WO2009076394A1 - Light source tracker - Google Patents
Light source tracker Download PDFInfo
- Publication number
- WO2009076394A1 WO2009076394A1 PCT/US2008/086148 US2008086148W WO2009076394A1 WO 2009076394 A1 WO2009076394 A1 WO 2009076394A1 US 2008086148 W US2008086148 W US 2008086148W WO 2009076394 A1 WO2009076394 A1 WO 2009076394A1
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- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- actuator
- sensors
- platform
- ambient
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
- G01S3/782—Systems for determining direction or deviation from predetermined direction
- G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
- G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
- G01S3/7861—Solar tracking systems
- G01S3/7862—Solar tracking systems mounted on a moving platform, e.g. space vehicle
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S20/00—Solar heat collectors specially adapted for particular uses or environments
- F24S20/70—Waterborne solar heat collector modules
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S25/00—Arrangement of stationary mountings or supports for solar heat collector modules
- F24S25/10—Arrangement of stationary mountings or supports for solar heat collector modules extending in directions away from a supporting surface
- F24S25/12—Arrangement of stationary mountings or supports for solar heat collector modules extending in directions away from a supporting surface using posts in combination with upper profiles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/20—Arrangements for moving or orienting solar heat collector modules for linear movement
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/45—Arrangements for moving or orienting solar heat collector modules for rotary movement with two rotation axes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S30/40—Arrangements for moving or orienting solar heat collector modules for rotary movement
- F24S30/48—Arrangements for moving or orienting solar heat collector modules for rotary movement with three or more rotation axes or with multiple degrees of freedom
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S50/00—Arrangements for controlling solar heat collectors
- F24S50/20—Arrangements for controlling solar heat collectors for tracking
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S30/00—Arrangements for moving or orienting solar heat collector modules
- F24S2030/10—Special components
- F24S2030/11—Driving means
- F24S2030/115—Linear actuators, e.g. pneumatic cylinders
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
- Y02E10/47—Mountings or tracking
Definitions
- the present invention relates to tracking devices, and more particularly, it relates to devices that automatically maintain a specific orientation to a light source.
- the present invention is described in the context of a solar tracker although the physical structure and associated electronic control circuit have a broader application than solar tracking devices.
- a "light source” or “point light source” refers to a source of light which emits radiant energy which is detectably greater in intensity than is ambient light. Ambient light is all incident light at a location, particularly all reflected light.
- the tracker of the present invention includes a single support column fixed at the lower end to the earth and having a universal joint at the upper end connecting to the center of a carrier platform.
- the universal joint permits bi-axial rotation, and rotation about the third orthogonal axis that is collinear with the longitudinal axis of the column cannot occur.
- a carrier platform including energy conversion devices (e.g. solar cells) and a light source tracking array is mounted on top of the column for rotational movement about two orthogonal horizontal axes so that the platform can be positioned to face any direction from near the horizon to the Zenith and swept 360 degrees around the axis of the column.
- the axis of the support column would pass through the Zenith.
- the orientation of said carrier platform is preferably maintained by three linear actuators, each having one end (the upper end) mounted to the carrier platform by a spherical hinge, and the opposing or lower end mounted to a floating base received on the support column for free sliding motion along the support axis (i.e. the axis of the support column).
- the lower end of the actuators (which are equally spaced) are mounted to the floating base.
- the floating base confined to a longitudinal support column (but freely movable along the longitudinal axis of the support column) secures the lower end of the linear actuators by rotating joints equally angularly spaced around the support axis.
- the floating base slides freely along the axis of the support column and maintains the mounting joints of the base of the actuators in a fixed relationship to one another and to the support axis.
- the mounts for the lower ends of the linear actuators are pinned with some ability to rotate in all directions. If screw-type linear actuators are used, the lower end of each actuator is constrained from rotating about its longitudinal axis as in the illustrated embodiment because limited rotary motion about the axis of extension of these actuators is permitted due to their structure.
- the floating base may also provide support and enclosure for an electronic control module for the tracking operation.
- the upper ends of the linear actuators are mounted to the bottom of the carrier platform by an inexpensive joint which allows for rotation in all three axes at each linear actuator joint. It can also be described as a spherical joint, rotatable in all directions over a limited but substantial range.
- the linear actuator joints are fixed to the carrier platform and are located at equal angular spacing about, and equal distance from the support axis which intersects with the center of the carrier platform and is radially placed on a plane normal to the support.
