Articular joint solar cell panel array

Abstract

To provide a method for controlling a solar cell panel assembly and a method for controlling a solar cell panel.SOLUTION: A solar cell panel array can contain one or two or more articular joints in which the solar cell panel array can be distributed to over a certain surface under various types and enables that a direction of the solar cell panel is different each other. Each of the articular joints can transmits a rotational force so as to cross the joint, and the rotational force to be used for driving a first solar cell panel drives a second solar cell panel so as to transmit the rotational force. A control system can contains a lateral string specification half autonomous type or an autonomous type controller, and a controller for performing an interface connection with a plurality of lateral strings, can contain a sensor for directly measuring or estimating a shading, identifies the shading, identifies a method for increasing a power generation, and identifies an optimization inclination angle for each lateral straining of a tracking device.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] [Cross - Reference] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 091,385, filed Dec. 12, 2014, which is incorporated herein by reference.

Background Art

[0002] The field of ongoing research and development is solar energy. In particular, solar farms that house a large number of solar panel arrays have been developed. To mount solar panels, two types of mounting systems are widely used. Fixed - tilt solar panel array mounting structures account for 66% of today's utility - scale solar panel installations. Fixed - tilt panel mounting structures are advantageous in that they require little or no grading to install them. Fixed - tilt solar panel mounting structures are disadvantageous in that they do not rotate the panels to follow the movement of the sun so as to increase the amount of power generated by the solar panels. Single - axis tracking solar panel mounting structures account for 33% of today's utility - scale solar panel installations. Single - axis tracking solar panel mounting structures are advantageous in that they rotate the panels to follow the movement of the sun so as to increase the maximum amount of power generated by the solar panels. Single - axis tracking solar panel mounting structures are disadvantageous in that they require significant grading and relatively flat land areas to install them. Accordingly, there is a need for a solar panel mounting structure that can be installed on sloping and rolling terrain and can rotate the solar panels to increase the amount of power generated by the solar panels.

Prior Art Documents

Non - Patent Documents

[0003]

Non - Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Other limitations of the related art will become apparent to those skilled in the art upon reading this specification and studying the drawings.

Means for Solving the Problems

[0005] The following implementations and aspects are related to systems, tools, and methods that are illustrative and exemplary and are not necessarily meant to limit the scope of the present invention. In various implementations, one or more of the above problems are addressed, while other embodiments are directed to other improvements.

[0006] Articulated joint solar panel single-axis tracking mounting structures in various implementations, and systems and methods for controlling the positioning of articulated joint solar panel mounting structures. The solar panel mounting structure can include articulated joints that can provide flexibility in how the solar panels are arranged within the system. This can advantageously enable the easy placement of solar panels on various types of terrain or terrain having different gradients. This flexibility can enable the distribution of solar panel power plants over a wider area and at a desired density. The articulated joints can enable the placement of solar panel supports in various orientations relative to each other. The articulated joints can also enable the transfer of the rotation of a first solar panel support to a second solar panel support, thereby allowing for consideration of the desired tracking characteristics for the corresponding solar panels.

[0007] Aspects of the present invention are directed to a solar panel assembly including a first solar panel support configured to support a first solar panel rotatable about at least one axis, a second solar panel support configured to support a second solar panel rotatable about at least one axis, and a joint configured to connect the first solar panel support and the second solar panel support in a manner that allows variable orientation of the first solar panel support relative to the second solar panel support.

[0008] Yet another aspect of the present invention can be directed to a joint for connecting a plurality of solar panel supports, the joint including a first interface configured to couple to a first solar panel support configured to support a first solar panel rotatable about at least one axis, and a second interface configured to couple to a second solar panel support configured to support a second solar panel rotatable about at least one axis, the first and second interfaces being configured to allow variable orientation of the first solar panel support relative to the second solar panel support.

[0009] An additional aspect of the present invention can provide a method for controlling the movement of solar panels within a solar panel assembly. The method can include providing a first solar panel support configured to support a first solar panel rotatable about at least one axis, providing a second solar panel support configured to support a second solar panel rotatable about at least one axis, and connecting the first solar panel support and the second solar panel support using a joint that allows variable orientation of the first solar panel support relative to the second solar panel support.

[0010] Additional aspects and advantages of the disclosure of the present invention will be readily apparent to those skilled in the art from the following detailed description which illustrates and describes only exemplary embodiments of the disclosure of the present invention. As will be recognized hereinafter, the disclosure of the present invention is capable of other and different embodiments and some of the details thereof are capable of being modified in various obvious respects all without departing from the disclosure of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.

[0011] [Incorporation by Reference] All documents, patents, and patent applications referred to in this specification are hereby incorporated by reference to the same extent as if each individual document, patent, or patent application was specifically and individually indicated to be incorporated by reference.

[0012] The novel features of the present invention are particularly pointed out and distinctly claimed in the appended claims. A better understanding of the features and advantages of the present invention will be obtained from the following detailed description which lists exemplary embodiments in which the principles of the present invention are utilized, and from the accompanying drawings (also referred to herein as "drawings" and "figures"). [Brief Description of the Drawings]

[0013]

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DETAILED DESCRIPTION OF THE INVENTION

[0014] Various embodiments of the present invention are illustrated and described herein, but it will be apparent to those skilled in the art that such embodiments are provided by way of example only. It is contemplated that many variations, modifications, and substitutions will occur to those skilled in the art without departing from the present invention. It must be understood that various alternatives to the embodiments of the present invention described herein can be used.

[0015] A solar cell panel array can be provided that can be used to convert solar energy into electrical energy. The solar cell panel array can include one or more solar cell panels that can be supported using one or two or more solar cell panel support structures. The solar cell panels can be movable, thereby allowing for effective capture of solar energy. The solar cell panel array can include a hinge joint that can allow for variations in the way the solar cell panel support structure is arranged. Thereby, it is possible to consider the acceptance of various types of terrain or landforms where the solar cell panel array can be arranged.

[0016] A solar cell panel array control system can be provided that can control the operation of one or more solar cell panels within the solar cell array. The operation of one or more solar cell panels can include positioning of one or more solar cell panels. For example, the solar cell panel array control system can control the orientation of one or more solar cell panels. The control system can send a signal to the solar cell panel support structure that can affect the positioning of one or more solar cell panels. The hinge joint can enable control of the position of the solar cell panel from the control system.

[0017] FIG. 1 is a schematic diagram of an example of a system for controlling a gimbaled photovoltaic panel array. The example system of FIG. 1 can include a computer-readable medium 102, a gimbaled photovoltaic panel array 104, and a gimbaled photovoltaic panel array control system 106.

[0018] In the exemplary system shown in FIG. 1, the gimbaled photovoltaic panel array 104 and the gimbaled photovoltaic panel array control system 106 are coupled to each other through the computer-readable medium 102. The computer-readable medium can be a non-transitory computer-readable medium or a tangible computer-readable medium. Known statutory computer-readable media include hardware (e.g., by way of example, registers, random access memory (RAM), non-volatile (NV) storage), but are not necessarily limited to hardware. The computer-readable medium can include code, logic, or instructions for performing one or more of the steps described elsewhere in this specification.

[0019] The computer-readable medium 102 can represent various potentially applicable technologies. For example, the computer-readable medium 102 can be used to form a network or a portion of a network. When two components coexist on a device, the computer-readable medium 102 can include a bus or other data pipe or plane. When a first component coexists on one device and a second component is located on a different device, the computer-readable medium 102 can include a wireless or wired backend network or a LAN. The computer-readable medium 102 can also include, where applicable, a relevant portion of a WAN or other network. Depending on implementation-specific or other considerations, the computer-readable medium 102 can include a portion of an applicable low-power wireless mesh network such as ZigBee® based on the IEEE 802.15.4 standard, which is hereby incorporated by reference.

[0020] The computer-readable medium 102, the articulated joint photovoltaic panel array control system 106, and any other system or device described herein can be implemented as a computer system or as parts of a plurality of computer systems. The computer system can include a processor, memory, non-volatile storage, and an interface. A typical computer system can include at least one or more of a processor, memory, a general-purpose central processing unit (CPU) such as a microprocessor, or a dedicated processor such as a microcontroller.

