface can include, for example, an interface for viewing performance information about the tracker 300 (shown in FIG. 1). In some examples, the user computer device 602 includes an input device 620 for receiving input from the user 601. The user 601 can use the input device 620 to select to view performance of the tracker 300, but is not limited thereto. The input device 620 can include, for example, a keyboard, a pointing device, a mouse, a stylus, a touch-sensitive panel (e.g., a touchpad or a touch screen), a gyroscope, an accelerometer, a position detector, a biometric input device, and / or an audio input device. A single component, such as a touch screen, can function as both an output device of the media output component 615 and an input device 620. Figure 3

[0058] The user computer device 602 can also include a communication interface 625 communicatively coupled to a remote device, such as the site controller 410. The communication interface 625 can include, for example, a wired or wireless network adapter for a mobile telecommunication network and / or a wireless data transceiver.

[0059] ​Storing in memory region 610 are computer-readable instructions, for example, for providing a user interface to user 601 via media output component 615 and optionally for receiving and processing input from input device 620. The user interface may include a web browser and / or client application, among other possibilities. A web browser enables a user, such as user 601, to display and interact with media and other information typically embedded in web pages or websites from tracker controller 345. A client application allows user 601 to interact with, for example, tracker controller 345. For example, instructions may be stored by a cloud service, and the output of the execution of instructions may be sent to media output component 615.

[0060] Processor 605 executes computer-executable instructions for implementing various aspects of this disclosure. In some examples, processor 605 is converted into a special-purpose microprocessor by executing computer-executable instructions or by being otherwise programmed. For example, processor 605 is programmed to have, for example, features such as Figure 5 Instructions like those shown in the diagram.

[0061] Figure 7 An example configuration of the server system used to execute process 500 is shown (e.g.) Figure 5 As shown, the server computer device 701 may include, but is not limited to, the tracker controller 345 (e.g., Figure 3 (as shown), array controller 405, site controller 410 and database server 415 (all as shown) Figure 4 As shown, the server computer device 701 also includes a processor 705 for executing instructions, which may be stored in a memory region 710. The processor 705 may include one or more processing units (e.g., for a multi-core configuration).

[0062] The processor 705 is operatively coupled to the communication interface 715, enabling the server computer device 701 to communicate with a remote device, such as another server computer device 701, another tracker controller 345, or a client system 425. Figure 4 (As shown). For example, as Figure 4 As shown, the communication interface 715 can receive requests from the client system 425 via the Internet.

[0063] The processor 705 can also be operatively coupled to the storage device 734. The storage device 734 is any computer-operated hardware suitable for storing and / or retrieving data, such as, but not limited to, with the database 420. Figure 4The storage device 734 stores information both locally and / or on a remote server (e.g., in association with a cloud storage service as illustrated in FIG. 7). In some examples, the storage device 734 is integrated in the server computer device 701. For example, the server computer device 701 can include one or more hard disk drives as the storage device 734. In other examples, the storage device 734 is external to the server computer device 701 and can be accessed by multiple server computer devices 701. For example, the storage device 734 can include a storage area network (SAN), a network attached storage (NAS) system, and / or multiple storage units such as hard disks and / or solid state disks in a redundant array of independent disks (RAID) configuration.

[0064] In some examples, the processor 705 is operatively coupled with the storage device 734 via a storage interface 720. The storage interface 720 is any component enabling the processor 705 to access the storage device 734. The storage interface 720 can include, without limitation, an advanced technology attached (ATA) adapter, a serial ATA (SAT A) adapter, a small computer system interface (SCSI) adapter, a RAID controller, a SAN adapter, a network adapter, and / or any component that enables the processor 705 to access the storage device 734.

[0065] The processor 705 executes instructions for carrying out the aspects of the present disclosure. In some examples, the processor 705 is transformed by executing the computer- executable instructions or by being otherwise programmed. For example, the processor 705 is programmed with instructions such as those illustrated in FIG. 7. Figure 5

[0066] Described herein are computer systems such as tracker controllers and related computer systems. As described herein, all such computer systems include a processor and a memory. However, any processor in a computer device referred to herein can also refer to one or more processors, where the processor(s) can be in one computing device or in multiple computing devices acting in parallel. Additionally, any memory in a computer device referred to herein can also refer to one or more memories, where the memory(s) can be in one computing device or in multiple computing devices acting in parallel.

[0067] As used herein, a processor can include any programmable system including systems using microcontrollers, reduced instruction set circuits (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuit or processor capable of executing the functions described herein. The above examples are exemplary only, and are thus not intended to limit in any way the definition and / or meaning of the term "processor."