- the center of the carrier platform is joined by a universal joint to the top of the support column.
- each linear actuator defines the distance between the associated mount of that actuator to the floating base and the associated upper hinge mounted to the carrier platform.
- the orientation of the upper platform is defined.
- the plane of the upper platform may thus be adjusted (by independently adjusting the length of the actuators) to a position normal to incident direct light over substantially a complete hemisphere, thus enabling the platform to track the sun from sunrise to sunset at substantially all locations on earth. This is achieved by using a minimum of three points and location of the support axis of the upper platform with respect to the support axis.
- a payload device including conventional energy conversion modules and one control sensor array which monitors the spatial location of the point light source (typically the sun) and controls the movement of the linear actuators to position the carrier platform to "face" the sun.
- an imaginary line referred to as the sight axis
- the sensor array includes three primary sensors (which detect direct illumination) and three ambient light sensors, one associated with each primary sensor. An opaque blinder partially isolates the primary sensors from one another so that their respective fields of view are equal in scope but isolated from the other primary source sensors in such a manner that when all three primary sensors indicate they are facing the source, the carrier platform also faces the source (or sun).
- each primary sensor is associated with an ambient sensor in such a manner that when a primary sensor generates a signal substantially greater than the associated ambient sensor, it is taken as an indication that the source sensor is receiving solar radiation directly (i.e. it "sees” the "sun”).
- a signal is sent to the controller which reverses the current flow to the associated linear actuator.
- One end of each actuator (referred to as the base) is mounted to the floating base and the other end of the actuator (the rod end) is mounted to the carrier panel at a location opposite to its associated primary sensor.
- the controller reverses the action of the associated linear actuator.
- each primary sensor is moved repeatedly between a "blind” position and a "sighting" position.
- a main sensor (the master sensor) is positioned in an elongated recess which extends along parallel to the sight axis so that when it detects incident sunlight, it indicates that all three sector sensors are detecting incident sunlight simultaneously. At this instant the payload or solar conversion device is also facing the sun in a position normal to the sight axis.
- Each linear actuator has a similar relationship to its source pair. The controller reacts instantly to the signals sent by the control sensors for extending or retracting the linear actuators.
- An “all stop” circuit senses this state and stops all linear actuators until the sun moves to a position at which a primary sensor no longer detects it then, the process is repeated to maximize the amount of time during the sun's availability in which the payload sights the source by being positioned in a plane perpendicular to the sight axis of the carrier platform.
- Each linear actuator is, during the duty cycle, either extending or retracting, simultaneously and independently of the other actuators.
- the sensor's signal of the presence or absence of the sun determines whether or not a particular actuator retracts and extends.
- a control sensor detects illumination it actuates its associated actuator to extend, and when the sensor does not detect incident light energy, it sends a signal to its associated linear actuator to retract.
- the physical orientation of an actuator in the apparatus and with respect to an associated sensor causes the cylinder to extend in the presence of light and thus orient the carrier platform toward the source of light, causing the platform to move generally toward the source.
- the electronic controller includes a plurality of timers that manage the user-required timed sequences of activity of the tracker, the 'target acquired' all-stop circuit, and the optional ambient light system enable circuit.
- the first timer considered manages the Sleep Cycle (i.e., when no light source can be detected by any of the three control sensors).
- the Sleep Cycle is variable and can be set at whatever length of time required by the application. Generally for a sun tracker device a Sleep Cycle of 20 to 40 minutes is sufficient to maintain efficient orientation of the solar energy collector. If a parabolic collector is used, a shorter Sleep Cycle could be implemented. Any desired timing cycle may be set. At the end of each Sleep Cycle, the system is reactivated.
- the apparatus can be placed into operation with no timers. That is to say, it can remain in "live” status and constantly sensitive to the position of the light source.
- An example of this application would be to have the tracker mounted on a moving vehicle. If the direction of the vehicle changes randomly the tracker is required to adjust accordingly to reacquire the target. On the other hand, if the tracker were mounted to a slow moving vehicle like a ship or barge, timers may be of use.
- the duty cycle timer manages the overall time that the linear actuators are active.
- the time needed for this activity will depend on the size of the tracker, the customer requirement for the speed of the tracker, and the time it takes to acquire the target light source.
- a large tracker with significant mass will take more time to orient than a small light tracker.
