HK1188479A

HK1188479A - Solar collector positioning apparatus

Info

Publication number: HK1188479A
Application number: HK14100907.6A
Authority: HK
Inventors: 威廉．J．帝维利尔
Original assignee: 威廉．J．帝维利尔
Priority date: 2010-11-24
Filing date: 2011-11-22
Publication date: 2014-05-02

Description

Solar collector positioning device

RELATED APPLICATIONS

The present application claims the benefit of 35USC § 119(e) of U.S. provisional application No. 61/417,086, filed 11, 24, 2010, the entire content of which is incorporated herein by reference.

Technical Field

The present invention is generally in the field of devices powered by solar energy, and in particular embodiments relates to photovoltaic power. Particular embodiments relate to an apparatus for attaching a solar collector module; and more particularly to automatic positioning of solar collector modules for maintaining the module surface in a direction substantially perpendicular to the electromagnetic radiation of the sun.

Background

Certain embodiments of the present invention relate to automatic adjustment of the surface orientation of a solar collector module to place the module surface perpendicular to the electromagnetic radiation of the sun. These embodiments are directed to methods of moving photovoltaic modules to a direction perpendicular to the sun's rays. This movement of solar modules has been given the widely accepted name "tracking" in the industry and will be used hereafter to represent this action. There are generally two types of commercially available day-chasing mechanisms for consumers. A first type of solar tracking system, known as a single axis solar tracking system, is to deflect the photovoltaic module from an eastern morning orientation to a western afternoon orientation, which cannot be adjusted for seasonal inclination and declination of the path of the sun through the sky. A second type of solar tracking system, known as a two-axis solar tracking system, is to orient the solar modules perpendicular to the sun rays with means to compensate for the inclination and declination of the annual solar path.

Drawings

FIG. 1 is a perspective view of one embodiment of the present invention.

Fig. 2 is a diagram of the position of the sun in celestial coordinates.

FIG. 3A is a schematic diagram of the position of the sun relative to the position of the device in one embodiment.

FIG. 3B is a schematic diagram of the position of the sun relative to the position of the device in another embodiment.

Fig. 4 shows a schematic view of the deflection angle of the device of fig. 1.

Fig. 5 is a schematic illustration of the deflection angle of the device shown in fig. 1.

Fig. 6 illustrates a plurality of devices positioned as an integrated unit as in fig. 1.

Fig. 7 is a perspective view of a second embodiment of the present invention.

Fig. 8A is a perspective view of a third embodiment of the present invention.

Fig. 8B is a variation of the embodiment of fig. 8A.

Fig. 9 illustrates a plurality of devices positioned as an integrated unit as in fig. 8A.

Fig. 10 is a perspective view of a fourth embodiment of the present invention.

Fig. 11 is a schematic illustration of the deflection angle of the device of fig. 10.

FIG. 12 is a schematic view of one embodiment of a control system of the devices described herein.

Fig. 13 is a schematic view of the Chebyshev (Chebyshev) linkage shown in fig. 8A and 8B.

FIG. 14 is a schematic diagram of an example collector panel spacing, avoiding the shadows of the panels by adjusting adjacent panels in the north-south direction.

FIG. 15 is a schematic diagram of an example collector panel spacing to avoid shadows of the panels by adjusting adjacent panels in the east-west direction.

FIG. 16 is a schematic diagram of a "backtracking" function performed by certain embodiments.

Fig. 17 is a perspective view of an embodiment of the present invention secured to a transport vehicle.

Detailed Description

One particular embodiment of the invention shown in fig. 1 is a solar collector module positioning apparatus 1. The embodiment of fig. 1 generally comprises a base structure 2, and an intermediate frame 4 connected to the base structure 2 by base support feet 11. In this particular embodiment, the base support feet 11 have a hinged connection 17 to the base structure 2 and a hinged connection 17 to the intermediate frame 4, thereby limiting the movement of the intermediate frame 4 to a plane perpendicular to the plane occupied by the base structure 2.

This particular embodiment of the positioning device 1 also has a solar collector support frame 6 connected to said intermediate frame 4 by means of intermediate support feet 13. The intermediate support feet 13 likewise have a hinged connection 17 to the solar collector support frame 6 and a hinged connection 17 to the intermediate frame 4, whereby the movement of the solar collector support frame 6 is limited to a plane which is orthogonal to the plane occupied by the intermediate frame. As used herein, "orthogonal" means that two objects (e.g., vectors or planes) intersect at a right angle.

The term "solar collector module" as used in the description of the present invention refers to any device that can collect solar energy for useful purposes or redirect the energy for remote collection purposes. One example of a solar collector module is a photovoltaic panel or module that can convert solar energy into electricity. Other non-limiting examples of solar collector modules are solar water heater panels, solar heat condensers, solar heat evaporators or mirrors.

The hinge connection 17 observed in fig. 1 is a representative description of a general hinge device. The term "hinged connection" as used in the description of the present invention refers to any type of connection that allows some range of rotation, but does not allow or substantially does not allow for translation. Non-limiting examples include spigots, pivots, pillow blocks, bearing connections and inserted clevis. In the embodiment of fig. 1, the hinge connection 17 substantially limits the hinge assembly to rotation in a single plane.

The base structure 2 as viewed in fig. 1 is a frame structure made up of a series of base frame members 9, which form a generally right-angled base structure from lateral frame members 9B and longitudinal frame members 9A. The base frame members 9 are named lateral and longitudinal, largely arbitrary, except that in use, many embodiments position the base frame members 9A in a generally east-west arrangement, leaving the lateral base frame members 9B in a generally north-south arrangement. The base frame member 9 may be formed of any sufficiently rigid material (taking into account the strength of the material and the cross-sectional shape/area), and non-limiting examples include wood, metal (preferably lightweight metal such as aluminum), and sufficiently rigid polymeric materials. Although the base structure 2 in fig. 1 is a frame structure, the base structure 2 may be of a type having a non-frame, as disclosed in other embodiments described below. Any number of different base structures may be used as long as they provide suitable attachment points for the base support legs.

Although not clearly seen in fig. 1, it will be appreciated that the intermediate frame 4 is constructed from frame members 12 in substantially the same manner as described with reference to the base frame member 9. The embodiment of fig. 1 shows two base support legs 11A and 11B connected at their lower ends (via hinge connection 17) to the lateral base frame member 9B, and two other base support legs 11C and 11D, the base support legs 11C and 11D being connected to the opposite lateral base frame member 9B. As suggested above, the base support legs 11 are connected at their upper ends (via hinge connections 17) to the intermediate frame member 12. The arrangement of figure 1 places the intermediate support feet 13 in a substantially similar manner between the intermediate frame 4 and the solar collector support frame 6. The intermediate support legs 13A and 13B will be hinged at each end to the intermediate frame member 12 and the solar collector support frame member 15 respectively, while the intermediate support legs 13C and 13D will be hinged at each end to the opposite intermediate frame member 12 and the collector support frame member 15. Although fig. 1 shows two collector support frames 6 on the intermediate frame 4, it will be understood that a single collector support frame 6 or more than two collector support frames 6 may also be positioned on the intermediate frame 4.

Generally, the collector support frame 6 will be formed from rigid frame members together with the solar collector device 8 connected to the collector support frame 6. Of course, the collector support frame 6 may also take other non-frame forms, such as a single piece of planar material (e.g., a plywood section). Likewise, there may also be embodiments where the structure of the solar collector module itself is sufficiently strong to allow a direct connection to the hinge connection 17 of the intermediate support leg 13. In such an example, the overall structure of the solar collector module can be considered as the collector support frame 6.