[0068] ​As used herein, the term "database" can refer to a data volume, a relational database management system (RDBMS), or both. As used herein, a database can include any collection of data, including a hierarchical database, a relational database, a flat file database, an object- relational database, an object-oriented database, and any other structured collection of records or data stored in a computer system. The above examples are merely illustrative and, thus, are not intended to limit the definition and / or meaning of the term database in any way. Examples of RDBMSs include, but are not limited to, Oracle® Database, MySQL, IBM® DB2, Microsoft® SQL Server, Sybase®, and PostgreSQL, although any database management system that enables the systems and methods described herein can be used. (Oracle is a registered trademark of Oracle Corporation, Redwood Shores, California; IBM is a registered trademark of International Business Machines Corporation, Armonk, New York; Microsoft is a registered trademark of Microsoft Corporation, Redmond, Washington; and Sybase is a registered trademark of Sybase, Dublin, California)

[0069] In one embodiment, a computer program is provided and the program is included on a computer readable medium. In an example embodiment, the system is implemented on a single computer system, without needing connection to a server computer. In another embodiment, the system is run in an environment (Windows is a registered trademark of Microsoft Corporation, Redmond, Washington). In yet another embodiment, the system is run on a mainframe computer in conjunction with the Advanced Interactive Executive (AIX® is a registered trademark of IBM Corporation, Armonk, New York) and z / OS (z / OS is a registered trademark of IBM Corporation, Armonk, New York) environments. The application is flexible in use and designed to be

[0070] As used herein, an element or step recited in the singular and preceded with the word "a" or "an" should be understood as not excluding plural elements or steps, unless explicitly stated otherwise. Furthermore, references to "an example embodiment" or "one embodiment" of the present disclosure are not intended to be interpreted as excluding further embodiments which can or can not be a part of the example embodiment. Furthermore, examples of equivalent steps or materials equivalent in function, or steps or materials used for the same purpose, are to be treated as equivalents.

[0071] As used herein, the terms "software" and "firmware" are interchangeable, and include any computer program stored in memory for execution by a computer, including RAM memory, ROM memory, EPROM memory, EEPROM memory, and nonvolatile RAM (NVRAM) memory. The above memory types are examples only, and are thus not limiting as to the types of memory usable to store computer program.

[0072] The methods and systems described herein can be implemented using computer programming or engineering technologies, including computer software, firmware, hardware, or any combination or subset thereof. As described above, at least one technical problem with existing systems is the need for a cost-effective and reliable way to determine the direction of arrival of a wireless signal. The systems and methods described herein solve this technical problem. In addition, at least one technical solution to the technical problem provided by the system can include: (i) accuracy in determining the proper angle of a solar tracker is improved; (ii) the chance of damage to the tracker due to the amount of accumulation on the ground is reduced; (iii) the amount of solar radiation collected during weather with accumulation is increased; (iv) the solar tracker is positioned up-to-date based on the current conditions of the solar site / power plant; and (v) downtime of the tracker is reduced based on weather conditions.

[0073] The methods and systems described herein can be implemented using computer programming or engineering techniques, including computer software, firmware, hardware, or any combination or subset thereof, where the technical effect can be achieved by performing at least one of the following steps: a) storing a plurality of location-dependent solar tracking information in said at least one storage device; b) determining a location of the sun at a first specific point in time; c) calculating a first angle of said tracker based on said location of the sun and said plurality of location-dependent solar tracking information; d) detecting an accumulation at said first specific point in time; e) determining a first maximum range of motion of said tracker based on said accumulation; f) adjusting said first angle of said tracker based on said first maximum range of motion of said tracker; g) sending instructions to said rotating mechanism to change a plane of said tracker to an adjusted first angle; h) determining a second location of the sun at a second specific point in time; i) calculating a second angle of said tracker based on said location of the sun and said plurality of location-dependent solar tracking information; j) detecting a second accumulation at said second specific point in time; k) determining a second maximum range of motion of said tracker based on said second accumulation; 1) adjusting said second angle of said tracker based on said second maximum range of motion of said tracker; m) sending instructions to rotating mechanism to change a plane of tracker to an adjusted second angle; o) determining if a difference between said location of the sun and said second location of the sun exceeds a predetermined threshold; p) sending instructions to said rotating mechanism to change a plane of said tracker to an adjusted second angle if said difference exceeds said predetermined threshold; q) determining if said first angle exceeds said first maximum range of motion; r) adjusting said first angle to be within said first maximum range of motion; s) detecting a second accumulation at a second specific point in time; t) determining a second maximum range of motion of said tracker based on said second accumulation; u) adjusting said first angle of said tracker based on said second maximum range of motion of said tracker; v) sending instructions to said rotating mechanism to change a plane of said tracker to an adjusted first angle; w) storing tracker maximum range of motion; v) determining said first maximum range of motion based on a height of said tracker, said accumulation, a safety margin, and a width of said tracker, wherein said first maximum range of motion is more restricted than said tracker maximum range of motion, wherein said tracker maximum range of motion is from -60 degrees to 60 degrees, and wherein said tracker comprises a tracker panel having a plurality of modules, wherein said rotating mechanism changes a plane of said tracking panel; and w) instructing said rotating mechanism to change a plane of said tracker to horizontal when said accumulation exceeds said height of said tracker minus said safety margin.