- each actuator has limiting devices on its respective extension or retraction. Consequently, the reorientation of the tracker will generally take only a few seconds.
- the timing is through the night from a sunset to a sunrise the tracker will need to move through an angle of approximately 170 degrees to acquire the sun. This may take 5 to 60 seconds depending on the size of the tracker.
- the duty cycle timer will allow for a full re-orientation of the device, possibly up to 60 seconds, then generate the all-stop signal and signal the sleep timer to reset.
- a complete cycle may take place in seconds, thus significantly reducing the power usage of the device.
- very little energy is used to maintain the orientation of the carrier platform. Energy consumption during the duty cycle is dependent upon the forces needed to move the carrier platform and will vary.
- the control circuit uses only enough power to maintain the sleep timer.
- the default activity of the controller is to force the actuators to retract.
- Each actuator has a stop or limit device for its full extend and retract positions. In the case of the electric screw cylinder, limit switches may be used to cut the power to the screw motor.
- the actuators During a "low light” event, the actuators fully retract and stop, as though it were night. In this state, the platform faces square to the zenith. The duty cycle timer will complete its cycle and the device will immediately return to its low energy state of the global timer. With all actuators retracted, the carrier platform will align the sensor array module central axis with the axis of the support column.
- the instant tracker will retract, thus maximizing the sky solid angle and positioning the platform such that it is ready for the sun to come out at some other position.
- the tracker goes into the retracted actuator orientation. This also provides a reduced frontal area exposed to lateral winds in low light conditions of storms.
- the ability of the instant tracking system to achieve full frontal exposure to the sun i.e., the Sight Axis of the platform intersects the sun
- the simple mechanical components of the invention are relatively inexpensive. Assembly and maintenance are minimized due to the relatively few components and the use of standard, available components, such as actuators, sensors (which may be photo resistors) and solar cells.
- the electrical control system is modular and simply plugs in to the actuators and sensor array module. The simplicity enables an economical solution to the solar tracking industry that will allow consumers to set up and begin using the device almost immediately. No special skill or training is needed in the understanding of one's location on the planet.
- the instant device will easily track a target light source through any spherical or celestial path. It will track the sun as easily at the Arctic Circle as it will at the Equator. With the appropriate mounting kit any solar panel can be kept facing the sun directly anytime the sun shines. During cloudy days the panel will face directly upward and will gather light from the largest part of the sky at all times. For example, this would maximize the light gathering capability for a solar panel.
- FIG. 1 is an upper perspective view of the carrier platform, linear actuators and support
- FIG. 2 is a side view of the device of FIG. 1, showing hinges and actuators in a position targeting the location of the sun near the horizon; and into the plane of the page;
- FIG. 3 A is a side view of a sensor array module
- FIG. 3B is an upper perspective view of the sensor array module of FIG. 3 A, with its protective cover removed;
- FIG. 3C is an upper side perspective view similar to FIG.
- FIG. 3B illustrating various angles at which the sun's rays may impinge, depending on the position of the sun;
- FIG. 3D is a perspective view of a sensor array with the sun directly above the array;
- FIG.3E is a top view of a sensor array
- FIG. 4 is an upper perspective view of the device of FIG. 1 without the carrier platform showing the Linear Actuators, floating base and a sensor array module in an adjusted position directly viewing the sun in the position of an observer;
- FIG. 5 is the block diagram of a control system (controller) for the tracker
- FIG. 6 is a schematic of a control circuit for each actuator
- FIG. 7 is a circuit schematic for the All Stop Circuit
- FIG. 8 is a logic chart illustrating the condition of the actuators under various operating conditions.
- the system shown and described is able to track the target light source within a solid angle of approximately 5.2 steradians, that is, about 10 degrees up from the horizon in a full 360 degrees. Consequently, it can be used as a solar detector at almost any latitude on earth.
- the instant system can be used from the earthly poles in their respective summers to the Equator. Once the tracker has been installed with the payload device, only power needs to be supplied. The integrated sensor/actuator controls will power up and orient the device to the direction of the target.
- the device comprises a multiaxial mechanical system including three linear actuators 9, 10, and 11.
- Each actuator extends and retracts linearly and has a base end (HA for actuator 11, FIG. 2), and a rod end HB.
- a single support column 1 supports the entire device.
- the support column 1 may be mounted to a stand (portable) or permanently fixed, as in concrete.