As will be described in more detail below with reference to fig. 6, the hinged arrangement of the intermediate support member 13 between the intermediate frame 4 and the collector support frame 6 serves to limit the rotation of the collector support frame 6 to a single plane of rotation relative to the intermediate frame 4 (e.g., fig. 3A). Similarly, the hinged base support foot 11 serves to constrain the intermediate frame 4 to a single plane of rotation relative to the base support 2.

Figure 1 further illustrates generally how the linear actuator 19 will be positioned between the intermediate frame 4 and the collector support frame 6. In the particular embodiment of fig. 1, the linear actuators 19 are cross members 16 connected to the collector support frame 6 and frame members (not seen in fig. 1) on the intermediate frame 4. In this embodiment, the linear actuator 19 is pivotally connected (i.e., hinged or bayonet) to the cross member 16 and the intermediate frame member. The linear actuator 19 may be any number of devices that allow for controlled extension and retraction of the actuator. In a preferred embodiment, the linear actuator 19 is a powered screw-type device, but may alternatively be a hydraulically or pneumatically actuated cylinder, or a frame gear or pinion, a rotating cam, a chain drive and pulley, or a belt drive and pulley. Although fig. 1 shows only one linear actuator 19 between the intermediate frame 4 and the collector support frame 6, other embodiments may use two or more. Although not explicitly shown in fig. 1, it will be appreciated that the linear actuator 19 may also be connected between the base support 2 and the intermediate frame 4 in a manner similar to that described above. Certain embodiments (e.g., fig. 8-9) position the actuator to achieve the same range of movement in the deflection angle of the frame that is moved for full extension and full retraction of the actuator. For example, a +/-45 skew angle as described in more detail in connection with the four-bar linkage discussed below.

And (3) control system algorithm:

as suggested above, one of the primary functions of the described embodiments is to attach the solar collector modules to the collector support frame 6 to positively maintain a particular position for movement relative to the sun. One embodiment will utilize a control method and system, which is described below in conjunction with fig. 2-4. Looking at fig. 2, the point on the surface of the earth to which this solar collector positioning device is attached is referred to as observation point 70. The plane parallel to the earth's surface and containing observation point 70 will be referred to as the "earth's surface plane". The control system calculates a single vector having an origin at its point of observation and passing through the sun. This vector, hereinafter referred to as the sun vector 76, is unique to the system location on the earth's surface, the date of the year, and the time of day. The system inputs to the system to calculate this vector are the latitude and longitude of the observation point, the date, and the time of day. The solar vector may be calculated using these input values by standard methods, such as those published by the U.S. national oceanic and atmospheric administration and described in more detail in the attached appendix A.

The resulting sun vector 76 is composed of two coordinate angles (azimuth 72 and zenith 71) and a scalar quantity. For the purposes of these calculations, the number will be a single (1). Azimuth 72 (or sometimes referred to as the "azimuth") is the angle of rotation in the ground plane. The origin of azimuth 72 is true north (0 degrees when the system is oriented in the north/south direction) and the rotation is clockwise to 90 degrees east, 180 degrees south and 270 degrees west. Azimuth 72 stops when it is normal to a plane perpendicular to the earth's surface, and included are sun 75 and observation point 70. Zenith 71 is the angle measured between a line perpendicular to the ground surface plane at observation point 70 and a line between observation point 70 and sun 75. The origin of zenith angle 71 is directly overhead (0 degrees) and proceeds in the forward direction toward the azimuth vector in the plane containing sun vector 76 and observation point 70. The zenith angle stops when the zenith vector intersects the sun 75 and the observation point 70. If the system is oriented in a direction other than true north, the azimuth 72 may simply be adjusted in angular purity and direction away from true north.

As previously suggested, the solar collector positioning system of fig. 1 is only movable in two planes. Looking at FIG. 3A, the "compass bearing" of the system in FIG. 3A is true north, in the sense that the intermediate frame is positioned so that it is skewed in the north/south direction. The first movement plane 80 (the first movement plane of the intermediate frame 4) is orthogonal to the earth surface at the observation point 70. The second movement plane 81 (second movement plane of the solar collector support frame 6) is orthogonal to the first movement plane 80 and to the intermediate frame 4. As a result, the system needs to reduce the calculated sun vector (S) to a component vector. These component vectors must be (i) contained within the plane of movement of the solar collector positioning device and (ii) the product (of these vectors) to produce the sun vector (S). As suggested by fig. 4, the component vectors will be named vector N (north) and vector E (east), respectively. The vector N will be set in a plane containing the 0 degree orientation vector and the 0 degree zenith vector. Vector E will be located in a plane containing the 90 degree orientation vector and the 0 degree zenith vector. The origin of the two vectors will be the observation point. When the vector is parallel to the earth's surface, the angular displacement of the component vector will be 0. Angular displacement is in a positive direction toward the 0 degree zenith vector. When parallel to the 0 degree zenith vector, each component vector will have an angular displacement of 90 degrees.

The first step in determining the vectors N and E is to convert the celestial coordinates of the sun vector (S) to the vector S_x(east amount), S_y(North component), S_z(upper component, i.e., all directions are perpendicular to the earth's surface). This is done by the following procedure:

general equation for celestial to Cartesian conversion:

r is the radius of the celestial body

S_w= r sin (zenith) sin (azimuth)

S_y= r sin (zenith)' cos (azimuth)

S_z= r cos (ceiling)

As previously explained, the sun vector is defined as a scalar quantity having one (single vector), which reduces the above equation to:

r=1

S_x= sin (zenith sin (azimuth)

S_y= sin (zenith) × cos (azimuth)

S_z= cos (ceiling)

The sun vector (vector S) will be composed of Cartesian components (S)_x，S_y，S_z) And is defined. It follows that the vector N will be measured by Cartesian quantities (N)_x，N_y，N_z) And vector E will be defined by E_x，E_y，E_z) And is defined. The angle of vector N from 0 degrees azimuth is defined as the north declination angle for the solar collector positioning device. The angle of vector E from the 90 degree orientation is defined as the east skew angle for the solar collector positioning device. These angles can be found as follows:

to find the declination angle, the sun vector must first be decomposed into the vertical vector: vector N and vector E. This is done by multiplying algebraically from the vector as follows:

S=ExN

the unit vector representing vector N and vector E can be defined as:

unit vector N ═ 0, N_y，N_z)

Unit vector E ═ E (E)_x，0，E_z)

Using matrix algebra:

(S_x，S_y，S_z)=(-E_zN_y)x，(-N_zE_x)y，(E_xN_y)z

therefore:

S_x=-E_zN_y

S_y=-N_zE_x

S_z=E_xN_y

these equations are rewritten and replaced with the skew angle equation:

it will be appreciated that these skew angles are the angles between the two perpendicular vectors of the sun vector and the ground plane. Using the embodiment of fig. 1 as an example, when the positioning device is positioned in the manner suggested in fig. 3A to 4, the north deflection angle (sometimes referred to as the "north/south" deflection angle) is the angle at which the intermediate frame 4 will be deflected relative to the ground surface plane. The east declination angle (sometimes referred to as the "east/west" declination angle) is the angle at which the solar collector support frame 6 will be declined relative to the ground surface plane. However, the tools described hereinIn a body embodiment, the control system will typically skew the solar collector support frame (by the number of east skew angles) relative to the planar position of the intermediate frame 4. The use of "north" and "east" is compass bearing relative to the device 1. For example, a rotation of the apparatus 1 ± 90 ° will result in an east skew angle being the angle at which the intermediate frame 4 will be skewed and a north skew angle being the angle at which the solar collector support frame 6 will be skewed. The "skew angle" described above may also sometimes be referred to herein as a "skew angle". In the illustrated embodiment, it is the length of the actuator 19 that determines the orientation angle of the collector support frame 6 or the intermediate frame 4. However, the mathematical calculations that determine the length of the actuator may be different for different embodiments. In the embodiment of fig. 1, the geometric interconnections of the support legs 11 (between the base 2 and the intermediate frame 4) and the support legs 13 (between the intermediate frame 4 and the collector support frame 6) form a typical four-bar linkage. A simplified schematic of a four-bar linkage is depicted in fig. 5. In the embodiment of FIG. 5, the upper and lower attachment points are dictated by the length of the actuator extension, the length of the actuator retraction, the leg length, and the distance between the leg attachment points on the upper and lower frames. The following derivation yields the desired theta₃Of (deflection angle) value for I₇(actuator length).