[0021] The memory can include, by way of example and not limitation, random access memory (RAM) such as dynamic RAM (DRAM) and static RAM (SRAM). The memory can be local, remote, or distributed. The bus can also couple the processor to the non-volatile storage. The non-volatile storage is often a magnetic floppy or hard disk, magneto-optical disk, optical disk, CD-ROM, read-only memory (ROM) such as EPROM or EEPROM, magnetic or optical card, or some other form of storage for large amounts of data. A portion of this data is often written into the memory by direct memory access processing during execution of software on the computer system. The non-volatile storage can be local, remote, or distributed. The non-volatile storage is optional since the system can be created with all applicable data available in the memory.

[0022] Software can be stored in non-volatile storage. In fact, for large programs, it may not even be possible to store the entire program in memory. Nevertheless, it should be understood that for the software to be executed, as needed, it is moved to a computer-readable location suitable for processing, and this location is referred to herein as memory for purposes of explanation. Even when the software is moved to memory for execution, the processor can utilize hardware registers that store values associated with the software and a local cache that ideally helps speed up execution. A software program can be assumed to be stored in an applicable known or convenient location (from non-volatile storage to hardware registers) when the software program is said to be "implemented on a computer-readable storage medium". A processor is considered to be "configured to execute a program" when at least one value associated with the program is stored in a register readable by the processor.

[0023] In an example of operation, a computer system can be controlled by operating system software, which is a software program that includes a file management system such as a disk operating system. An example of operating system software with an associated file management system software is the group of operating systems known as Windows® and their associated file management systems from Microsoft Corporation, located in Redmond, Washington. Another example of operating system software with an associated file management system software is the Linux® operating system and its associated file management system. The file management system can be stored in non-volatile storage and causes the processor to perform various actions required by the operating system to input and output data and to store files on non-volatile storage, including storing data in memory.

[0024] The bus can also couple the processor to an interface. The interface can include one or more input and / or output (I / O) devices. The I / O devices can include, by way of example but not limited to, a keyboard, a mouse or other pointing device, a disk drive, a printer, a scanner, and other I / O devices including a display device. The display device can include, by way of example but not limited to, a cathode ray tube (CRT), a liquid crystal display (LCD), or any other applicable known or convenient display device. The interface can include one or more modems or network interfaces. It will be appreciated that the modem or network interface can be considered part of the computer system. The interface can include an analog modem, an ISDN modem, a cable modem, a token ring interface, a satellite transmission interface (e.g., "direct PC"), or other interfaces for coupling the computer system to other computer systems. The interface enables the computer system and other devices to be coupled to each other within a network.

[0025] The computer system is compatible with, or can be implemented as part of, or through, a cloud-based computer system. As used herein, a cloud-based computer system is a system that provides virtualized computer resources, software, and / or information to client devices. The computer resources, software, and / or information can be virtualized by maintaining centralized services and resources that edge devices can access over a communication interface such as a network. "Cloud" is considered a marketing term and can include any of the networks described herein for the purposes of this specification. A cloud-based computer system may involve a subscription to a service or may use a public charging model. Users can access the protocols of a cloud-based computer system through a web browser or other container application located on their client devices.

[0026] The computer system can be implemented as an engine, as part of an engine, or through multiple engines. As used herein, an engine includes at least two components, namely: 1) a dedicated or shared processor, and 2) software modules executed by hardware, firmware, and / or the processor. Depending on implementation-specific or other considerations, the engine can be centralized or its functions can be distributed. The engine can include software embodied on a computer-readable medium for execution by dedicated hardware, firmware, or a processor. The processor can transform data into new data using implementation data structures and methods as described herein in connection with the figures.

[0027] The engine described in this specification, or an engine through which the systems and devices described in this specification can be implemented, can be a cloud-based engine. A cloud-based engine is considered to be an engine that can execute applications and / or functions using a cloud-based computer system. All or each part of the application and / or function can be distributed across multiple computer devices and need not be limited to only one computer device. In some embodiments, the cloud-based engine can execute functions and / or modules that allow an end user to access through a web browser or a container application without locally installing the functions and / or modules on the end user's computer device.

[0028] The data store can include any applicable arrangement of data, including tables, comma-separated value (CSV) files, conventional databases (e.g., SQL), or other applicable known or convenient organized formats. The data store can be implemented, for example, as software embodied on a physical computer-readable medium on a dedicated machine and can be implemented in firmware, in hardware, in a combination thereof, or in any applicable known or convenient device or system. Components related to the data store, such as a database interface, can be regarded as "part" of the data store, part of some other system component, or a combination thereof, but the physical location and other characteristics of the components related to the data store are not important for understanding the technology described in this specification.

[0029] A data store can include a data structure. A data structure can be associated with a particular way of storing and organizing data in a computer so that it can be used efficiently within a given context. A data structure may be based on the computer's ability to fetch and store data at any location within memory specified by an address, a bit string, which itself is stored in memory and manipulated by a program. That is, some data structures are based on using arithmetic operations to calculate the addresses of data items, while others are based on storing the addresses of data items within the structure itself. Many data structures use both principles, sometimes combined in non-obvious ways. Implementing a data structure may involve writing a set of procedures to create and manipulate instances of that structure. Optionally, the data store can be a cloud-based data store. A cloud-based data store may be a data store that is compatible with a cloud-based computer system and engine.

[0030] The articulated joint solar panel array 104 includes bearings about which the solar panel array mounted on the solar panel support can be displaced. The solar panel support can include any configuration such as a cross beam, a cross tube, a torque tube, or other configurations. The description of the cross beam herein can apply to any other type of solar panel support and vice versa. The cross beam can span the distance between a first bearing that supports the cross beam and enables rotation of the cross beam and a subsequent second bearing. The first cross beam can be collinear with a subsequent second cross beam if a third subsequent bearing support is collinear with the first and second bearings. If the third bearing support is not collinear with the first and second bearings, an articulated joint assembly can be used instead of a bearing to transmit a rotational force to the second cross beam at an angle different from the cross beam that spans the distance between the first and second bearings. Optionally, the bearings and the articulated joint can be positioned at the top of a support structure such as a support post that supports the solar panel array.

[0031] The articulated joint solar panel array 104 can include an articulated joint assembly composed of an articulated joint and one or more bearings. The configuration of the articulated joint assembly is designed such that the bearing design and size are similar so that either choice of bearing design or articulated joint design will have little impact on the position of the solar panel support structure. Further, the bearing design or articulated joint design can be replaced with each other without requiring the movement, removal, or replacement of the solar panel structure.

[0032] Depending on the specific implementation or other considerations, the articulated joint solar panel array 104 may be independent of the slope and leveling of the ground on which it is mounted, thereby being less expensive to install than a solar panel array that requires leveling. The articulated joint of the articulated joint solar panel array 104 can enable consecutive solar panel arrays to pivot and rotate around different axes. The central axis around which the solar panel array can pivot and rotate can be an axis passing through the centers of consecutive bearings that are in a straight line with each other. The central axis around which the solar panel array can pivot and rotate can be an axis defined by the center of the articulated joint and the centers of the subsequent or preceding articulated joint assemblies or bearings. The articulated joint can be an applicable joint that enables the solar panel array to transmit torque to the subsequent solar panel array at different angles. Examples of articulated joints include, but are not limited to, Cardan joints, constant velocity joints, spherical joints, spherical roller joints, cylindrical joints, or any combination thereof.

[0033] The articulated joint photovoltaic panel array 104 can provide a number of degrees of freedom applicable to the photovoltaic panel array, including either or both of translational and rotational degrees of freedom. Depending on implementation specific or other considerations, the articulated joint can provide three degrees of freedom of an applicable combination of rotational and / or translational degrees of freedom to the photovoltaic panel array of the articulated joint photovoltaic panel array 104. The translational degree of freedom is provided by enabling the lateral tube to freely extend and contract within the articulated joint assembly without imposing a substantial load on the articulated joint. The exact distance of extension and contraction can be determined based on environmental variables such as ambient temperature variations that affect the length of the lateral tube and shifting soil that may move the base of the bearing mounting structure, although not limited to the following. One end of each lateral beam can be rigidly fixed without having the function of translating within the articulated joint. One end of each lateral beam can be selected to be rigidly fixed without having the function of translating within the articulated joint to impose a load on a specific support structure.