- column 1 At the top of the support, column 1 is a universal joint 2 (FIG. 2) which is connected to the central portion of a carrier platform on which the payload devices, such as solar panels, one of which is shown at 19 in FIG. 1, are mounted.
- the universal joint 2 is connected to and supports the center of the carrier platform 6.
- the carrier platform 6 is mounted such that it is capable of tilting in a solid angle, typically 5.2 Steradians, but can be designed for somewhat more or less, if desired.
- the universal joint 2 allows rotation of the carrier platform 6 in the two orthogonal axes normal to the longitudinal axis of the support column 1. Consequently, the payload device 8 mounted on the carrier platform 6 does not rotate about the longitudinal axis of support column 1. It can be said to "roll" about the support column 1. That is, the payload device 8 can only rotate about two horizontal axes.
- Universal joint 2 allows a two-axis movement, both axes are perpendicular to the vertical axis IA of the center column 1 (which is assumed to be vertical, but which is not necessarily the case).
- the universal joint 2 which connects the center of the carrier platform 6 to the support column 1, includes a hinge plate 13A connected by a pin 13C to the top of the support column 1, and including ferrules receiving a second pivot pin at 13C perpendicular to the axis of pin 12 and forming a hinge pin between hinge plate 13A and a hinge plate 13B which may be stamped out of the metal sheet from which the carrier platform is formed.
- a floating base 23 includes a tube
- the floating base 23 extends perpendicular to the axis IA of support column 1.
- the floating base 23 contains sockets for the pins of pin joints 5 for the lower ends of the outer tubes linear actuators 9, 10, and 11.
- the linear actuators 9, 10, and 11 secure and support the floating base 23. That is, the three actuators 9, 10, and 11 have their rod ends connected to and the carrier platform 6 as described above which is supported by the column 1, and the butt ends of the actuators are pinned to the floating base 23, and they thus support the floating base 23, which is free to move up and down on the support column 1.
- All the actuators are attached equally around the floating base with the joints in a plane normal to the longitudinal axis of the support column. As this structure is stable and in equilibrium all the net forces balance out. That is to say, the sum of all the forces equal zero. Nominally, the vertical push/pull forces caused by rotation of the carrier platform simply balance out.
- the floating base remains fixed vertically along the longitudinal axis of the column. Additionally, these same push/pull forces would cause the floating base to rotate away from concentricity to the longitudinal axis. However, these vertical forces induced in the direction of the longitudinal axis of the column the floating base easily resists the moment induced by the actuators pushing downward and upward simultaneously.
- the floating base includes a center tube constrained and will remain concentric to the shape of the column.
- the linear actuators 9, 10, and 11 that are mounted to the floating base 23 have multiaxial rotations at their associated pin joints 5, but have no local displacements with respect to the floating base 23. If the floating base 23 is rotated, it translates upward. With the effects of gravity, the sliding actuator mount assembly 2 and all three actuators 9, 10, and 11 seek the lowest point at equilibrium. The purpose of this is to relieve any local translation away from the center axis of support column 1 at a universal joint 14 (which connects the top of the support column 1 to the center of the carrier platform, FIG. 2) that may be imposed by the rotation of the upper platform 6 due to the offset from the z-axis of the support column 1.
- the lower pinned joints 5 are spaced evenly at 120 degrees around the axis of support column 1.
- a sensor array module 25 is mounted to the top of the carrier platform 6.
- the sensor module (and the carrier platform) are oriented by the movement of linear actuators 9, 10 and 11.
- the rod ends of the actuators are mounted on the bottom side of the carrier platform 6 by means of the three hinges 13 as seen in FIG.2.
- the upper member or plate of each of the hinges 12 is rigidly fixed to the carrier platform 6.
- Each of the linear actuators 9, 10, and 11 is spaced equally at 120 degrees on both the carrier platform 6 and the floating base 25.
- each universal joint 9A, 1OA and HA is pinned (at 13C) to the rod of an associated actuator 11, 12, 13 to provide a local (horizontal) axis of rotation about the actuator rod of the associated linear actuator 9, 10, and 11.
- the actuator rod is mounted to a screw and may rotate easily but within a limited range within the actuator 9, 10, or 11 barrel or housing.
- a simple universal joint can be used to provide the two axes of rotation normal to the local z-axis of actuator 9, 10, and 11.
- Other multiaxial rotational joints may be employed so long as it restricts lateral displacement.
- solar panels may be mounted to the upper surface of the carrier platforms 6.