The following equation defines the illustrated four-bar linkage:

(actuator Length)

According to vector geometry, the following equation is applied to the connection:

position vector:

1)

horizontal distance:

2)|I₁|*cos(θ₁)+|I₂|*cos(θ₂)+|I₃|*cos(θ₃)+|I₄|*cos(θ₄)=0

vertical distance:

3)|I₁|*sin(θ₁)+|I₂|*sin(θ₂)+|I₃|*sin(θ₃)+|I₄|*sin(θ₄)=0

let θ be₁=180' and assuming equation 2 to be equal to equation 3, we obtain:

-I₁*cos(θ₁)+|I₂|*cos(θ₂)+|I₃|*cos(θ₃)+|I₄|*cos(θ₄)=0

|I₂|*sin(θ₂)+|I₂|*sin(θ₃)+|I₄|*sin(θ₄)=0

in addition to comprising I₄Except that all terms are shifted to the right hand side of the equation and both sides are squared, resulting in:

|I₄|²*cos²(θ₄)=(|I₁|-|I₂|*cos(θ₂)-|I₃|*cos(θ₃))²

|I₄|²*sin²(θ₄)=(-|I₂|*sin(θ₂)-|I₃|*sin(θ₃))²

combine the above programs and apply a trigonometric relationship of cos²(θ)*cos²(θ) =1, yielding:

the froude stan's (Freudenstein) equation is expressed by:

K₁*cos(θ₂)+K₂*cos(θ₃)+K₃

=cos(θ₂)*cos(θ₃)+sin(θ₂)*sin(θ₃)

wherein:

and (3) rewriting:

K₂*cos(θ₃)+K₃=(cos(θ₃)-K₁)*coS(θ₂)+sin(θ₃)*sin(θ₂)

in fig. 5 described above, point C may be placed on cartesian coordinates as (X, Y). If in our Cartesian system it is assumed that the origin is located at point B, then the following equation can be applied to our system: x²+Y²=I₂ ². The following procedure is also applied to fig. 6.

Substituting these identities into the froude equation shows:

now theta₃The deflection angle, representing north or east, is determined by calculating whether it relates to the intermediate frame 4 and the base support legs 11 or the collector support frame 6 and the intermediate support legs 13, respectively. The declination angle is calculated as above from the sun vector, which is then determined by the time of day and the number of days of the year. Therefore, θ₃Are known values. For I₁,I₂,I₃，I₄，I₅，I₆The value of (c) is also a known value, depending on the construction of the frame and the placement of the legs. The above equation can be further simplified by substituting placeholders for known values.

Wherein: k₄=(K₂*cos(θ₃)+K₃)*I₂K₅=cos(θ₃)-K₁

K₆=sin(θ₃)

Rearranging:

squaring both sides then simplifies:

(K₅ ²-K₆ ²)*X²-2*(K₄*K₅*X)+(K₄ ²-K₆ ²*I₂ ²)=0

setting:

a=(K₅ ²-K₆ ²)b=-2*(K₄*K₅)

c=(K₄ ²-K₆ ²*I₂ ²)

using quadratic equationsWe can get X.

Using X and I₂We can obtain Y using X and Y and I₅We can use cartesian algebra to find the position in the cartesian plane for the upper connection point of the actuator (indicated by point e in fig. 5). I is₆Representing the position of point f. Finally, the distance I can be calculated₇(overall length of actuator). Second, when the actuator is fully retracted, we are from distance I₇Minus the length of the actuator. This results in the stroke length required to provide the desired deflection angle in the embodiment of fig. 1.

FIG. 5 also shows an embodiment in which the linear actuator I₇Is connected to the base support at point "f" between the hinged connection of the first end (or lower end) on the base support (i.e., points "a" and "b"). However, the second end (or upper end) of the linear actuator is connected to the intermediate frame at a point "e" outside the hinge connections "c" and "d" on the intermediate frame. A similar arrangement may also be used for the linear actuators acting between the intermediate frame and the solar collector support frame. However, fig. 5 is only one specific embodiment, and in other specific embodiments, the second or upper end of the linear actuator may be connected at point "d" shown in fig. 5.

FIG. 6 illustrates one of many possible modifications to the embodiment of FIG. 1. Figure 6 shows how a series of collector support frames 6 can be positioned on the intermediate frame 4. In this particular embodiment, the number of intermediate support feet 13 is a multiple of two (i.e. six support feet 13 seen on each set of collector support frame 6 are seen in fig. 6) and can be increased (i.e. 8, 10, 12 …) to any extent as long as the intermediate frame 4 and the base structure 2 have sufficient structural strength to withstand the number of collector support frames 6. As with the embodiment of FIG. 1, FIG. 6 illustrates one linear actuator 19 between each two intermediate support legs 13, but it will be appreciated that more than one linear actuator may be used. It can be observed that the base support feet 11 in this particular embodiment are also used in multiples of two.

Figure 7 illustrates an alternative substrate support 2. Rather than the substrate support 2 being a frame structure as seen in fig. 1, fig. 7 shows a series of posts 25 forming the substrate support 2. In this particular example, each base support foot is secured to a strut 25 by a hinge connection 17. Likewise, the lower end of the actuator 19 is also plugged to the strut 25. The struts 25 may be formed from virtually any rigid material, such as wood, concrete, steel, or a sufficiently rigid polymer. Of course, the constructed substrate support 2 of FIG. 1 and the post substrate support 2 of FIG. 7 are merely two non-limiting examples of the various shapes that may be covered by the substrate support 2. Many other base support structures may be used which would also serve as anchor points for the hinge connection 17.

FIG. 8A illustrates another embodiment of the present invention using an integrated actuation system. In fig. 8A, the integrated actuation system is in the form of the scheimpflug linkage 30. It can be observed that this embodiment is similar to fig. 1 in that the base structure 2 comprises a longitudinal frame member 9A and a lateral frame member 9B, having at least two sets (e.g. three sets in fig. 8A) of base support feet 11. The chebyshev linkage 30A is positioned between the base support 2 and the intermediate frame 4 and generally includes a connecting support foot 31, an actuating linkage 32, and a connecting linkage 33. The connection support feet 31 are connected at their upper ends to the intermediate frame 4 by means of a hinge connection 17 in a similar manner to the previous embodiment. The lower end of the linkage support foot 31 is connected to the actuating linkage 32 via a hinge connection 17. The two actuation linkages 32 seen in fig. 8A are attached to the connective linkage 33 in sequence. The actuator 19 is attached (i.e., plugged) to the base frame member at one end and to the connective linkage 33 at the other end. It will be appreciated that extension/retraction of the actuator 19 moves the connective linkage 33 toward and away from the proximal end base frame member 9A (as seen in fig. 8A), respectively. This arrangement results in the actuator 19 being connected between the base structure and the intermediate frame by linkages that translate linear actuator extension in a plane parallel to the ground surface plane into rotation of the intermediate frame. Although somewhat hidden from view in fig. 8A, it will be appreciated that a similar sheebb's linkage 30B is also positioned between the intermediate frame 4 and the collector support frame 6 in the same manner as described above.