[0034] The articulated joint solar panel array 104 includes a drive mechanism for displacing the solar panel array around the articulated joint. Examples of applicable drive mechanisms can include a motor and a torque tube. The drive mechanism of the articulated joint solar panel array can displace the solar panel array according to a control command. The articulated joint solar panel array can include a battery for supplying power to the drive mechanism. The power can be supplied to the battery from the photovoltaic power generation generated by the solar panel array of the articulated joint solar panel array. Depending on implementation specific or other considerations, the power can be supplied to the battery during curtailment or during operation without curtailment. Curtailment as used herein is performed when the photovoltaic power plant associated with the articulated joint solar panel array generates more power than it can inject into the power grid. Further, depending on implementation specific or other considerations, the power can be supplied to the battery during clipping. Clipping as used herein is performed when the articulated joint solar panel array generates more power than is rated to be processed by an inverter and / or transformer coupled to the articulated joint solar panel array. The power can also be supplied by a dedicated solar panel or from a power grid power connection.

[0035] In certain implementations, the articulated joint solar panel array 104 can include a position sensing mechanism for determining the position of the solar panel array. The positioning of each solar panel of the solar panel array can be determined. In some cases, the positioning of a representative solar panel from a group of solar panels can be determined. The position sensing mechanism can include applicable sensors and / or instrumentation for determining the orientation of the solar panel array. Examples of the position sensing mechanism include gyroscopes, accelerometers, tilt sensors, light sensors, and / or video and audio capture instrumentation. Depending on implementation specific or other considerations, the positioning mechanism can be used to determine whether the solar panel array is being correctly displaced according to control instructions. For example, the position sensing mechanism can be used to control the drive mechanism when displacing the solar panel array. Further, depending on implementation specific or other considerations, the position sensing mechanism can be calibrated through interaction with an adjacent solar panel array. For example, a tilt sensor can be calibrated based on the tilt sensors of solar panel arrays having solar panel arrays at the same tilt.

[0036] In certain implementations, the articulated joint solar panel array 104 can include an environmental sensing mechanism for determining factors of the environment surrounding the solar panel array. Examples of environmental factors can include temperature, wind speed, the amount of shade on the solar panel array, and the performance and / or position of adjacent solar panel arrays. Examples of environmental sensing mechanisms can include thermometers, anemometers, ammeters, voltmeters, light sensors, and / or video and audio capture instruments. Depending on implementation-specific or other considerations, the amount of shade on the solar panel array can be determined based on the power generated by specific solar panels within the solar panel array. For example, if 50% of the solar panels within the solar panel array are generating power at a level consistent with and expected by the current environmental conditions and the level of power generation by modules in adjacent horizontal rows, and 50% are not, then it can be determined that 50% of the solar panel array is somewhat shaded. Further, depending on implementation-specific or other considerations, the environmental sensing mechanism can be used when displacing the solar panel array. For example, if a wind speed of 30 miles per hour from the south is detected, the solar panel array can be displaced to minimize wind damage.

[0037] The articulated joint solar panel array control system 106 can function to control the displacement of the solar panel array of the articulated joint solar panel array 104. The articulated joint solar panel array control system can control the displacement of the solar panel array based on the amount of power generated by the solar panel array or other power sources to increase, decrease, and / or otherwise affect the power generation level of the solar panel array.

[0038] Depending on implementation specific or other considerations, the articulated joint solar panel array control system 106 can be dedicated to only the articulated joint solar panel array 104 or, through a master-slave arrangement where a central controller collects data from individual horizontal row controllers to derive the inclination of each horizontal row of trackers, to multiple articulated joint solar panel arrays. Further, depending on implementation specific or other considerations, the articulated joint solar panel array control system or each part of the articulated joint solar panel array control system can be integrated as part of the articulated joint solar panel array on-site at the articulated joint solar panel array and / or remotely from the site of the articulated joint solar panel array.

[0039] When integrated as part of the articulated joint solar panel array 104, the articulated joint solar panel array control system 106 can be semi-autonomous. When controlling the displacement of the solar panel array of the articulated joint solar panel array, the control system can send a control signal to the articulated joint solar panel array to displace the solar panel array by the drive mechanism. The control signal can include the direction, angle, and / or amount to move the solar panel array.

[0040] In a particular implementation, the articulated joint solar panel array control system 106 can perform troubleshooting and / or diagnostics with respect to the articulated joint solar panel array 104. When performing diagnostics on the articulated joint solar panel array, the articulated joint solar panel array control system can determine whether the articulated joint solar panel array is functioning properly. Depending on implementation specific or other considerations, the articulated joint solar panel array control system can send a control signal to the articulated joint solar panel array to displace it to a predetermined position if it determines that the articulated joint solar panel array is not functioning properly. Examples of predetermined positions can include a fixed inclination.

[0041] In certain implementations, the articulated joint solar panel array control system 106 can function to control the displacement of the solar panel array of the articulated joint solar panel array 104 based on the position of the solar panel array as determined by a position sensing mechanism. Depending on implementation specific or other considerations, the articulated joint solar panel array control system can control the displacement of the solar panel array based on the desired position of the solar panel array and the current position of the solar panel array as determined by the position sensing mechanism. For example, if the articulated joint solar panel array control system 106 determines that the solar panel array needs to rotate 45° from its current position, the articulated joint solar panel array control system 106 can generate a control signal specifying to rotate the solar panel array 45° and send it to the drive mechanism. Further, depending on implementation specific or other considerations, the articulated joint solar panel array control system can send a constant control signal to the drive mechanism while displacing the solar panel array until the desired position of the solar panel array as determined using the position sensing mechanism is achieved. For example, the articulated joint solar panel array control system can continuously send control signals to the driver to keep rotating the solar panel array until the desired position of the solar panel array is achieved.

[0042] In certain implementations, the articulated-joint solar panel array control system 106 functions to control the displacement of the solar panel array of the articulated-joint solar panel array 104 based on factors of the environment surrounding the articulated-joint solar panel array 104 as determined by an environmental sensing mechanism. The articulated-joint solar panel array control system can determine a desired position of the solar panel array based on factors of the environment surrounding the solar panel array. For example, the articulated-joint solar panel array control system can determine a desired position of the solar panel array where the shade is reduced to less than a threshold level when it determines that the solar panel array is in shade beyond a threshold level. Optionally, the shade threshold level may refer to a threshold area or percentage of the solar panel area that is in shade, or an amount or percentage of the reduction in energy production due to shade. In another example, when the articulated-joint solar panel array control system determines that the solar panel array is exposed to wind beyond a threshold level, the articulated-joint solar panel array can determine a desired position where the damage due to wind is reduced. Optionally, the wind threshold level may refer to the wind speed, or the amount of force applied to the articulated-joint solar panel array by the wind.

[0043] The articulated-joint solar panel array control system 106 can optionally determine a desired position of the solar panel array based on time and geographical location. Time can include the time of day and the time of the year. Geographical location can include latitude, longitude, gradient, aspect, and elevation. For example, on a given day, when the sun follows a particular line with respect to the solar panel, the articulated-joint solar panel array control system can determine a desired position based on the particular line followed by the sun. In another example, the articulated-joint solar panel array control system can determine a desired position of the solar panel array based on the position of the sun at a given time of day.

[0044] In some cases, the articulated joint solar panel array control system 106 can determine the desired position of the solar panel array based on historical data. When using the historical data to determine the desired position of the solar panel array, the articulated joint solar panel array control system can determine whether there is an abnormal power generation. For example, the articulated joint solar panel array can determine whether there is an abnormal power generation when a specific solar panel array experiences a decrease in power generation following a pattern such as around the same time every day. When an abnormal power generation is detected, the articulated joint solar panel array control system can determine the desired position to reduce or eliminate the abnormal power generation.

[0045] In some implementations, the articulated joint solar panel array control system 106 can determine the desired position of the solar panel array at the site based on the positions of other solar panel arrays at that site. For example, the articulated joint solar panel array control system can determine the desired position of a solar panel array that is not blocked by another solar panel array at the site based on the position of another solar panel array at the site.