- the carrier platform 6 can support flat solar panels, parabolic reflective surfaces, arrays of lenses or any other type of surface requiring tracking capability and are referred to as the payload device 8.
- the carrier platform 6 provides the mounting configurations needed and functions in a dual purpose as the mount for the actuators and the mounts for the desired payload device (e.g. solar panel).
- the universal joints mounting the rods of the linear actuators to the bottom of the carrier platform form a triangle, and the axes of the linear actuators intersect at a point below on the axis of the support column 1.
- the four imaginary surfaces formed is a tetrahedron with three triangular surfaces formed by three adjacent actuator axes, and the fourth triangle by the three spherical joints 5 attached to the carrier platform.
- the linear actuators 9, 10, and 11 can be of any number of known designs. They are required to retract or extend under a variety of loads. For larger systems carrying substantial weight (or as desired), hydraulic systems can be used. Hydraulic cylinders and pneumatic actuators are included as linear actuators.
- the sensor array module 25 (FIG. 1) is described with reference to the FIGS. 3A - 3E.
- the module 25 includes a base 27 on which there is mounted a blinder 31 formed of three intersecting walls 32, 33, and 34 made of opaque material and angled 120 degrees apart so that each pair of adjacent walls forms a sector of approximately 120 degrees.
- a primary sensor which may be a photoresistor (that is, the electrical resistance varies with the intensity of light incident on the active element of the photoresistor).
- sector 45 A (FIG. 3B) is associated with the primary sensor 36 and is defined by walls 32 and 34 of the blinder 35.
- sector 45B is associated with primary sensor 37 located within walls 32 and 33
- primary sensor 38 is located in sector 45C which is defined by walls 33 and 34.
- primary sensor 36 is located to detect light when the sun (shown diagrammatically at S) is in a range of positions.
- the other two primary sensors designated 37, 38 cannot directly view the sun in the position of FIG 3B because blinder 31 precludes direct incidence of light when the sun is in the sector shown in FIG. 3B and low relative to the horizontal surface 29 of the base 27 A on which the blinder and primary sensors are mounted.
- an elongated opening 42 which forms a cylindrical recess as seen in FIG. 3B and may have a central axis extending parallel to or coincident with the sight axis of the unit.
- a sensor 39 is located at the bottom of recess 42.
- the primary sensors are equally placed around a horizontal plane spaced apart 120 degrees and equidistant from the center of the blinder 35 where the "target aligned" sensor 39 is located at the bottom of recessed opening 42.
- Each actuator is associated with a sensor pair comprising a primary sensor and an ambient sensor.
- Each sensor pair is mounted on base 27A at an elevated angle relative to a horizontal plane of the carrier platform 6 such that when the sight axis of the array is aligned with the zenith, the horizon will also be visible to the array. In this orientation, the true horizon is not visible to the targeting sensor. Additional sensors can be added at various angles to the array to increase angular sensitivity.
- Base 27 provides a housing for the sensors.
- Ambient sensors 38A, 38B and 38C are housed within recesses formed in the base of the outer surfaces 33A, 34A and 35A of walls 33, 34 and 35 respectively.
- ambient sensor 38A is mounted in recess located at the base of peripheral wall 33A of sector wall 33.
- the recess for ambient sensor 38B is designated 34C in FIG. 3B.
- the base mount 23 (FIG. 3B) for the sensors rises toward the center to enable the sensors to "view" the horizon for almost 360 degrees about the sight axis. When darkness is present, all actuators are retracted, ready for the first sign of light.
- Support columns may be tubular to allow for wiring of the sensors and it includes a mount for the sensor array module 7.
- the opaque walls or separators 32-34 limit the lateral field of view for each sensor 36, 37, and 38 to approximately 120 degrees.
- the ambient sensors 38A, 38B and 38C monitor the reflected light produced by the light source and reflect back to the sensor module.
- the ambient sensors 38 A, 38B and 38C are each located in the opaque wall 33, opposite their respective primary sensor 36, 37, and 38 respectively.
- the cover 26 (if used) is transparent and is rigidly mounted.
- the cover 28 may be made of a generally translucent material that transmits a desired intensity and/or wavelength(s) of light. Thus, in addition to the electronic controls, the cover 28 may affect sensitivity. It may also act as a cover to protect the primary and ambient sensors, and the separator walls from the environment.
