US 12,393,208 B2
Backtracking method for solar tracker installation
Sarah Elisabeth Potter, Avondale, AZ (US); Matt Kesler, Phoenix, AZ (US); and Lepolve Varpilah, Queen Creek, AZ (US)
Assigned to OMCO SOLOR, LLC, Phoenix, AZ (US)
Filed by OMCO SOLAR, LLC, Phoenix, AZ (US)
Filed on Oct. 20, 2023, as Appl. No. 18/382,462.
Claims priority of provisional application 63/417,914, filed on Oct. 20, 2022.
Prior Publication US 2024/0134398 A1, Apr. 25, 2024
Prior Publication US 2024/0231396 A9, Jul. 11, 2024
Int. Cl. H02S 20/32 (2014.01); G05D 3/10 (2006.01); G06T 7/70 (2017.01)
CPC G05D 3/105 (2013.01) [G06T 7/70 (2017.01); H02S 20/32 (2014.12); G06T 2207/10032 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A method of backtracking utilizing a backtracking algorithm to calculate angle of inclination positions for a first table of a first solar tracker assembly and angle of inclination positions for a second table of a second solar tracker assembly, the first and second solar tracker assemblies being adjacent row solar tracker assemblies within a solar tracker installation, to mitigate shading of a first set of photovoltaic modules of the first table of the first solar tracker assembly by a second set of photovoltaic modules of the second table of the second solar tracker assembly, the steps of the method comprising:
a) imaging at least one selected element of the first solar tracker assembly and utilizing images of the at least one selected element to determine three dimensional coordinates associated with the first solar tracker assembly;
b) imaging at least one selected element of the second solar tracker assembly and utilizing images of the at least one selected element to determine three dimensional coordinates associated with the second solar tracker assembly;
c) inputting to the backtracking algorithm: 1) the three dimensional coordinates associated with the first solar tracker assembly; 2) the three dimensional coordinates associated with the second solar tracker assembly; 3) a chord value for the first set of photovoltaic modules of the first table of the first solar tracker assembly and a chord value for the second set of photovoltaic modules of the second table of the second solar tracker assembly; 4) an angle of inclination range for the first table and an angle of inclination range for the second table; and 5) sun position data;
d) the backtracking algorithm calculating first angle of inclination values for the first table of the first solar tracker assembly and calculating second angle of inclination values for the second table of the second solar tracker assembly; and
e) pivoting first table of the first solar tracker assembly in accordance with the first angle of inclination values and pivoting the second table of the second solar tracker assembly in accordance with the second angle of inclination values.