[0046] In some implementations, the articulated joint solar panel array control system 106 can determine the desired positions of multiple solar panel arrays to increase or maximize power generation based on a power generation analysis that can cause intentional shading of a certain solar panel array and increase the power generation of other solar panel arrays by an amount greater than the loss associated with the shaded array. For example, if shading one solar panel array reduces the total power generation of the power plant by only 0.1%, but the means to reduce the shade for that one solar panel array requires tilting all other solar panel arrays further away from the sun, resulting in a 2% decrease in the total power generation, it can be determined that it is preferable to shade that one solar panel array during that time period.

[0047] In certain implementations, the articulated joint solar panel array control system 106 can control the position of multiple solar panel arrays in the field. Depending on implementation specific or other considerations, the articulated joint solar panel array control system can control the position of multiple solar panel arrays within a horizontal row, thereby identifying the horizontal row, within a vertical column, thereby identifying the vertical column, and / or within a region, thereby identifying the region. Further, depending on implementation specific or other considerations, the articulated joint solar panel arrays can communicate with each other, for example, by transmitting position data through the articulated joint solar panel array control system. Depending on implementation specific or other considerations, the articulated joint solar panel array control system can position multiple solar panel arrays in the field to increase, decrease, and / or otherwise affect the power generation level of the solar panel arrays in the field. For example, the articulated joint solar panel array control system can move all of the solar panel arrays in a row to increase the power generation by the solar panel arrays in another row.

[0048] FIG. 2 shows a flowchart of an example method for controlling the displacement of a solar panel array of an articulated joint solar panel array. Any of the stages of the flowchart can be optional and / or replaced with other stages. In some cases, stages can be deleted, added, or the order of the stages can be modified.

[0049] The flowchart begins with a module 202 where the position of the solar panel array of the articulated joint solar panel array is determined. The position of the solar panel array can be determined by a position sensing mechanism of the articulated joint solar panel array.

[0050] The flowchart continues to module 204 where factors of the environment surrounding the articulated-joint solar panel array are determined. The factors of the environment surrounding the articulated-joint solar panel array can be determined by an environmental sensing mechanism and / or based on the amount of power generated by specific panels within the solar panel array. Depending on the specific implementation or other considerations, the environmental factors can include the amount of shade of the solar panel array.

[0051] The flowchart continues to module 206 where the desired position of the solar panel array is determined based on the determined position of the solar panel array and the factors of the environment surrounding the articulated-joint solar panel array. Depending on the specific implementation or other considerations, the desired position of the solar panel array is the position of the solar panel array where the shade of the solar panel array is reduced.

[0052] The flowchart continues to module 208 where the displacement of the solar panel array to the desired position is controlled. The solar panel array can be displaced to the desired position by pivoting the solar panel array around a rotational axis defined by bearings and / or articulated joints. When using articulated joints, the solar panel array can be displaced and / or rotated along multiple axes.

[0053] Figure 3 shows a schematic view of a solar panel array within an environment. One or more solar panel supports 310a, 310b, 310c can be provided, which can support one or more solar panels 320a, 320b, 320c. In some implementations, the solar panel supports can be connected through one or more bearings 330a, 330b. Optionally, an articulated joint 340 can be used to connect the solar panel supports. A drive mechanism 350 can drive the movement of one or more solar panels. One or more support structures 360a, 360b, 360c can be provided to support the solar panel supports, bearings, and / or articulated joints on the underlying surface 370.

[0054] The solar panel array can include one or more solar panel supports 310a, 310b, 310c. The solar panel support can carry the weight of one or more solar panels 320a, 320b, 320c. In some cases, a one-to-one correspondence can be provided such that each solar panel support carries the weight of one solar panel. Alternatively, a single solar panel support can carry the weight of multiple solar panels, or multiple solar panel supports can be used to carry the weight of a single solar panel. The solar panel support can support one or more corresponding solar panels.

[0055] The solar panel support can be configured to span a certain length. The solar panel support can span the length between two end supports. Examples of end supports can include, but are not limited to, bearings, articulating joints, drive mechanisms, support structures, or any other structure that supports the ends of the solar panel support. The end supports at both ends of the solar panel support can be of the same type or of different types. The end support can be at or near the end of the solar panel support (e.g., within 20%, 10%, 5%, 3%, or 1% of the end of the solar panel support).

[0056] The solar panel support can have any shape or configuration. For example, the solar panel support can be a horizontal beam, a horizontal tube, and / or a torque tube. The solar panel support can have an elongated shape such that the length of the solar panel support exceeds a dimension such as the length, diagonal, diameter, or width of the cross-section of the solar panel support. In some cases, the length of the solar panel support exceeds the dimension of the cross-section of the solar panel support by 1:1, 3:2, 2:1, 3:1, 4:1, 5:1, 6:1, 8:1, 10:1, 15:1, 20:1, 30:1, or 40:1. In some cases, the length of the solar panel support can be on the order of 1 inch, several inches, dozens of inches, several feet, or dozens of feet. The cross-section of the solar panel array can have any shape including, but not limited to, circular, elliptical, oval, square, rectangular, trapezoidal, pentagonal, hexagonal, octagonal, crescent-shaped, "Γ"-shaped, "T"-shaped, "H"-shaped, "X"-shaped, or any other shape including regular or irregular polygons. The solar panel support can include a solid structure or can include a hollow structure. The solar panel support may or may not have one or more cavities therein.

[0057] One or more solar panels 320a, 320b, 320c can be provided in the solar panel array. The solar panel can include one or more photovoltaic ("PV") cells capable of converting solar energy into electrical energy. The PV cells can be arranged in any configuration on the solar panel. For example, an array of PV cells can be provided on the solar panel. The solar panel can include a cover or protective surface. The solar panel can include a frame.

[0058] Solar panels can include any shape or configuration. For example, a solar panel can have a quadrilateral shape such as a rectangle or a square. A solar panel can have any other shape as described elsewhere in this specification. A solar panel can have dimensions (e.g., length, width, diagonal, diameter) on the order of 1 inch, several inches, dozens of inches, several feet, or dozens of feet.

[0059] Solar panels may be able to move. For example, a solar panel may be able to rotate around one, two, or three axes. A solar panel may be able to translate along one, two, or three axes. The axes may be perpendicular to each other or not. In some cases, the movement of a solar panel can be determined by the corresponding solar panel support. The movement of the solar panel support can affect the movement of the corresponding solar panel. For example, the rotation of a solar panel support, or the rotation of a component of the solar panel support, can cause the corresponding solar panel to rotate around the same axis. The translation (e.g., sliding) of a solar panel support or a component of the solar panel support can cause the corresponding panel to translate (e.g., slide) along the same axis. In one example, the rotation of the first solar panel support 310a can result in a corresponding rotation of the first solar panel 320a, the rotation of the second solar panel support 310b can result in a corresponding rotation of the second solar panel 320b, and / or the rotation of the third solar panel support 310c can result in a corresponding rotation of the third solar panel 320c.

[0060] One or more bearings 330a, 330b can optionally be provided within the solar panel array. The bearings can connect one or more solar panel supports. For example, bearing 330a can connect the first solar panel support 310a and the second solar panel support 310b. The bearings can support the ends of the solar panel supports. The bearings can enable the rotation of the first solar panel support to affect the rotation of the second solar panel support. In some cases, the rotation of the first solar panel support results in the rotation of the second solar panel support. The rotation of the first solar panel support can be imparted to the second solar panel support to result in the rotation of the second solar panel support. The rotations of the first solar panel support and the second solar panel support can be at the same speed or at different speeds. The first solar panel support and the second solar panel support may or may not be in direct contact with each other. In some cases, the bearings can form a connection between the first solar panel support and the second solar panel support.

[0061] Optionally, the bearings can hold the first solar panel support and the second solar panel support in the same orientation relative to each other. The positions between the first solar panel support and the second solar panel support can be substantially fixed when the bearings connect them. For example, the length of the first solar panel support can be in line with the second solar panel support. When the solar panel supports are tubes or beams, the solar panel supports can be in line with each other. The bearings may be useful in situations where the terrain is relatively flat or has relatively little variation.