The function of the chebyshev linkage is to convert the deflection movement of the intermediate frame 4 into a linear approximation, i.e. to convert the specified linear movement of the actuator 19 into a specified deflection angle of the intermediate frame 4 (or collector support frame 6). In the Shebb Schonflower linkage, the complete linear movement of the connecting linkage 33 is to θ₃(as viewed in FIG. 5) fromToThe angle of (c) is changed. The first step in designing the embodiment shown in fig. 8A is to determine the stroke length of the actuator to be used. Next, the range of movement for the chebyshev linkage should be determined. The range of movement selected at this step will ultimately be the limiting factor for the angular movement of the collector in this plane. When a skew movement is assigned to the intermediate frame 4, the intermediate frame 4 also moves linearly in the direction in which the actuator moves. This linear movement in the direction of actuator movement is provided by a four-bar linkage. The intermediate frame 4 will move from-90 ° to 90 ° in the chebyshev by a distance of 2 × I3 as shown in fig. 13. The chebyshev linkage (shown schematically in fig. 13) is made up of 4 links. In fig. 8A and 13, the hinged connections of the four-bar linkage are shown at 17a and 17b, while the hinged connections of the chebyshev linkage are shown at 17x and 17 y. The link length is defined as a multiple of the short link of "a" (the distance between hinge connections 17x and 17y in fig. 8A). There is one link (assembly 32 in fig. 8A) of length 2 a and two links (assembly 31 in fig. 8A) of length 2.5 a). The stub link will travel a distance "a" according to the schebyshev equation while exhibiting an angular displacement of 90. Thus, for a complete displacement of-90 ° to 90 °, it will travel a distance of 2 x a. To achieve the desired range of motion, the actuator must accommodate linear movement of the scheimpflug linkage for the desired angular deflection of the frame 4, as well as a compensating distance for longitudinal movement of the frame 4 due to the four-bar linkage support. Range of motion/180 ° = actuator stroke/(2 a + 2I)₃)。I₃(see fig. 13) is the distance between the hinge connections 17a and 17b of the four-bar linkage seen in fig. 8A. Lengths "A" and "I₃"is selected to determine the desired range of motion.

Thus, in the embodiment of fig. 8A and 9, the linear change in length of the actuator 19 corresponds to θ₃Linear change of (see fig. 13). Knowing the length of the actuator 19 and the frame deflection angle theta₃Then at full extension and full retraction of the actuator 19, the length of the actuator 19 at any desired deflection angle is:

required actuator length = θ₃/180°*(2*A+2*I3)。

Once the length "A" is selected, the remaining components of the Schibleff linkage can be easily found. The remainder of the four-bar linkage design (in selecting I above)₃Latter) is based on the Equation for stutzian (Freudenstein's Equation):

known as I₂=I₄And designing a four-link linkage when Theta3=0 °. Theta2=60 ° was selected. Likewise, I is selected when designing the module support₄=1/2 (solar collector width); when designing the middle frame support, selecting I₄=1/2 (middle frame width). Once completed, the Einstein equation is reduced to I₁The quadratic equation of (2). Selection of I₁>I₄. To I₁And I₄Adjustments are made to accommodate the clearance of the moving parts.

When multiple solar collector support frames are used in a single intermediate frame, the separation distance of the solar collector supports is preferably taken into account. This separation distance is preferably provided so that the solar collectors do not cast shadows between each other at the extremes of their designed range of motion. Conceptualizing the embodiment of fig. 9, fig. 15 shows the angular movement of adjacent solar collector frames 6 (i.e., the east/west skew in fig. 9). The separation distance (F) is defined as the distance between the edges of adjacent solar collectors when the solar collectors are in a horizontal position.

α = east motion range/2

W = short side length of solar collector

F=2*(W*cos(α))–W

When multiple intermediate frames are used such that one or more actuators adjust the tilt angle of the intermediate frames, the separation distance between solar collectors supported by adjacent intermediate frames is preferably considered. This separation distance must be provided so that the solar collectors do not cast shadows on each other at the extremes of their designed range of motion. Fig. 14 shows the angular movement of adjacent intermediate frames (i.e., the north/south skew angle in fig. 9). The separation distance (F) is defined as the distance between adjacent solar collector edges of solar collectors supported by different intermediate frames when the solar collectors are in a horizontal position. For north/south movement, the center of the solar collector is separated from the center of rotation by a distance X; x is related to the grouping dimension of the four-bar linkage.

α = north action range/2

β=90°-α

L = long side length of solar collector (assuming a generally rectangular solar collector panel), F = (X/tan (α) + L)/sin (β) -X/sin (α) -L

FIG. 9 illustrates an extended version of a solar collector positioning apparatus employing the Schbyshev linkage. In fig. 9, two spaced apart intermediate frame assemblies 4 are located on the elongate lateral frame members 9B. Each intermediate frame member 4 includes a connecting link 33, and an extended actuating link 32 is mounted at each end of the connecting link 33. The actuator 19 is attached to at least one of the connecting links 33 and will cause deflection of the two intermediate frame assemblies 4. Although not numbered in fig. 9 for clarity, it is immediately apparent that the scheimpflug linkage may also be positioned between the intermediate frame assembly 4 and the collector support frame 6.

FIG. 10 illustrates yet another embodiment of a solar collector positioning apparatus. Fig. 10 differs from fig. 1 in that the base support legs 111 have their lower ends rigidly fixed to the base support frame member 9B by rigid connections 40 (i.e., the connections 40 do not allow the lower ends of the support legs 111 to rotate or translate). However, the upper end portions of the base support legs 111 do have the hinge connection 17 to the frame member 12 of the intermediate frame 4. This particular embodiment shows two linear actuators 19 on each side of the base support without base support feet 111. Likewise, the embodiment of fig. 10 applies a substantially identical relationship with respect to the intermediate support foot 113 between the intermediate frame 4 and the collector support frame 6.