- All three primary sensors 36, 37, and 38 will acquire the target light source when the module's vertical sight axis sensor 40 is pointed at the target light source.
- the sight axis of the sensor array is normal to the plane of the carrier platform 6.
- the linear actuators 9, 10, and 11 variously extend or retract, the array 7 will eventually come into a position in which all three primary sensors 36, 37, and 38 and the recessed sensor 39 also have line-of- sight view to the target source.
- an "All Stop" circuit (to be described) is enabled, and it locks the tracking panel into position at an angle directly facing the target light source (at the time of acquisition).
- FIGS. 3A-3E various orientations of the target light source illustrate the operation of the system.
- FIG. 3 A shows the Sensor Array 7 of FIG. 1 with the shading panels generally located within the structure of the Cover with the incident light source illuminating various sensors.
- FIG. 3B shows the illumination of the primary sensor 36 for one disposition of the sensor relative to the target sources.
- Primary sensor 36 is illuminated and its associated ambient sensor 38Ais shaded.
- a significant difference in brightness is registered and the controller generates a signal to extend actuator 10 which has its rod coupled to a location diagonally opposite primary sensor 36. This raises the wall 33 of the blinder 35 and tilts the sensor array such that the axis of the sighting recess 42 becomes more in alignment with the diagrammatic light ray R of the source and elevating the associated ambient sensor 38A upwardly relative to the associated primary sensor 36, thus increasing the amount of light sensed by the ambient sensor.
- the other two primary sensors 37, 38 are not directly illuminated; and the controller generates a signal to retract their associated actuators 9, 11.
- FIG. 3C shows an orientation of the array wherein two primary sensors 36, 38 are illuminated by the source S located toward the bottom of the page, and their respective ambient sensors are shaded causing the signal to extend for the two associated actuators.
- the third primary sensor 37 is shaded while its ambient sensor 38B is directly illuminated. In this case, the controller generates a signal to retract the actuator associated with primary sensor 37.
- the primary sensor 37 is not yet illuminated due to the lower position of the target.
- FIG. 3D shows the light source S generally overhead and aligned with the local Z-axis or sight axis 50 of the Sensor Array 7.
- the "Target Acquired” sensor 40 is illuminated.
- the controller signals an "all stop” circuit to cease all signals to the actuators.
- all the primary sensors will be illuminated while the associated ambient sensors are shaded.
- FIG. 3E shows sensors 36 and 38 as illuminated and sensors 37 and 40 as shaded.
- the tracker has moved such that the recessed sensor 40 is also illuminated and the ambient sensors are not directly illuminated.
- sensor 40 signals the all-stop.
- Sensor 40 is illuminated at a small solid angle defined by the diameter and length of the tubular recess in which it is mounted, and the physical size of the sensor.
- FIG. 5 is a block diagram of the electronic controller for the actuators.
- the coupled mechanical system (within block 54) of the apparatus shown is similar to that of FIGS. 1 and 4, which can be used for visual reference.
- the geometry in the coupled mechanical system image within block 54 includes the carrier platform 6 of FIG. 1.
- the upper part of the diagram of FIG. 5 shows the integration of the system sensors with the actuator enable and drive components.
- a Global Timer 56 When voltage is applied to the system, a Global Timer 56 generates the Sleep and Duty cycles for the apparatus. After a specified time, the timer 56 signals a single pole single throw (SPST) relay controller 57 which, in turn, energizes a normally open relay circuit of a single pole relay 58.
- SPST single pole single throw
- DPDT double pole - double throw
- Each relay 60, 61, 62 is cross-wired such that if there is no signal from the associated actuator relay controllers 63, 64, 65, activation of relays 46- 47 will cause all the associated actuators to retract.
- This causes the coupled mechanical system of FIG. 1 to re-orient the Sensor Array toward a horizontal position.
- This activity may or may not change the incident illumination of the associated sensors.
- the states of all sensor array sensors may change to that of illuminated in any combination and is represented by a general sensor array input, ⁇ .
- Lambda ( ⁇ ) inputs are defined as follows for use in FIG. 5 and FIG 8.
- ⁇ is the source light input to the Target Sensor
- ⁇ ip is the input to the primary sensor of Actuator Primary
- ⁇ 2 p is the light input of the Primary sensor of Actuator 10
- tap is the input to the Primary sensor of actuator 11
- a 1 A is the input to the Ambient Sensor of Actuator 9
- a 2 A is the input to the Ambient Sensor Actuator 2
- a 3 A is the input to the Ambient Sensor of Actuator 10.