[0062] The solar cell panel array can include a hinge joint 340. The hinge joint can connect one or more solar cell panel supports. For example, the hinge joint can connect a first solar cell panel support 310a and a second solar cell panel support 310b. The hinge joint can support the end of the solar cell panel support. The hinge joint can enable the rotation of the first solar cell panel support to affect the rotation of the second solar cell panel support. In some cases, the rotation of the first solar cell panel support will cause the rotation of the second solar cell panel support. The rotation of the first solar cell panel support can be imparted to the second solar cell panel support to cause the rotation of the second solar cell panel support. The rotations of the first solar cell panel support and the second solar cell panel support can be at the same speed or at different speeds. The first solar cell panel support and the second solar cell panel support may or may not be in direct contact with each other. In some cases, the hinge joint can form a connection between the first solar cell panel support and the second solar cell panel support.

[0063] The articulation joint can enable the first solar panel support and the second solar panel support to have variable orientations relative to each other. Correspondingly, the articulation joint can enable the first solar panel and the second solar panel to have variable orientations relative to each other. Any description in this specification regarding the positioning of the solar panel support and / or the variation in the orientation of the solar panel support can also be applied to the corresponding solar panel, and vice versa. The position between the first solar panel support and the second solar panel support can be substantially variable when the articulation joint connects them. In some cases, the orientations of the first solar panel support and the second solar panel support can be changed while setting up the solar panel array. The orientations of the first solar panel support and the second solar panel support may or may not be modified after setting up the solar panel array. The first solar panel support and the second solar panel support can be arranged to be in different orientations (e.g., not in the same line) relative to each other with the help of the articulation joint. Optionally, the first solar panel support and the second solar panel support can be arranged to be in the same orientation (e.g., in the same line) relative to each other. The solar panel supports can be arranged not to be in the same line with each other on the X plane and / or the Y plane. They can be arranged not to be in a straight line at an angle of less than 1, 5, 15, 30, 60, or 90 degrees. Optionally, they can be arranged up to a conical angle at an absolute angle of less than 1 degree, 1 degree, or from horizontal to 90 degrees. However, the articulation joint can enable the first solar panel support and the second solar panel support to be arranged regarding their orientations at the discretion of the user. The user can select from a wide range of arrangements.

[0064] Joints may be useful in situations where the terrain is not flat or there are significant variations. For example, as shown in the figure, when the terrain 370 has a gradient change, the joint 340 can be used to enable the solar panel array to adapt to the terrain changes. Thereby, the first solar panel support 310b and the second solar panel support 310c can be in different orientations relative to each other. For example, the axis extending through the length of the first solar panel support is not parallel to the axis extending through the length of the second solar panel support.

[0065] The rotation of the first solar panel support can affect the rotation of the second solar panel support through the articulated joint, regardless of whether the first solar panel support and the second solar panel support are arranged in different orientations or the same orientation. For example, the rotation of the first solar panel support 310b can cause or affect the rotation of the second solar panel support 310c, even when they are in different orientations relative to each other, with the help of the articulated joint 340. The articulated joint can enable the transmission of the rotational force from the first solar panel support to the second solar panel support. The rotational force can enable rotation within an unlimited range or a limited range. In one example, the articulated joint can enable the transmission of the rotational force from the first solar panel support to the second solar panel support up to 15, 30, 45, 60, 75, 90, 120, 150, or 180 degrees (optionally, in the negative or positive direction from the horizontal direction). This can occur when the first solar panel support and the second solar panel support are in different orientations or the same orientation. For example, the articulated joint can enable the transmission of the rotational force from the first solar panel support to the second solar panel support when the first solar panel support and the second solar panel support are in different orientations relative to each other up to 15, 30, 45, 60, 75, 90, 120, 150, or 180 degrees (optionally, in the negative or positive direction from the horizontal direction). As described above, the rotational force of the first solar panel support can achieve the rotation of the corresponding first solar panel, and the rotational force of the second solar panel support can achieve the rotation of the corresponding second solar panel.

[0066] In some embodiments, other types of movement may occur. For example, a solar panel may have a translational movement. The translational movement can be in a direction along the length of the corresponding solar panel support. Alternatively, the translational movement can have any other direction. In some cases, the translational movement of the solar panel support can impart a corresponding translational movement to the solar panel. In one example, the solar panel support or a component of the solar panel support can move along the length of the solar panel support, which imparts a corresponding movement by the solar panel in a direction parallel to the length of the solar panel support. A first solar panel support can enable the translational movement of a first solar panel, and a second solar panel support can enable the translational movement of a second solar panel. In some cases, the translation may be less than 1, 3, 6, 12, 24, or 36 inches. The translation may be greater than any of the values described, or may fall within a range between any two of the values described. The translation can be in any direction and can include the positive or negative Z-axis direction, the positive or negative Y-axis direction, and / or the positive or negative X-axis direction. In one example, the translation can be less than 1 inch, 1 inch, or up to 12 inches in the positive or negative Z-axis direction.

[0067] In some cases, the solar panel support can be extended or contracted to enable the translational movement of the corresponding solar panel. In some cases, the solar panel support can include multiple parts that can be extended or contracted. For example, one or more telescoping features can be provided. The extension or contraction can occur within one or more end supports of the solar panel support. For example, the extension or contraction can occur within a hinge joint or within a bearing that supports the solar panel support. In some cases, the range of extension and contraction can be limited. The range can be limited to less than or equal to 50%, 40%, 30%, 25%, 20%, 15%, 10%, 5%, 3%, or 1% of the length of the solar panel support.

[0068] In one example, a method can be provided for applying a translational load from a solar panel support to a bearing within a joint assembly. The method can include rigidly fixing the panel support to the bearing to constrain translational movement of one or more, two or more, three or more, four or more, five or more, or ten or more panel supports onto the bearing. The method can provide a function of concentrating the translational load of one panel support onto one support structure to reduce the total load on the final support structure to reduce the size and strength requirements of the support structure.

[0069] The solar panel array can include a drive mechanism 350. The drive mechanism can drive the movement of one or more solar panels 320a, 320b, 320c within the solar panel array. The drive mechanism can drive the movement of one or more solar panel supports 310a, 310b, 310c within the solar panel array. The movement can include rotational movement and / or translational movement.

[0070] The drive mechanism 350 can drive the movement of the first solar panel support 310a closest to the drive mechanism, which can then drive the movement of the subsequent second solar panel support 310b away from the drive mechanism. Optionally, the movement of the second solar panel support can drive the movement of the subsequent third solar panel support 310c further away from the drive mechanism. The movement of the first solar panel support can drive the movement of the first solar panel, the movement of the second solar panel support can drive the movement of the second solar panel, and / or the movement of the third solar panel support can drive the movement of the third solar panel. In some cases, the movement of the first solar panel can drive the movement of the second solar panel support with the help of an end support such as a bearing or a joint. Similarly, the movement of the second solar panel can drive the movement of the third solar panel support with the help of an end support such as a bearing or a joint. The end support itself may or may not move. In some cases, the movement of the solar panel can drive the movement of a part of an end support (e.g., a bearing or a joint) that can then drive the movement of the subsequent solar panel support.

[0071] The drive mechanism can affect the movement of any number of solar panels and / or solar panel supports. The drive mechanism can affect the movement of at least 1 or more, 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, 10 or more, 10 or more, 15 or more, 20 or more, 30 or more, or 50 or more solar panels and / or solar panel supports. The solar panels and / or solar panel supports can be arranged in series, parallel, or any combination of the two.

[0072] The drive mechanism can include an actuator that can affect the movement of the solar panel array. The actuator can include a motor. The drive mechanism can have any characteristics or features as described elsewhere in this specification.

[0073] One or more components of the solar panel array can be lifted above the underlying surface 370. One or more support structures 360a, 360b, 360c, 360d can lift one or more components of the solar panel array. For example, one or more end supports (e.g., bearings, articulated joints, drive mechanisms) can use one or more support structures to lift above the underlying surface. One or more solar panel supports can use one or more support structures to lift above the surface. One or more support structures may or may not directly contact one or more solar panel supports. In some cases, one or more support structures can directly contact an end support, which can then support one or more solar panel supports.