FIG. 11 illustrates how the actuator length is calculated for a given deflection angle for the particular embodiment of the system shown in FIG. 10. It should be appreciated that fig. 11 illustrates a single linear actuator 19 (as opposed to the two actuators 19 shown in fig. 10). The use of a sufficiently strong structural member may allow for a single actuator to be used, but the two actuators 10 in fig. 10 are a more practical design for common structural materials. In fig. 11, the actuator 19 is connected at an end to the base support frame 2 at a known distance (B) from the fixed end of the base support foot 111. The other end of the actuator 19 is connected to the intermediate frame 4. The base support leg 111 has a length (a) and the desired deflection angle is α. A triangle exists between the rotation point 115 of the intermediate frame 4, the lower connection point of the actuator 19, and the upper connection point of the actuator 19. The distance between the rotation point 115 and the lower actuator attachment point is denoted C, the distance between the rotation point 115 and the upper actuator attachment point is denoted R, and the actuator length is denoted Z. The angle between R and C is the sum of the known angle β and the deflection angle α. For the desired deflection angle, the actuator length is given by:

using the law of cosines:

Z²=C²+R²-2*C*R*cos(β+α)

or

Fig. 12 illustrates one particular embodiment of a control system 85 for the solar positioning apparatus described above. The control system 85 will be implemented around the controller 86, which in a preferred embodiment is a computer, or at least a central processing unit that can perform triangle geometry and floating point calculations, store information in volatile and non-volatile memory, and interface with electrical devices external to the controller. Alternatively, the controller may be a Programmable Logic Controller (PLC) having an integrated processor, electrical input interface points, and electrical output interface points. Alternatively, the Central Processing Unit (CPU) is located remotely from the device and interfaces with electrical inputs and outputs on the device via some communications medium. Some examples of this technology are the use of mobile phones, Personal Digital Assistants (PDAs), or other personal programmable devices such as controllers. In fig. 12, the AC power supply 89 will take a portion of the power generated by the inverter and convert it to power that can be used by the control system. One example of an AC power supply 89 is to convert the 120VAC output of the inverter to a fixed 24VDC voltage that can be used by the control system. A 24VDC battery may be incorporated to supplement power during periods of low sun exposure. The pulse width modulator 88 operates to control the speed of extension and retraction of the actuator. Due to the small incremental changes in actuator travel required to achieve the periodic change in skew angle, the actuator needs to be moved slowly to avoid overshooting the desired position, and thereby avoid "hunting" (a situation where the actuator repeatedly extends and retracts in order to find the desired position). In the above-described embodiment, the action of the actuator is performed once the desired actuator length is determined for the desired deflection angle. In certain embodiments, the actuator is secured to a potentiometer 94, as shown in FIG. 12. The impedance of the potentiometer varies linearly with the extension and retraction of the actuator shaft. The value of a potentiometer built into the actuator indicates the position of the piston during its stroke. This embodiment calculates the potentiometer value for the desired actuator position (and thus the desired deflection angle) as follows:

(required stroke length/maximum stroke length) (count of potential at full extension-count of potential at full contraction) + count of potential at full contraction

The current value of the potentiometer is then compared to the calculated target and the actuator is extended or retracted to reach its target. The control system performs calibration by periodically updating the stored values of the potentiometer at full extension and full retraction. A limit switch 87 is provided on the system that will be actuated under the full operational limits of the system. This particular embodiment is designed such that the full operation of the actuator is equivalent to the full range of motion of either the module support frame or the intermediate frame. When activated, these limit switches 87 indicate to the control system the potentiometer count value that should be recorded as a fully extended or fully retracted value. In this manner, the control system maintains the check volume correction even if external factors can affect the potentiometer over time.

In this particular embodiment of the control system 85, the controller 86 may also be connected to an electronic grading/compass device 90 for information relating to the device installation direction, which allows the control system to compensate for device installations that are not graded or are not aligned "true" north. The GPS interface 91 provides the location information of the observation points. Internet interface 92 provides for remote access to the system status and remote control of the system. Finally, this particular embodiment of the control system 85 may include a communication port 93 that may allow communication or network connection with other solar collector positioning systems.

Other embodiments than the specific embodiments described above (or in addition thereto), as well as many other features and variations, fall within the scope of the invention. For example, the optoelectronic module may be electrically connected to a junction box secured to the base frame.

The junction box provides a way for the device to electrically interconnect other devices of the same or similar type. The junction box also provides a way for the on-device control system to communicate to a configuration terminal for configuration, computational monitoring and troubleshooting of address specific parameters.

The photovoltaic module is an inverter module electrically connected to the base frame, either directly or via a junction box fixed to the base frame, the inverter providing a means of converting the DC power generated by the solar collector to AC power, which also allows electrical interconnection of the device to other devices of the same or similar type, which also allows electrical interconnection of the device to AC light emitting panels for direct feeding of electrical loads and as a means of interconnection of electrical systems (utility grid).

The photovoltaic module is electrically connected to a charging controller, and the charging controller is fixed on the base frame directly or via a junction box fixed on the base frame. The charge controller provides a way to charge the battery for the purpose of storing power.

The support frame of the photovoltaic module is provided with any number of devices known in the art that allow the photovoltaic module to be clamped to the device for ease of initial installation of the modules, ease of replacement of the modules, and ease of removal of the modules for weather related events. One example of such a clamping device uses metal brackets, bolts and nuts. The bracket is fixed such that a part of the bracket overlaps with the frame of the solar collector module. The bolts pass through the brackets into the solar collector module support frame. Tightening of the nut or bolt increases the compressive force of the bracket on the frame on the module support frame.

In many embodiments, it is desirable to avoid any shadows created by one collector panel blocking solar rays from reaching an adjacent controller panel, even though it requires that the controller panel not remain perfectly orthogonal to the sun vector. The control system provides an algorithm that minimizes shadows on adjacent modules at night by causing the photovoltaic modules to gradually rotate back to a position parallel to the earth's surface when the range of motion limits of the system have been reached. Likewise, the control system provides an algorithm that minimizes shadows on adjacent modules during morning hours by gradually moving the photovoltaic module to its range of motion limit where it encounters sunlight and begins its day-tracking action. As an example, the particular embodiment shown in fig. 9 uses an anti-shadow procedure for day and night daylight, as described in the description of fig. 16 (illustrating the collector panel rotating on the collecting support frame). In the center of fig. 16 is a triangle defined by points A, B and C, and the deflection angle calculated by the control system is Theta. The sun rise angle above the horizontal plane with respect to the action plane is α. Theta is equal to (90-alpha) when the sun is within the range of motion of the sun-tracking system. However, Theta is less than (90 ° - α) when the sun moves beyond the range of motion of the solar tracking system. In this case, collector C1 would cast a shadow on C2 if there was no correction. To avoid this happening, a new skew angle will be calculated for both C1 and C2, so that solar rays passing through point C at angle a will strike C2 at point a directly. The tracking date is optimized during the "backtracking date" period when the sun vector passes through points C and a. Because the sun tracking system skew angle is too steep, solar rays passing through C and the interlaced segment AD create shadows on adjacent collectors. Solar rays passing through C and the cross-line segment AD cause power loss due to the shallower solar tracking system skew angle. Thus, changes in the sun rise angle outside the range of motion of the sun tracker should produce changes in panel tilt to avoid shadows when the solar collector panel is kept as close to normal to the sun vector as possible. As shown in fig. 16, the following backtracking equation holds:

Y=y1+y2

X=L–x1–x2

TAN(α)=(y1+y2)/(L–x1–x2)

α =90 ° -skew angle (Theta)

Since the collector is supported by the four-bar linkage, the lengths X and Y are linear functions of the non-deflection angle Theta. For this reason, taking Y for Theta and X for Theta, replacing these regressions into the above equation, yields:

TAN(α)=[a(Theta2)²+b(Theta2)+c]/[e(Theta2)²+g(Theta2)+h]

where a, b, c are the coefficients of the second order linear equation of Y versus Theta, and e, g, h are the coefficients of the second order linear equation of X versus Theta. Rewriting yields the quadratic equation of Theta2, the skew angle to avoid shadowing. In essence, those skilled in the art will appreciate that all of the coefficients are based on the shape of a particular four-bar linkage design, and that these coefficients will vary from design to design.