- the Target Sensor 40 When the carrier platform 6 approaches the position normal to the Point Light source, the Target Sensor 40 will become illuminated, ⁇ - In that event, a signal is sent to the normally-closed Target Signal Disconnect Circuit 67 controlling the Single Pole (SPST) Relay 58.
- the Single Pole Single Throw relay is de-energized and current is cut off to all actuators. This set of circumstances is represented by the Orientation number eight of the logic diagram of FIG. 10 and is called the "All Stop" state.
- the Global timer signals the Duty cycle and the Target Sensor remains illuminated, the apparatus will remain motionless.
- the targeted point light source has been acquired.
- the Single Pole Single Throw relay remains in its normally open circuit state and no current flows to the linear actuators 9-11 of FIG. 1.
- the double pole double throw relays 60-62 are cross-wired and are referred to as a directional controller for the associated linear actuator. These circuits control the extension or retraction of the associated linear actuator. If a voltage is applied, current is always supplied to the actuator.
- the Sensor Array of the coupled mechanical apparatus is dynamically controlled by the illumination, ⁇ , of the coupled sensors. This activity is stopped by the illumination of the Target Sensor.
- the Global Timer provides the overriding system control timing.
- the spherical hinges 9A, 1OA and UA when mounted to the bottom of the carrier platform 6 form an equilateral triangle in the illustrated embodiment.
- Other applications may require other dimensional triangular arrangements.
- location of the hinge toward the center of the column 1 affects the speed with which the carrier platform rotates.
- the sensor array module 7 of FIG. 1 mounted on top of the payload device 8 is associated with the three linear actuators 9, 10, and 11 with similar triangular geometry.
- Primary sensors 36, 37, 38 are placed circumferentially and spaced at 120 degrees around a horizontal circle.
- the sensor array module 7 is preferably located on a plane parallel to the carrier platform 6.
- the sensor array 7 of FIG. 1 can be placed anywhere on the payload device 19.
- FIG. 4 generally, when the target light source illuminates a photoresistor its resistance changes, which generates a signal to force the associated linear actuator to extend.
- primary sensor 36 is therefore exposed to the part of the sky opposite the associated linear actuator 10.
- Primary sensor 7 is exposed to the part of the sky opposite the associated linear actuator 9.
- Primary sensor 38 is exposed to the part of the sky opposite the associated linear actuator 11.
- the system described is fully automatic and will dynamically track an intended light source regardless of the initial position and trajectory of that light source. It can be electronically configured to be self- actuating enabling the use of the device in remote areas. Power loss will not affect the operation once power has been regained. There is no electronic memory to maintain and no initial orientation is required.
- the operation of the device is simple.
- the control system is completely integrated into the tracker mechanism. It functions automatically to track a light source in a hemispherical trajectory.
- a solar panel tracking device it preferably is placed on a vertical support, such as column 1 of FIG. 1, so that the hemispherical tracking capability described above aligns with the sky.
- the basic geometry of the device is that of a set of four triangles (three formed by extending the axes of the linear actuators until they meet on the axis IA of the support 1, and the fourth by the mounting of the rod ends of the actuators to the carrier platform 6) attached at common points and sharing common edges, thus forming a tetrahedron.
- What might be typically called the base (or bottom surface) of the tetrahedron has been inverted, and is supported by a column at the center of one of the triangles designated to be the inverted base.
- FIG. 6 there is shown a circuit schematic diagram for the drive circuit or controller for each of the actuators 9, 10, and 11. All three drive circuits may be the same, so only one need to be described for an understanding of the invention by those skilled in the art.
- the actuator may be the one designated 63.
- Actuator 63 is connected in series with the contacts 64 of a double-pole, double-throw relay 78 and a source of electrical energy M, which may be a battery associated with actuator 63.
- the primary sensor 36 and Resistor Rl are connected in series with the associated ambient sensor 38A and a resistor R2 which has a value greater than Rl.
- the junction between Rl and R2 forms a junction or node 71 which is also connected to a junction between resistors R3 and R4, and to an input 75 of a comparator circuit 72.
- R3 is greater than that of R4, and the resistance of R3 and R4 are very much greater than Rl and R2.
- a second input 76 of the comparator 72 is connected to a junction 63 between fixed resistors R5 and R6 (which may be equal in resistance).