[0074] One or more support structures 360a, 360b, 360c, 360d can sufficiently lift the components of the solar panel array such that the solar panels 320a, 320b, 320c are lifted above the underlying surface and are lifted above the surface enough that they do not contact the surface as the solar panels rotate.

[0075] The support structures 360a, 360b, 360c can include any configuration. For example, the support structure can form a strut. The strut can have a substantially vertical orientation that can raise the end supports of the solar panel. Any other configuration can be provided by the support structure. For example, a framework, wall, truss, beam, or any other configuration can be provided. The support structure can have a substantially fixed length. Alternatively, the support structure can have a variable length. The support structure can have components that allow for the extension or contraction of its components. An expansion and contraction feature element can be provided that allows for variability in the support structure length. The support structure can optionally be fixed to the underlying surface. For example, the support structure can penetrate the underlying ground.

[0076] A solar panel array or a portion of a solar panel array can be presented as a horizontal row of solar panels having corresponding support structures. The solar panels can be arranged such that they form straight horizontal rows or horizontal rows that change direction. One or more articulated joints within the array can enable lateral variability in the orientation of the solar panel support, such that the horizontal rows of the solar panel array need not be perfectly straight horizontally. In some cases, the articulated joints can enable the solar panel array to vary horizontally by at least 1, 3, 5, 10, 15, 30, 45, 60, 75, 90, 105, 120, 135, 150, 165, or 175 degrees at each articulated joint or over multiple articulated joints. Similarly, the solar panels can be arranged in horizontal rows that can traverse terrain having varying heights or slopes. One or more articulated joints within the array can enable vertical variability in the orientation of the solar panel support, such that the horizontal rows of the solar panel array need not be perfectly straight vertically. In some cases, the articulated joints can enable the solar panel array to vary vertically by at least 1, 3, 5, 10, 15, 30, 45, 60, 75, or 85 degrees at each articulated joint or over multiple articulated joints. The articulated joints may be able to accept at least a 1%, 5%, 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 100% change in the slope of the underlying surface. The articulated joint can be configured to connect the first solar panel support and the second solar panel support in a manner that enables variable orientation of the first solar panel support relative to the second solar panel support. The variable orientation can include any maximum nominal slope of any degree, such as any of the degree values described elsewhere in this specification. For example, the maximum nominal slope can be at least 3, 5, 10, 15, 30, 45, 60, 75, 85, 90, 105, 120, 135, 150, 165, or 175 in any direction. The maximum nominal slope can be less than any of the given degree values, or can fall within the range between any two of the given degree values.

[0077] Figure 4 shows a schematic diagram of degrees of freedom related to a joint. The joint 440 can have a first interface 420a coupled to the first solar panel support 410a and a second interface 420b coupled to the second solar panel support 410b. Optionally, the joint can be supported by a support structure 460.

[0078] The joint 440 can be used to connect two or three or more solar panel supports. In a given figure, a first interface 420a and a second interface 420b can be provided. However, the joint can have any number of interfaces corresponding to any number of solar panel supports that can be supported by the joint. For example, the joint can be used to support one or two or more, two or three or more, three or four or more, four or five or more, five or six or more, or ten or eleven or more solar panel supports, and / or can have one or two or more, two or three or more, three or four or more, four or five or more, five or six or more, or ten or eleven or more corresponding interfaces. The interfaces can include fixed positions (e.g., spatial positions or orientations) relative to each other. Alternatively, the interfaces can include variable positions (e.g., spatial positions or orientations) relative to each other. The interfaces may or may not be able to move relative to each other.

[0079] The solar panel support can be coupled to the joint interface. The solar panel support can be in direct contact with the joint interface. The joint interface may or may not allow movement or extension / contraction of the solar panel support relative to the joint. The end of the solar panel support can be stopped at the joint interface. Alternatively, the joint interface can allow the end of the solar panel support to pass through and / or move within the joint.

[0080] The solar panel support can have a rotational movement. The rotational movement of the solar panel support can cause a corresponding rotation by means of a joint interface coupled to the solar panel support. Alternatively, the solar panel support can rotate with respect to the joint interface. In some embodiments, the rotation of the first solar panel support can cause the rotation of the first joint interface, which can cause the rotation of the second joint interface, which, in turn, can cause the rotation of the second solar panel support. In some cases, the joint can adapt the rotation of the second solar panel support to the rotation of the first solar panel support. The joint can adapt the rotation speed and / or rotation acceleration of the second solar panel support to the rotation speed and / or rotation acceleration of the first solar panel support. Alternatively, the rotation, rotation speed, and / or rotation acceleration of the first solar panel support may be different from those of the second solar panel support (for example, it can be smaller or larger). In some cases, the joint can impose a coefficient (for example, 1, 1.1, 1.2, 1.3, 1.5, 2, 3, etc.) between the rotations of the first solar panel support and the second solar panel support.

[0081] As described above, the articulated joint can enable the orientations of the first solar cell panel support 410a and the second solar cell panel support 410b to be variable with respect to each other. The orientation a of the first end support can be an axis extending along the length of the first solar cell panel support, and the orientation b of the second solar cell panel support can be an axis extending along the length of the second solar cell panel support. When the first solar cell panel support and the second solar cell panel support are collinear, a and b may be parallel or may coincide. When the first solar cell panel support and the second solar cell panel support are not collinear, a and b are not parallel. The articulated joint can enable a and b to have variable orientations with respect to each other. The articulated joint can cause a and b not to be parallel. The articulated joint can enable the angle between a and b to change by an angle greater than, less than, or equal to 1 degree, 3 degrees, 5 degrees, 10 degrees, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, 90 degrees, 105 degrees, 120 degrees, 135 degrees, 150 degrees, 160 degrees, 170 degrees, 175 degrees, 178 degrees, or 179 degrees. The angle between a and b can be anywhere within three-dimensional space. The angle can be given with respect to the x-y plane, the y-z plane, or the x-z plane. The components of the angle can be found along the x-axis, the y-axis, and / or the z-axis.

[0082] In some cases, the articulation joint can allow variability along three degrees of freedom (e.g., at least three rotational degrees of freedom). For example, the orientations of the first solar panel support and the second solar panel support may be different with respect to the x-axis line, y-axis line, and z-axis line as shown in the figure. The articulation joint can allow variation in the orientation of the first solar panel support with respect to the second solar panel support with respect to at least three rotational degrees of freedom while setting up the solar panel array. In other embodiments, the articulation joint can allow variability under fewer degrees of freedom such as one degree of freedom or two degrees of freedom. In one example, the articulation joint may allow variability in the vertical direction but not in the horizontal direction. In another example, the articulation joint may allow variability in the horizontal direction but not in the vertical direction.

[0083] In some cases, the articulation joint can allow variability along three degrees of freedom (e.g., at least three translational degrees of freedom). For example, the spatial arrangements of the first solar panel support and the second solar panel support may be different with respect to the x-axis line, y-axis line, and z-axis line as shown in the figure. The articulation joint can allow variation in the spatial position of the first solar panel support with respect to the second solar panel support with respect to at least three translational degrees of freedom while setting up the solar panel array. This variation may or may not be allowed after the setup of the solar panel array is completed and it is being used to convert solar energy into electrical energy. In other embodiments, the articulation joint can allow variability under fewer degrees of freedom such as one degree of freedom or two degrees of freedom. In one example, the articulation joint can allow translational variability along the length of the solar panel support without allowing variability in the direction perpendicular to the length of the solar panel support.

[0084] FIG. 5 is a schematic view of a solar panel having a variable position. The solar panel support 510a can support the weight of the solar panel 520. Optionally, the articulation joint 540 or other type of end support can connect the solar panel support 510a to another solar panel support 510b. The articulation joint or other type of end support can be lifted using one or more support structures 560.

[0085] The solar panel 520 may be capable of rotational movement and / or translational movement. In some cases, the solar panel 520 may be capable of both rotational movement and translational movement.