In this embodiment, the control system continues to evaluate the desired yaw angle Theta (i.e., the angle at which the solar collector remains orthogonal to the solar vector) for the allowable range of yaw angles. When the required deflection angle is less than the allowable range of deflection angles (i.e., the maximum deflection angle that a particular design can mechanically reach), the system functions properly because it is a design condition that avoids the formation of shadows (as shown in fig. 14-16). When the desired deflection angle is greater than the allowable deflection angle, the backtracking deflection angle is calculated from the above (Theta 2). It will be appreciated that the east/west deflections of the collector frame are illustrated with respect to the calculations of fig. 6, and the same method can be applied to calculate the north/south deflections of the intermediate support frame. Still other embodiments of this system replace the photovoltaic module with a mirror to reflect the solar rays to a concentration point away from the solar tracking system. For example, the use of mirrors may enable the device to be used as a heliostat in a concentrated solar power generation (CSP) system. Still other embodiments may include a solar tracking system designed to predict the position of the sun in the sky relative to an observation point and move the mounted solar module to a position perpendicular to the sun's rays. The system accomplishes this task by moving in two planes. The first plane of movement is a plane orthogonal to the earth's surface at the observation point and the second plane of movement is a plane orthogonal to the first plane of movement. The combined movement in these two planes may produce the desired position of the solar module.

The photovoltaic modules of these embodiments are mounted to a support frame. This support frame is mounted to the intermediate frame via feet (also referred to herein as support feet). The number of support legs mounting the solar module support frame to the intermediate frame is preferably a multiple of two legs. Each support leg has hinges at both ends, the total number of hinge connections between the solar module support frame and the intermediate frame being a multiple of four. Each solar module support frame can be made to support one or more solar modules. The intermediate frame may be made to support one or more solar module support frames.

The intermediate frame may be attached to the base frame via legs, so-called foot rests. The number of support legs for attaching the intermediate frame to the base frame is preferably a multiple of two legs, each having a hinge at both ends, the total number of hinge connections between the intermediate frame and the base frame being a multiple of four. The base frame may be made to support one or more intermediate frames. The movement plane of the intermediate frame is a plane orthogonal to the ground surface at the observation point. The observation point is defined as the location where the device is installed on the surface of the earth. The movement of the intermediate frame is generated by one or more linear actuators. The linear actuator is connected to the base frame at one end thereof; at the other end, the actuator will be connected directly to the intermediate frame or indirectly via the arrangement of the legs. These feet will be referred to herein as actuation feet, which are used in groups of two. Each of the actuating legs has a hinge at both ends thereof, one end of the actuating leg being attached to the intermediate frame and the other end being attached to the movable beam (which is referred to herein as the actuating beam). In both embodiments, extension and retraction of the actuator produces a related change in the azimuth of the intermediate frame.

The next plane of movement is the movement of the solar module support frame. The movement plane of the support frame is orthogonal and independent of the movement plane of the intermediate frame. The movement of the support frame is generated by one or more linear actuators. The linear actuator is connected at one end thereof to the intermediate frame; at the other end, the actuator will be connected directly to the support frame, or indirectly via a foot arrangement. These feet are referred to herein as actuation feet. The actuating feet are used in groups of two, each having a hinge at both of its ends. One end of the actuation foot is mounted to the support frame and the other end is mounted to the movable beam (which is referred to herein as the actuation beam). In both implementations, extension and retraction of the actuator results in a related change in the azimuth angle of the support frame. The extension and retraction of the actuators are generated by signals from a control system that generates these signals as a result of numerical calculations.

In embodiments where it is desirable to reduce the overall height of the system by a smaller desired range of tilt angles, and to use the system at a position between 45 ° north and 45 ° south latitude, the long sides of the collectors (assuming a generally rectangular shaped collector) are preferably oriented in the north/south direction. At 45 deg. above latitude, the long side of the collector is preferably oriented in the east/west direction. However, if the system is designed without height restrictions that limit the range of tilt angles, those skilled in the art will appreciate that a particular compass direction need not be the only direction in which the control system is provided, the actual direction of the system can be located.

While the above embodiment operates by adjusting the tilt angles of both the intermediate frame and the solar module support frame, other embodiments operate by adjusting the solar module frame at a tilt angle by the control system alone with the intermediate frame at a fixed angle relative to the ground. The angle of the intermediate frame is called "fixed" because it is not automatically adjusted by the control system. Thus, "fixed" may mean constructed as a permanent angle, but "fixed" may also represent a system in which the tilt angle of the intermediate frame is manually adjustable by the user over time.

In this embodiment, the base structure and the intermediate frame can be constructed in virtually any manner that secures the two structures from relative movement between the two structures. In many instances of this embodiment, the module support frame will be connected to the intermediate frame by at least two intermediate support legs, wherein (i) the number of intermediate frame support legs is a multiple of two; and (ii) each of the intermediate support legs has a hinged connection to the module support frame and a hinged connection to the intermediate frame. The linear actuator is connected between the intermediate frame and the module support frame to rotate the module support frame relative to the intermediate frame.

An example of this embodiment can be seen in fig. 8B. The rotation between the base frame 2 and the intermediate frame is fixed by an anchor link 133, one end of the anchor link 133 is connected to the connecting link 33, and the other end is fixed to the base frame member 9A through a pin engaging bracket 135 and a pin hole 136. As taught in fig. 8B, the anchor links 135 may be fixed in different positions, thereby fixing the connecting links 33 (and the angle of inclination of the intermediate frame 4) in different positions. However, the above chebyshev linkage 30B is located between the intermediate frame 4 and the collector support frame 6, which is operated by a linear actuator that automatically adjusts the inclination angle of the collector support frame 6. In fig. 8B, the intermediate frame 4 is fixed at the north/south tilt angle and the collector support frame 6 is moved between the automatically adjusted east/west tilt angles. In this specification, "north/south tilt angle" (or "east/west tilt angle") does not need to represent an exact or absolute north/south (east/west) direction, but includes directions that are only primarily generally north/south (east/west) in direction.

FIG. 17 teaches another embodiment of the present invention, a transportable solar collector positioning apparatus 200. In most general terms, the transportable solar collector positioning device 200 comprises a wheeled carrier having a carrier frame. In the embodiment of fig. 17, the wheeled carrier is a conventional two-wheeled tractor trailer having a carrier frame 201 and wheels 205. However, the cradle frame is not limited to towing trailers and may include self-propelled vehicles, such as trucks. Likewise, wheeled carriages are not limited to vehicles having tires, but may also include rail-type vehicles, the track of which is driven by a series of wheels.

The positioning device shown in fig. 17 is similar to that shown in fig. 1, comprising a base frame 2, an intermediate frame 4, and a solar collector support frame 6. In this embodiment, the tilt control structure is a four-bar linkage formed by hinged support legs 11, 13 also actuated by a linear actuator 19 as shown in FIG. 1. However, a tilt control structure of the linkage that does not use four links may also be used in the alternative. Likewise, not all embodiments may automatically adjust the tilt angle in two planes, and alternative embodiments may automatically adjust the tilt angle in only a single plane, as explained in the above description with respect to fig. 8B.

Although not shown in fig. 17, a control system similar to that shown in fig. 12 will control the linear actuators to impart a tilt angle to the solar collector support frame that maximizes power generation based on the current sun vector. In embodiments where only one tilt angle is automatically adjusted, power generation represents adjusting the tilt angle to keep the collector panel as close to normal to the sun vector as possible, since the positioning system can mechanically achieve only one tilt angle being automatically adjusted. In the embodiment where the two tilt angles are automatically adjusted, maximizing power generation means maintaining the collector panel orthogonal (or substantially orthogonal) to the sun vector, since the adjustment of the two tilt angles can make the control of the controller panel much more precise.