- the response characteristics (i.e. incident light versus resistance) of the photoresistors 36, 38A are equal.
- the values of the respective sensors 36, 38A are great in comparison to Rl and R2 and substantially equal.
- the voltage at node 71 is greater than at node 73 (because R2 is greater than Rl, and R5 and R6 are equal).
- the voltage at comparator input 75 is greater than that at node 73 (the input 76) and the comparator 72 does not generate a positive signal to cause transistor 77 to conduct.
- the associated actuator when the target light source is directly incident on a primary sensor, the associated actuator extends, and when the light source does not illuminate a sensor, the associated actuator retracts.
- the All-Stop Circuit shown in FIG. 7 is similar to the driver circuits for the actuators in configuration, components and operation.
- the primary sensor 39 is the All-Stop (or "target acquired") sensor discussed above.
- the output relay is designated 78A in FIG. 7; and it actuates a simple contact 79 which, when in the position shown in FIG. 7 to disable all three actuators.
- the ambient balance for the "all stop" circuit if FIG. 7 is connected to ground by Connection 82 in parallel to the Connections at 79, 80, and 81 for each actuator circuit as shown in FIG. 6. This disables the actuator controllers by grounding junction 71 (i.e., Bl) in FIG. 6 during periods of darkness.
- each sector of the sensor array extending an equal angular increment, this is preferred, but not necessary.
- one sector could extend for sixty degrees and the other two for one hundred and fifty degrees each. Even these angular relations may be changed, and the final angles may be affected by the particular application.
- the triangle formed by the mounting locations of the actuators need not be equilateral.
- the support column should be mounted to the center of the triangle - that is, the point at which lines which bisect the three angles intersect.
- Other mountings forming a triangle include the floating base.
- Sensors may include photo resistors, photo diodes, motion sensors or heated fluids.
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ES08860434.3T ES2629613T3 (en) | 2007-12-12 | 2008-12-10 | Light source follower |
US12/808,120 US8017895B2 (en) | 2007-12-12 | 2008-12-10 | Apparatus for tracking a moving light source |
CA2709284A CA2709284C (en) | 2007-12-12 | 2008-12-10 | Light source tracker |
AU2008335196A AU2008335196B2 (en) | 2007-12-12 | 2008-12-10 | Light source tracker |
EP08860434.3A EP2232201B1 (en) | 2007-12-12 | 2008-12-10 | Light source tracker |
US12/836,273 US8350204B2 (en) | 2007-12-12 | 2010-07-14 | Light source tracker |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US1300307P | 2007-12-12 | 2007-12-12 | |
US61/013,003 | 2007-12-12 |
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Application Number | Title | Priority Date | Filing Date |
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US12/808,120 A-371-Of-International US8017895B2 (en) | 2007-12-12 | 2008-12-10 | Apparatus for tracking a moving light source |
US12/836,273 Continuation-In-Part US8350204B2 (en) | 2007-12-12 | 2010-07-14 | Light source tracker |
Publications (1)
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WO2009076394A1 true WO2009076394A1 (en) | 2009-06-18 |
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Family Applications (1)
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PCT/US2008/086148 WO2009076394A1 (en) | 2007-12-12 | 2008-12-10 | Light source tracker |
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US (1) | US8017895B2 (en) |
EP (1) | EP2232201B1 (en) |
AU (1) | AU2008335196B2 (en) |
CA (1) | CA2709284C (en) |
ES (1) | ES2629613T3 (en) |
MY (1) | MY152353A (en) |
WO (1) | WO2009076394A1 (en) |
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ITPA20100007A1 (en) * | 2010-03-08 | 2011-09-09 | Giuseppe Aiello | BIASSIAL SOLAR TRACK WITH HYDRAULIC MOVEMENT. |
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Also Published As
Publication number | Publication date |
---|---|
MY152353A (en) | 2014-09-15 |
CA2709284A1 (en) | 2009-06-18 |
AU2008335196A1 (en) | 2009-06-18 |
AU2008335196B2 (en) | 2012-04-26 |
CA2709284C (en) | 2012-10-30 |
ES2629613T3 (en) | 2017-08-11 |
US8017895B2 (en) | 2011-09-13 |
EP2232201B1 (en) | 2017-05-10 |
EP2232201A1 (en) | 2010-09-29 |
US20100276570A1 (en) | 2010-11-04 |
EP2232201A4 (en) | 2012-11-14 |
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