[0086] The solar panel 520 can rotate about a rotation axis that extends through the length of the solar panel support 510 or parallel to its axis. When the solar panel support is flat in the lateral direction with respect to the inertial coordinate system (e.g., orthogonal to the direction of gravity), the rotation of the solar panel can be about a rotation axis that is lateral with respect to the inertial coordinate system. However, when the solar panel support has a vertical component with respect to the inertial coordinate system (e.g., not orthogonal to the direction of gravity), the rotation of the solar panel is not limited to being lateral with respect to the inertial coordinate system. Even when the solar panel rotates about a single rotation axis, the rotation axis itself may change, providing a wide range of possible positions for the solar panel. The articulation joint can make the rotation axis of the solar panel variable. Optionally, the solar panel can rotate with the solar panel support. The solar panel can be connected to the solar panel support so as to move together. The solar panel can rotate about a single rotation axis, two rotation axes, or three rotation axes.

[0087] The solar cell panel 520 can translate along an axis that extends through the length of the solar cell panel support 510 or parallel to its axis. When the solar cell panel support is flat in the lateral direction with respect to the inertial coordinate system (e.g., orthogonal to the direction of gravity), the translation of the solar cell panel can occur along the lateral direction with respect to the inertial coordinate system. However, when the solar cell panel support has a vertical component with respect to the inertial coordinate system (e.g., not orthogonal to the direction of gravity), the translation of the solar cell panel is not limited to the lateral direction with respect to the inertial coordinate system. Even when the solar cell panel translates along a single direction, its axis itself may change, providing a wide range of possible positions for the solar cell panel. The articulating joint enables the translation axis of the solar cell panel to be variable. Optionally, the solar cell panel can translate together with the components of the solar cell panel support. The solar cell panel can be connected to the components of the solar cell panel support so as to move together. The solar cell panel can translate along a single axis, two axes, or three axes.

[0088] FIG. 6 shows an example of a solar cell panel array having an articulating joint. The first solar cell panel support 610a can support the weight of the first solar cell panel 620a, and the second solar cell panel support 610b can support the weight of the second solar cell panel 620b. The first solar cell panel support can be supported between a plurality of end supports 630, 640. The second solar cell panel support can be supported between a plurality of end supports 640, 650. In some cases, the end support between the first solar cell panel support and the second solar cell panel support can be the articulating joint 640. The articulating joint can be supported by a support structure 660 such as a strut.

[0089] The articulation joint 640 can enable the first solar panel support 610a and the second solar panel support 620b to have non-parallel orientations with respect to each other. The articulation joint can enable the first solar panel support and the second solar panel support to have variable orientations with respect to each other. The articulation joint can enable the rotation of the first solar panel support to affect the rotation of the second solar panel support or vice versa.

[0090] Figure 7 shows an example of an articulation joint. The articulation joint 740 can be used to connect the first solar panel support 710a and the second solar panel support 710b. The articulation joint 740 may or may not be connected to the first solar panel 720a and the second solar panel 720b. The first solar panel and the second solar panel can optionally be supported by the first solar panel support and the second solar panel support. The first solar panel can be operably coupled to the articulation joint using the second solar panel support, and / or the second solar panel can be operably coupled to the articulation joint using the second solar panel support.

[0091] The articulation joint 740 can include a first connection set 741 and a second connection set 742. The first connection set and the second section connection set can be connected at a pivot point 743. The pivot point can enable the orientations of the first connection set and the second connection set to change with respect to each other. The relative orientation can be changed around the axis of rotation passing through the pivot point.

[0092] The first connection set 741 can include a pair of extension members that can cross at least a portion of the length of the articulation joint. The extension members can be connected to each other or formed as two separate parts. The first connection set can be formed from a single integral part or from multiple parts. The extension members can be substantially parallel to each other. The extension members can include flat portions such that their flat sides face each other in a substantially parallel manner. Optionally, the extension members can have a rough profile shape with ends that are wider than the central portion.

[0093] The second connection set 742 can include a pair of semi-extension members that can cross at least a portion of the length of the articulation joint. Optionally, the semi-extension members of the second connection set may be shorter in length than the extension members of the first connection set. Alternatively, they can have the same length. The semi-extension members can be connected to each other or formed as two separate parts. The second connection set can be formed from a single integral part or from multiple parts. The semi-extension members can be substantially parallel to each other. The semi-extension members can include flat portions such that their flat sides face each other in a substantially parallel manner. Optionally, the semi-extension members can have an elongated shape.

[0094] The first connection set and the second connection set can be connected to each other at the pivot point 743. The pivot point can include a pair of contact positions for the first and second connection sets. The pair of contact positions can be arranged along an axis, and the orientation of the first connection set can be changed around the axis relative to the orientation of the second connection set. The first connection set and / or the second connection set can rotate around the pivot point. In some cases, the first connection set and / or the second connection set can rotate in a substantially unlimited range. Alternatively, the amount of rotation can be limited. Optionally, the first connection set and / or the second connection set can have a track that can limit the amount of rotation around the pivot point. In some cases, the pivot point may be along a substantially central portion along the length of the joint. Each part of the first connection set and the second connection set can overlap each other. For example, a part of the extension member and the semi-extension member can overlap each other.

[0095] Optionally, the first connection set and / or the second connection set of the articulation joint can be supported by one or more rotational supports 744 that allow the first connection set and / or the second connection set to rotate about an axis extending through the length of the first connection set and / or the second connection set. The first connection set can pivot about pivot point 743 and / or rotate about an axis extending through the length of the first connection set. The second connection set can pivot about the pivot point and / or rotate about an axis extending through the length of the second connection set. In some cases, rotation of the first connection set about an axis extending through the length of the first connection set can rotate the second connection set. The plurality of contact points provided by the pivot point can impart a rotational force from the first connection set to the second connection set or vice versa. This can occur even when the first and second solar panel supports are in different orientations relative to each other. The first and second connection sets can form a linked configuration that provides flexibility in positioning the components of the joint while allowing a certain movement across the articulation joint.

[0096] The articulation joint can allow the first and second solar panel supports (and / or the first and second solar panels) to have any degree of freedom relative to each other. The articulation joint can incorporate the use of rotation of one or more components about a single axis, two axes, or three axes. The articulation joint can incorporate the use of translation of one or more components about a single axis, two axes, or three axes. In some embodiments, the first axis, the second axis, and / or the third axis can intersect. They can intersect at the same point. They can intersect at the center of the articulation joint. Alternatively, one or more of the axes may not intersect. The axes may be orthogonal to each other. Alternatively, they need not be orthogonal to each other. Any combination of rotation and / or translational movement can be allowed or restricted.

[0097] That is, the articulation joint can enable the first and second solar panel supports to have variable orientations relative to each other, which may optionally have different orientations relative to each other. The articulation joint can transmit the rotation of the first solar panel support to the second solar panel support or vice versa.

[0098] As described above, this articulation joint configuration is provided only as an example. Other types of articulation joints as described elsewhere in this specification can also be used.

[0099] FIG. 8 shows an example of a solar panel array control system that can communicate with a solar panel array. As described above, the solar panel array control system 830 can communicate with the solar panel array. The control system is provided only as an example and is not limiting.

[0100] The solar panel array can include one or more groups 810a, 810b, 810c of solar panels 820. These groups can include one or more solar panels connected in series, parallel, or any combination thereof. A group of solar panels can include a horizontal row of solar panels. The description herein regarding the horizontal rows of solar panels can be applied to any type of arrangement or grouping of solar panels. One or more groups of solar panels can utilize an articulation joint to provide flexibility in the arrangement of the solar panel groups.

[0101] Optionally, each group of solar panels can include group control systems 840a, 840b, 840c. The first group control system 840a can control the operation of the first group 810a of solar panels, the second group control system 840b can control the operation of the second group 810b of solar panels, and / or the third group control system 840c can control the operation of the third group of solar panels 810c. The group control system can be called a horizontal row controller when controlling the horizontal rows of solar panels. Any number of groups of solar panels and / or group control systems can be provided. Each group can include any number of solar panels. Each group can include the same number or different numbers of solar panels. Optionally, a central controller 850 can be provided to control the group control system.