[0074] The computer-implemented methods discussed herein can include additional, fewer, or alternative actions, including those discussed elsewhere herein. The methods can be implemented via one or more local or remote processors, transceivers, servers, and / or sensors, such as processors, transceivers, servers, and / or sensors installed on a vehicle or mobile device or associated with smart infrastructure or a remote server, and / or via computer-executable instructions stored on a non-transitory computer-readable medium or media. Additionally, the computer systems discussed herein can include additional, fewer, or alternative functionality, including that discussed elsewhere herein. The computer systems discussed herein can include or be implemented via computer-executable instructions stored on a non-transitory computer-readable medium or media.

[0075] As used herein, the term“non-transitory computer-readable medium” is intended to refer to any tangible computer-based device or instrumentation that stores information and from which instructions executed by a processor can be read. Thus, the methods described herein can be encoded as executable instructions embodied in a tangible, non-transitory, computer-readable medium such as a storage device and / or storage devices. These instructions might be in the form of a software package, a set of instructions that are part of a larger software package, or simply a portion of a software package, for example. When a processor reads the instructions, it performs the methods described herein. Additionally, as used herein, the term“non-transitory computer-readable medium” includes all tangible, computer-readable media, including the following, without limitation: non-transitory computer storage devices, including volatile and non-volatile media, and removable and non-removable media, such as firmware, physical and virtual storage, CD-ROMs, DVDs, and any other digital source such as a network or the Internet, as well as yet to be developed digital means, with the sole exception being a transitory, propagating signal.

[0076] Further, as used herein, the term“real-time” refers to at least one of the time of occurrence of the associated event, the time of measuring and collecting predetermined data, the time of processing data, and the time of the system’s response to the event and environment. In embodiments described herein, these activities and events occur substantially instantaneously.

[0077] This written description uses examples to disclose the application, including the best mode, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the application is defined by the claims, and can include other examples that occur to those skilled in the art. Such other examples are intended to fall within the scope of the claims if they have structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

Claims

1. A system for performing adaptive motion range of a solar tracker, comprising: a tracker attached to a rotating mechanism for changing a plane of the tracker, wherein the tracker is configured to collect solar radiation; and a controller in communication with the rotating mechanism, the controller comprising at least one processor in communication with at least one storage device, wherein the at least one processor is programmed to: detect a cumulative height of a substance on the ground at a first point in time; calculate a first maximum motion range of the tracker based on the cumulative height of the substance on the ground at the first point in time, wherein the tracker will not intersect the height of the substance on the ground within the first maximum motion range; store a plurality of location-dependent solar tracking information in the at least one storage device; determine a location of the sun at the first point in time; calculate a first angle of the tracker based on the location of the sun and the plurality of location-dependent solar tracking information; adjust the first angle of the tracker to be within the first maximum motion range based on the first maximum motion range; and change the plane of the tracker to the adjusted first angle. the at least one processor is further programmed to maximize power production of the tracker by minimizing an angle between a sun vector and a normal vector of a plane of a tracker panel.

2. The system of claim 1, wherein, the at least one processor is further programmed to:

3. The system of claim 1 or 2, wherein, determine a location of the sun at a second point in time; calculate a second angle of the tracker based on the location of the sun at the second point in time and the plurality of location-dependent solar tracking information; detect a second cumulative height of a substance on the ground at the second point in time; determine a second maximum motion range of the tracker based on the second cumulative height of the substance on the ground, wherein the tracker will not intersect the second cumulative height of the substance on the ground within the second maximum motion range; adjust the second angle of the tracker to produce an adjusted second angle based on the second maximum motion range of the tracker, wherein the adjusted second angle is within the second maximum motion range of the tracker; and change the plane of the tracker to the adjusted second angle. the at least one processor is further programmed to:

4. The system of claim 3, wherein, determine whether a difference between the location of the sun at the first point in time and the location of the sun at the second point in time exceeds a predetermined threshold; and change the plane of the tracker to the adjusted second angle if the difference exceeds the predetermined threshold. the at least one processor is further programmed to: determine a location of the sun at a second point in time; 5. The system of claim 1, wherein, calculate a second angle of the tracker based on the location of the sun at the second point in time and the plurality of location-dependent solar tracking information, wherein the second angle is within a second maximum motion range of the tracker; and change the plane of the tracker to the second angle. the at least one processor is further programmed to: detect a second cumulative height of a substance on the ground at a second point in time; ​ 6. The system of claim 1, wherein, ​ ​ determine a second maximum range of motion of the tracker based on the second accumulated height of the material on the ground, wherein the tracker will not intersect the second accumulated height of the material on the ground within the second maximum range of motion; and adjust the first angle of the tracker based on the second maximum range of motion of the tracker to produce a new adjusted first angle; and change the plane of the tracker to the new adjusted first angle.