While the foregoing description has been directed to particular embodiments, it will be appreciated by those skilled in the art that various changes and modifications may be made. For example, other embodiments include solar collector apparatuses mounted on a mobile vehicle (e.g., a trailer) to provide portability. When describing the relationship between two components (e.g., the solar collector module is orthogonal to the solar vector), this relationship encompasses a reasonable variation of the precise relationship recited. For example, a solar collector module being "orthogonal" to the sun vector includes "substantially orthogonal" with a modest error from perfect orthogonality (e.g., an error of 1%, 5%, 10%, 15%, or even 20% in any direction). Likewise, "substantially" or "approximately" refers to an error or variation of up to 1%, 5%, 10%, 15%, or even 20% from the stated amount. All such variations and modifications are intended to fall within the scope of the appended claims.

Claims

1. A solar collector positioning device, comprising:

a. a base structure;

b. an intermediate frame connected to the base structure by at least two base support legs, each base support leg having a hinged connection to the base structure and a hinged connection to the intermediate frame, thereby restricting movement of the intermediate frame to a plane substantially orthogonal to a plane occupied by the base structure; and

c. a solar collector support frame connected to the intermediate frame by at least two intermediate support legs, each intermediate support leg having a hinged connection to the solar collector support frame and a hinged connection to the intermediate frame, thereby restricting movement of the solar collector support frame to a plane substantially orthogonal to a plane occupied by the intermediate frame.

2. The solar collector positioning apparatus of claim 1, wherein a first linear actuator rotates the intermediate frame relative to the base frame and a second linear actuator rotates the solar collector support frame relative to the intermediate frame.

3. The solar collector positioning apparatus of claim 2, further comprising at least one linear actuator that rotates the intermediate frame relative to the base frame, and at least one linear actuator that rotates the solar collector support frame relative to the intermediate frame.

4. The solar collector positioning apparatus of claim 2, further comprising at least four base support feet and at least four intermediate support feet.

5. The solar collector positioning apparatus of claim 4, wherein the four base support feet are of substantially the same length.

6. The solar collector positioning apparatus of claim 5, wherein the four intermediate support feet are substantially the same length.

7. The solar collector positioning apparatus of claim 1, wherein the base structure includes a separate base member connected to each base support foot.

8. The solar collector positioning apparatus of claim 1, wherein the base structure comprises a frame of connected linear members.

9. The solar collector positioning apparatus of claim 1, further comprising a solar collector module that is any one of (i) a photovoltaic module, (ii) a solar water heater module, (iii) a solar thermal evaporator, (iv) a solar thermal condenser, or (v) a mirror.

10. A solar collector positioning device, comprising:

a. a base structure;

b. an intermediate frame connected to the base structure by at least four base support legs, each base support leg having a hinged connection to the base structure and a hinged connection to the intermediate frame, the four support legs having substantially the same length and the hinged connection to the intermediate frame having a smaller separation distance than the hinged connection to the base structure;

c. a collector support frame connected to the intermediate frame by at least four intermediate support legs, each intermediate support leg having a hinged connection to the collector support frame and a hinged connection to the intermediate frame;

d. a first linear actuator connected between the base structure and the intermediate frame to rotate the intermediate frame relative to the base frame, and a second linear actuator connected between the intermediate frame and the collector support frame to rotate the collector support frame relative to the intermediate frame; and

e. a solar collector module located on the collector support frame.

11. The solar collector positioning apparatus of claim 10, wherein movement of the intermediate frame is constrained to a plane substantially orthogonal to a plane occupied by the base structure, and the collector support frame is constrained to move in a plane substantially orthogonal to the plane occupied by the intermediate frame.

12. The solar collector positioning apparatus of claim 10, wherein a single linear actuator is connected between the base structure and the intermediate frame, and a single linear actuator is connected between the intermediate frame and the collector support frame.

13. The solar collector positioning apparatus of claim 10, wherein the first linear actuator is connected to the base support between hinged connections on the base support and to the intermediate frame outside of the hinged connections on the intermediate frame.

14. The solar collector positioning apparatus of claim 13, wherein the second linear actuator is connected to the intermediate frame between the hinged connections on the intermediate frame and to the collector support frame outside of the hinged connections on the collector support frame.

15. The solar collector positioning apparatus of claim 11, wherein the plane occupied by the base structure is a ground surface plane.

16. The solar collector positioning apparatus of claim 15, wherein the first linear actuator provides a first angle of inclination to the solar collector module relative to the ground surface plane and the second linear actuator provides a second angle of inclination to the solar collector module relative to the intermediate frame such that the solar collector module is substantially orthogonal to a current solar vector.

17. The solar collector positioning apparatus of claim 16, wherein the tilt angle is derived by:

a. determining a sun vector based on the date, time of day, observation ground point, and compass bearing of the positioning device;

b. decomposing the sun vector into its two orthogonal vectors; and

c. setting the inclination angle to be substantially equal to an angle between the orthogonal vector and the surface plane.

18. The solar collector positioning apparatus of claim 17, wherein the solar vector is represented by components (Sx, Sy, Sz) and the first tilt angle is equal to tan^-1A north declination angle (-Sy/Sz), and the second declination angle is equal to tan^-1East declination of (-Sx/Sz).

19. The solar collector positioning apparatus of claim 17, wherein the sun vector is represented by a card coordinate system (Sx, Sy, Sz).

20. The solar collector positioning apparatus of claim 10, wherein the first linear actuator is pivotally connected to both the base structure and the intermediate frame, and the second linear actuator is pivotally connected between the intermediate frame and the collector support frame.

21. The solar collector positioning apparatus of claim 10, wherein the first linear actuator is connected between the base structure and the intermediate frame by means of a linkage that translates linear actuator extension in a plane parallel to the ground surface plane into rotation of the intermediate frame.

22. The solar collector positioning apparatus of claim 21, wherein the linkage is a scheimpflug linkage.

23. The solar collector positioning apparatus of claim 10, wherein the number of base support feet is a multiple of 2.

24. The solar collector positioning apparatus of claim 23, wherein the number of intermediate support feet is a multiple of 2.

25. The solar collector positioning apparatus of claim 16, wherein a control system periodically calculates the tilt angle and adjusts the linear actuator to maintain the solar collector module perpendicular to the current sun vector.

26. A solar collector positioning device, comprising:

a. a base structure;

b. an intermediate frame connected to the base structure by at least two base support legs, each base support leg having a connection to the base structure and a hinged connection to the intermediate frame, the at least two support legs having substantially the same length;

c. a solar collector support frame connected to the intermediate frame by at least two intermediate support legs, each intermediate support leg having a hinged connection to the solar collector support frame and a connection to the intermediate frame;

d. a first linear actuator connected between the base structure and the intermediate frame to rotate the intermediate frame relative to the ground surface plane, and a second linear actuator connected between the intermediate frame and the collector support frame to rotate the collector support frame relative to the intermediate frame; and

e. a solar collector module located on the collector support frame.

27. The solar collector positioning apparatus of claim 26, wherein the connections between (i) the base support legs and the base structure, and (ii) the intermediate support legs and the intermediate frame are fixed connections.

28. The solar collector positioning apparatus of claim 26, further comprising two linear actuators located on opposite sides of the base support structure, and two linear actuators located on opposite sides of the intermediate structure.

29. The solar collector positioning apparatus of claim 26, wherein the base support structure is perpendicular to the two base support feet on first opposing sides of the base support structure and the two linear actuators on second opposing sides of the base support structure.

