Terabase Energy, Inc.

In solar systems, the installation process for solar tables is typically implemented manually by an installer. Such a manual process negatively impacts cost-effectiveness and installation consistency, especially for large solar systems. The present invention discloses system and method embodiments of automatic solar table transfer from a solar table mobile transport to a lander vehicle for table landing. The lander vehicle determines a lander parking zone based on ambient 3D images, infrastructure information (e.g., solar table information), a transport parking zone of the mobile transport, and parameters of the lander vehicle. The lander vehicle may be controlled to autonomously park within the determined lander parking zone for solar table transfer and landing implementation. Therefore, the mobile transport may be configured with a simplified hardware structural focused on autonomous solar table delivery, while the lander vehicle may be designated for solar table fetching and landing.

A solar table mobile transport is described that moves a solar table to a point of installation. The solar table mobile transport comprises multiple motors that allow movement within a three-dimensional coordinate system as well as provide angular controls of pitch, yaw, and roll. These motors enable at least one alignment process used to install the solar table to a mounting structure within a solar system. A parking tolerance zone is first determined using ambient images, infrastructure information, and parameters of the mobile transport. Afterwards, the mobile transport implements horizontal alignment, vertical alignment, and insertion process for autonomous solar table landing.

During the installation of solar panels, multiple mounting brackets are attached to solar panel frames, typically implemented manually by an installer. Systems and methods for automatic fastener installation are disclosed to facilitate an automatic assembly process for solar tables. The automatic fastener comprises fastener holders, fastener driving blocks, lifters, and actuators to enable an automatic installation process that comprises a fastener loading stage, a fastener positioning stage, a fastener driving stage, and a retracting stage. The actuators may be oriented in opposite directions to offset activation momentum during fastener installation.

A solar table mobile transport is described that moves a solar table to a point of installation. The solar table mobile transport comprises multiple motors that allow movement within a three-dimensional coordinate system as well as provide angular controls of pitch, yaw and roll. These motors enable at least one alignment process used to install the solar table to a mounting structure within a solar system.

During the installation of solar panels, multiple mounting brackets are attached to solar panel frames, typically implemented manually by an installer. Systems and methods for automatic fastener installation are disclosed to facilitate an automatic assembly process for solar tables. The automatic fastener comprises fastener holders, fastener driving blocks, lifters, and actuators to enable an automatic installation process that comprises a fastener loading stage, a fastener positioning stage, a fastener driving stage, and a retracting stage. The actuators may be oriented in opposite directions to offset activation momentum during fastener installation.

A solar table mobile transport is described that moves a solar table to a point of installation. The solar table mobile transport comprises multiple motors that allow movement within a three-dimensional coordinate system as well as provide angular controls of pitch, yaw and roll. These motors enable at least one alignment process used to install the solar table to a mounting structure within a solar system.

System and method embodiments of off-loading completed solar tables from the assembly area for improved assembling efficiency are disclosed. An assembly and off-loading system may comprise an assembly stage for solar table assembling, a table buffer section, and a table off-loading section. The table buffer section is an extra section of conveyance and support to allow assembled solar tables to move out of the assembly area from the path of incoming torque tubes. The table off-loading section is where the assembled solar table is off-loaded onto a mobile transport. The table buffer section decouples the table assembly process from table off-loading, thus eliminating potential interference/blocking by table off-loading or mobile transport parking to subsequent table assembly processes. Consequently, the assembly of subsequent solar tables may be carried out without interruption or interference, and overall assembly efficiency increases.

A system for centralized assembly of a solar table is described in which a solar panel is autonomous or semi-autonomously removed from a crate and oriented in such a manner to allow loading the solar panel on an assembly framework with proper alignment is achieved. In some embodiments, a flipping station is used to enable this alignment. In other embodiments, a robotic arm is used with sufficient rotation and movement functionality to allow this alignment.

Embodiments of a solar table mobile transport with collapsible manipulators are described. The collapsible manipulators may be scissor lifts, direct lifts, or pivot lifts, that couple to a torque tube of the solar table and provide at least vertical movement of the solar table. Once the mobile transport approaches an installation spot between installation piles, the mobile transport lifts the solar table by unfolding the collapsible manipulators such that that solar table may cross the pile line and the mobile transport can maneuver between the installation piles. The compactness of the mobile transport, especially when the collapsible manipulators are vertically installed, greatly enhances the maneuverability of the mobile transport within the limited space between the piles. Such a capability of mobile transport maneuverability in combination of solar table alignment facilitates an installation efficiency of the solar table.

A clamp is described that couples a torque tube and at least one solar panel within a solar table. The clamp provides an efficient attachment when in a closed position that allows transportation of the solar table from a centralized assembly location to an installation point within a large-scale solar system. The clamp further provides an efficient process solar table mobile transport is described that moves a solar table to a point of installation. The clamp may be efficiently opened by personnel at the installation point to enable access to a section of the torque tube.