[0102] The solar panel array control system 830 can include a central controller 850 and, optionally, one or more group control systems 840a, 840b, 840c. In some cases, one-way communication can be provided from the central controller to one or more group control systems. The central controller can send commands to one or more group control systems, which can then control the operation of the corresponding groups of solar panels. In some cases, two-way communication can be provided between the central controller and one or more group control systems. For example, the group controller can send data to the central controller. The central controller can send commands to the group controller in response to or based on that data. Data from one or more group controllers can optionally include data from one or more solar panels or various types of sensors.

[0103] A solar panel array control system can affect the operation of solar panels, which may include positioning the solar panels. The control system can affect the orientation of the solar panels. The control system can control the amount of rotation, rotation speed, and / or rotational acceleration of one or more solar panels. The control system can affect the spatial arrangement of the solar panels. The control system can control the amount of translation, translation speed, and / or translational acceleration of one or more solar panels. The control system can affect the operation of one or more drive mechanisms for the solar panel array. The solar panels can be positioned in response to one or more factors as described above in this specification. The solar panel array control system can affect other operations of the solar panels, such as turning the solar panels on or off, operating parameters for converting solar energy into electrical energy, diagnosis, error sensing, calibration, or any other type of operation of the solar panels.

[0104] In one example, a method can be provided for optimizing power generation through a tracker field. Operating data can be provided for each grouping (e.g., each horizontal row) of solar panels. The description regarding horizontal rows in this specification can apply to any grouping. The method can include collecting horizontally-level operating data collectively or fragmentarily to determine the operating characteristics of the trackers for one or more horizontal rows. The power generation data for each horizontal row can be measured to determine whether shading is occurring from one horizontal row to the next. The method can include analyzing the power generation of the entire field to determine whether shading a particular horizontal row and simultaneously further optimizing or adjusting the tilt of other horizontal rows for power generation will result in an increase in the power generation of the entire field.

[0105] Performing horizontal row level tests can determine the impact on one or more adjacent horizontal rows of shading in one or more horizontal rows with respect to power generation in the adjacent horizontal rows. Performing horizontal row level tests on one or more horizontal rows can determine whether the optimal orientation hypothesis results in optimal power generation or an increase in power generation. The tracking schedule can be updated to optimize or increase the power generation through the tracker field or for each individual horizontal row. Monitor the power generation at the horizontal row level and compare it with the weather station reports to determine whether solar tracking operation or non-solar tracking operation will result in greater power generation. Based on this comparison, the operation that results in greater power generation can be selected.

[0106] These and other examples provided herein are for illustrative purposes and are not necessarily intended to limit the described embodiments. As used herein, the term "implementation" means an implementation that is not limiting but serves to illustrate by way of example. The techniques described in the foregoing text and figures can be mixed and adapted as the situation requires to generate alternative implementations.

[0107] Preferred embodiments of the present invention have been illustrated and described herein, but it will be apparent to those skilled in the art that such embodiments are provided by way of example only. The present invention is not intended to be limited by the specific examples provided herein. Although the present invention has been described with reference to the foregoing specification, the description and illustration of the embodiments herein are not meant to be construed in a limiting sense. Many variations, modifications, and substitutions will occur to those skilled in the art without departing from the present invention. Furthermore, it should be understood that all aspects of the present invention are not limited to the specific drawings, configurations, or relative ratios described herein that depend on various conditions and variables. It should be understood that various alternatives to the embodiments of the present invention described herein can be used in the practice of the present invention. Accordingly, the present invention is contemplated to cover any such alternatives, modifications, variations, or equivalents thereof. It is intended that the following claims define the scope of the present invention and that methods and structures within the scope of these claims and their equivalents be covered thereby.

Explanation of Reference Numerals

[0108] 610a First solar cell panel support 620a First solar cell panel 630 End support 640 Joint 660 Support structure

Claims

1. A first solar panel support configured to support a first solar panel capable of rotating about at least one axis; A second solar panel support configured to support a second solar panel capable of rotating about at least one axis; A joint configured to connect the first solar panel support and the second solar panel support in a manner that enables a variable orientation of the first solar panel support with respect to the second solar panel support; A solar panel assembly, characterized by comprising the above.

2. The assembly according to claim 1, wherein the first solar panel support is a first horizontal beam and the second solar panel support is a second horizontal beam.

3. The assembly according to claim 2, wherein the joint is configured to enable the first horizontal beam and the second horizontal beam not to be in a straight line with each other.

4. The first horizontal beam is configured to extend or contract within the joint, thereby enabling a translational movement of the first solar panel assembly supported by the first horizontal beam, or The second horizontal beam is configured to extend or contract within the joint, thereby enabling a translational movement of the second solar panel assembly supported by the second horizontal beam. The assembly according to claim 2, characterized by the above.

5. The assembly according to claim 1, wherein the joint is configured to enable a rotational force from the first solar panel support to be transmitted to the second solar panel support.

6. The assembly according to claim 5, wherein the joint is configured to enable the rotational force from the first solar panel support to be transmitted to the second solar panel support when the first solar panel support and the second solar panel support are in different orientations with respect to each other.

7. The assembly according to claim 5, wherein the rotational force of the first solar panel support achieves the rotation of the first solar panel, and the rotational force of the second solar panel support achieves the rotation of the second solar panel.

8. The first solar cell panel support enables translational movement of the first solar cell panel, and the second solar cell panel support enables translational movement of the second solar cell panel. The assembly according to claim 1, characterized in that.

9. The articulated joint is raised above the underlying surface with the assistance of one or more support structures. The assembly according to claim 1, characterized in that.

10. The first solar cell panel support and the second solar cell panel support are raised above the underlying surface with the assistance of one or more support structures. The assembly according to claim 9, characterized in that.

11. The movement of the first solar cell panel support and the second solar cell panel support is performed in response to one or more commands from a solar cell panel array control system. The assembly according to claim 1, characterized in that.

12. The solar cell panel array control system includes a central controller that collects data from individual horizontal row controllers for corresponding horizontal rows of solar cell panels and induces movement of each of the corresponding horizontal rows of the solar cell panels. The assembly according to claim 11, characterized in that.

13. An articulated joint for connecting a plurality of solar cell panel supports, A first interface configured to couple to a first solar cell panel support configured to support a first solar cell panel that can rotate about at least one axis, A second interface configured to couple to a second solar cell panel support configured to support a second solar cell panel that can rotate about at least one axis, Including, The first and second interfaces are configured to enable a variable orientation of the first solar cell panel support relative to the second solar cell panel support. An articulated joint characterized by that.

14. The joint according to claim 13, characterized in that it enables the rotational force from the first solar cell panel support to be transmitted to the second solar cell panel support.

15. The joint according to claim 14, characterized in that the rotational force is applied when the first solar cell panel support and the second solar cell panel support are in different orientations relative to each other.

16. The joint according to claim 13, characterized in that it enables variable orientation of the first solar cell panel support relative to the second solar cell panel support with respect to at least three rotational degrees of freedom.

17. The first interface enables elongation or contraction of the first solar cell panel support within the articulated joint, thereby enabling translational movement of the first solar cell panel supported by the first solar cell panel support, or the second interface enables elongation or contraction of the second solar cell panel support within the articulated joint, thereby enabling translational movement of the second solar cell panel supported by the second solar cell panel support. The joint according to claim 13, characterized by this.

18. A method of controlling the movement of solar cell panels within a solar cell panel assembly, comprising: providing a first solar cell panel support configured to support a first solar cell panel capable of rotating about at least one axis; providing a second solar cell panel support configured to support a second solar cell panel capable of rotating about at least one axis; connecting the first solar cell panel support and the second solar cell panel support using an articulated joint that enables variable orientation of the first solar cell panel support relative to the second solar cell panel support. A method characterized by including this.

19. The first solar cell panel support has at least one rotational component, and the articulated joint causes rotation of at least one rotational component of the second solar cell panel support based on the at least one rotational component of the first solar cell panel support. The method according to claim 18, characterized by this.

20. The method according to claim 19, further comprising achieving rotation of the first solar cell panel using the at least one rotational component of the first solar cell panel support, or achieving rotation of the second solar cell panel using the at least one rotational component of the second solar cell panel support.

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