7. The system of claim 1, wherein, The at least one processor is further programmed to: store a maximum range of motion of a tracker; and determine the first maximum range of motion based on a height of the tracker, an accumulated height of a material on the ground, a safety margin, and a width of the tracker, wherein the first maximum range of motion is more limited than the maximum range of motion of the tracker.

8. The system of claim 7, wherein, The maximum range of motion of the tracker is from -60 degrees to 60 degrees.

9. The system of claim 7, wherein, The tracker includes a tracker panel having a plurality of modules, wherein the rotating mechanism changes the plane of the tracker panel.

10. The system of claim 7, wherein, The at least one processor is further programmed to instruct the rotating mechanism to change the plane of the tracker to a horizontal position when the accumulated height of the material on the ground exceeds the height of the tracker minus the safety margin.

11. A method for operating a tracker, the method implemented by at least one processor in communication with at least one storage device, wherein, The method includes: detecting an accumulated height of a material on the ground at a first point in time; calculating a first maximum range of motion of the tracker based on the accumulated height of the material on the ground at the first point in time, wherein the tracker will not intersect the height of the material on the ground within the first maximum range of motion; storing a plurality of location-dependent solar tracking information in the at least one storage device; determining a location of the sun at the first point in time; calculating a first angle of the tracker based on the location of the sun and the plurality of location-dependent solar tracking information; adjusting the first angle of the tracker to be within the first maximum range of motion based on the first maximum range of motion; and changing the plane of the tracker to the adjusted first angle.

12. The method of claim 11, wherein, The method further includes maximizing the power production of the tracker by minimizing the angle between the sun vector and the normal vector to the plane of the tracker panel.

13. The method of claim 11, wherein, The method further includes: determining a location of the sun at a second point in time; calculating a second angle of the tracker based on the location of the sun at the second point in time and the plurality of location-dependent solar tracking information; detecting a second accumulated height of a material on the ground at the second point in time; determining a second maximum range of motion of the tracker based on the second accumulated height of the material on the ground, wherein the tracker will not intersect the second accumulated height of the material on the ground within the second maximum range of motion; adjusting the second angle of the tracker based on the second maximum range of motion of the tracker to produce an adjusted second angle, wherein the adjusted second angle is within the second maximum range of motion of the tracker; and changing the plane of the tracker to the adjusted second angle.

14. The method of claim 13, further comprising: determine whether a difference between a position of the sun at a first time and a position of the sun at a second time exceeds a predetermined threshold; and change a plane of the tracker to an adjusted second angle if the difference exceeds the predetermined threshold.

15. The method of claim 11, further comprising: storing a tracker maximum range of motion; and determining the first maximum range of motion based on a height of the tracker, a cumulative height of matter on the ground, a safety margin, and a width of the tracker, wherein the first maximum range of motion is more limited than the tracker maximum range of motion.

16. A controller for a tracker, the controller comprising at least one processor in communication with at least one storage device, the at least one processor programmed to: detect a cumulative height of matter on the ground at a first time; calculate a first maximum range of motion of the tracker based on the cumulative height of matter on the ground at the first time, wherein the tracker will not intersect the height of matter on the ground within the first maximum range of motion; store a plurality of position-dependent solar tracking information in the at least one storage device; determine a position of the sun at the first time; calculate a first angle of the tracker based on the position of the sun and the plurality of position-dependent solar tracking information; adjust the first angle of the tracker based on the first maximum range of motion such that the first angle is within the first maximum range of motion; and change a plane of the tracker to an adjusted first angle.

17. The controller of claim 16, wherein, the at least one processor is further programmed to: determine a position of the sun at a second time; calculate a second angle of the tracker based on the position of the sun and the plurality of position-dependent solar tracking information; detect a second cumulative height of matter on the ground at the second time; determine a second maximum range of motion of the tracker based on the second cumulative height of matter on the ground, wherein the tracker will not intersect the second cumulative height of matter on the ground within the second maximum range of motion; adjust the second angle of the tracker based on the second maximum range of motion of the tracker to produce an adjusted second angle, wherein the adjusted second angle is within the second maximum range of motion of the tracker; and change a plane of the tracker to the adjusted second angle.

18. The controller of claim 17, wherein, the at least one processor is further programmed to: determine whether a difference between a position of the sun at a first time and a position of the sun at a second time exceeds a predetermined threshold; and change a plane of the tracker to an adjusted second angle if the difference exceeds the predetermined threshold.

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