30. The solar collector positioning apparatus of claim 26, wherein the solar collector module is at least one of (i) a photovoltaic module, (ii) a solar water heater module, (iii) a solar thermal evaporator, (iv) a solar thermal condenser, or (v) a mirror.

31. A solar collector positioning device, comprising:

a. a base structure;

b. an intermediate frame connected to the base structure in a manner that constrains movement of the intermediate frame to a plane substantially orthogonal to a ground surface plane;

c. a solar collector support frame connected to the intermediate frame in a manner that constrains movement of the solar collector support frame to be in a plane substantially orthogonal to the intermediate frame;

d. at least one first linear actuator operating on the intermediate frame and at least one second linear actuator operating on the solar collector frame;

e. a control system that controls the actuators to cause the first linear actuator to provide a first angle of inclination to the intermediate frame relative to the ground surface plane and the second linear actuator to provide a second angle of inclination to the solar collector frame relative to the intermediate frame such that the solar collector frame is substantially orthogonal to a current solar vector; and

f. wherein the tilt angle is derived by:

i. determining a sun vector based on the date, time of day, observation ground point, and compass heading of the solar collector positioning device;

decomposing the sun vector into its two orthogonal vectors; and

setting the inclination angle to be substantially equal to an angle between the orthogonal vector and the ground surface plane.

32. The solar collector positioning apparatus of claim 31, wherein the solar vector is represented by components (Sx, Sy, Sz) and the first tilt angle is equal to tan^-1A north/south declination angle of (-Sy/Sz), and the second declination angle is equal to tan^-1East/west declination of (-Sx/Sz).

33. The solar collector positioning apparatus of claim 31, wherein the solar vector is represented by components (Sx, Sy, Sz) and the first tilt angle is equal to tan^-1East/west declination angle of (-Sy/Sz), and the second declination angle is equal to tan^-1North/south declination of (-Sx/Sz).

34. A solar collector positioning apparatus as claimed in claim 33, characterized in that the sun vectors are represented in a card coordinate system (Sx, Sy, Sz).

35. The solar collector positioning apparatus of claim 32, wherein the control system adjusts the tilt angles of the intermediate frame and the solar collector support frame to avoid obstruction of adjacent solar collector panels.

36. The solar collector positioning apparatus of claim 35, wherein the tilt angle is adjusted to avoid blockage based on the solar vector, the solar collector panel size, and the distance between the nearest edges of two adjacent solar collector panels.

37. The solar collector positioning apparatus of claim 36, wherein the adjusted tilt angle is determined by the relationship:

TAN(α)=[a(Theta2)²+b(Theta2)+c]/[e(Theta2)²+g(Theta2)+h]

where α is the sun's rising angle above the horizontal plane relative to the action plane, Theta2 is the adjusted inclination angle, and a through h are the coefficients of a second order linear equation.

38. A solar collector positioning device, comprising:

a. a base structure;

b. an intermediate frame secured to the base structure to prevent relative movement between the intermediate frame and the base structure;

c. a solar collector support frame connected to the intermediate frame by at least two intermediate support legs, wherein (i) the number of intermediate support legs is a multiple of 2; and (ii) each said intermediate support foot has a hinged connection to said solar collector support frame and a hinged connection to said intermediate frame; and

d. and a linear actuator connected between the intermediate frame and the module support frame to rotate the module support frame relative to the intermediate frame.

39. The solar collector positioning apparatus of claim 38, wherein the module support frame is constrained to move in a plane substantially orthogonal to a plane occupied by the intermediate frame.

40. The solar collector positioning apparatus of claim 38, wherein a single linear actuator is connected between the intermediate frame and the module support frame.

41. The solar collector positioning apparatus of claim 40, wherein the linear actuator is connected to the intermediate frame between the hinged connections on the intermediate frame and to the module support frame outside of the hinged connections on the module support frame.

42. The solar collector positioning apparatus of claim 38, wherein the intermediate frame has a fixed north/south inclination angle relative to the ground surface plane and the module support frame has an east/west inclination angle relative to the plane of the intermediate frame that is automatically adjusted by a control system.

43. The solar collector positioning apparatus of claim 42, wherein the tilt angle is derived by:

a. determining a sun vector according to the date, the time of day, the observation ground point and the compass direction of the photoelectric panel;

b. decomposing the sun vector into its two orthogonal vectors; and

c. setting the tilt angle of the solar collector support frame to be substantially equal to one of a plurality of orthogonal vectors of the sun vector.

44. The solar collector positioning apparatus of claim 38, wherein the sun vector is represented by components (Sx, Sy, Sz) and the plane of the intermediate frame is fixed at a predetermined north/south tilt angle, and the second tilt angle is a predetermined north/south tilt angleAlong a length equal to tan^-1The east/west tilt angle of (-Sx/Sz).

45. The solar collector positioning apparatus of claim 38, wherein the solar vector is represented by components (Sx, Sy, Sz), and the plane of the intermediate frame is fixed at a predetermined east/west tilt angle, and the second tilt angle is along an angle equal to tan^-1The north/south tilt angle of (-Sx/Sz).

46. The solar collector positioning apparatus of claim 38, wherein the linear actuator is pivotally connected between the intermediate frame and the module support frame.

47. The solar collector positioning apparatus of claim 38, wherein the linear actuator is connected between the intermediate frame and the module support frame by a linkage that translates linear actuator extension in a plane substantially parallel to a ground surface plane into rotation of the intermediate frame.

48. The solar collector positioning apparatus of claim 47, wherein the linkage is a Schibleff linkage.

49. The solar collector positioning apparatus of claim 46, wherein a control system periodically calculates the tilt angle and adjusts the linear actuator to cause the solar panel support frame to maintain substantially permissible proximity to normal to the current solar vector by the fixed intermediate frame substantially following the east/west path of the current solar vector.

50. The solar collector positioning apparatus of claim 38, wherein the photovoltaic module is located on the solar collector support frame.

51. A transportable solar collector positioning apparatus, comprising:

a. a wheel-type carrier having a carrier frame;

b. a solar collector support frame connected to a tilt control structure that allows the solar collector support frame to tilt at least one angle substantially normal to a ground surface plane;

c. at least one first linear actuator operative to tilt the solar collector support frame relative to the tilt control structure; and

d. a control system controlling the first linear actuator to apply an inclination angle to the solar collector support frame according to a current solar vector to maximize power generation.

52. A transportable locating device as recited in claim 51, wherein the wheeled carriage is a two-wheeled tractor trailer.

53. The transportable positioning apparatus of claim 51, wherein said tilt control structure comprises a plurality of support feet, wherein (i) the number of support feet is a multiple of 2; and (ii) each of the support feet has a hinged connection to the solar collector support frame and a hinged connection to a substructure connected to the cradle frame.

54. The transportable positioning apparatus of claim 53, wherein said substructure comprises an intermediate frame having a plurality of base support legs, wherein (i) the number of base support legs is a multiple of 2; (ii) each base support leg has a hinged connection to the intermediate frame and a hinged connection to the cradle frame; and (iii) a second linear actuator that applies an oblique angle to the intermediate frame.

55. The transportable positioning apparatus of claim 54, wherein the control system causes (i) the first linear actuator to provide the solar collector support frame with a first tilt angle relative to the intermediate frame, and (ii) the second linear actuator to provide the intermediate frame with a second tilt angle relative to the ground surface plane, such that the solar collector support frame is substantially orthogonal to the current solar vector.

56. The transportable locator device of claim 55, wherein the tilt angle is derived by:

b. decomposing the sun vector into its two orthogonal vectors; and