Description:FORM – 2

THE PATENTS ACT, 1970
(39 of 1970)
&
THE PATENTS RULES, 2003

COMPLETE SPECIFICATION
(SEE SECTION 10, RULE 13)

BRIDGING SYSTEM FOR A DOCKING STATION OF A ROBOT CARRIER AND A DOCKING STATION THEREOF

APLOS VENTURES PRIVATE LIMITED, A COMPANY REGISTERED UNDER THE LAWS OF INDIA, HAVING ADDRESS AT 604, C WING, LAVENDER, MAHINDRA SPLENDOR, LBS MARG, BHANDUP WEST, MUMBAI 400078, INDIA

THE FOLLOWING SPECIFICATION PARTICULARLY DESCRIBES THE INVENTION AND THE MANNER IN WHICH IT IS TO BE PERFORMED.
BRIDGING SYSTEM FOR A DOCKING STATION OF A ROBOT CARRIER AND A DOCKING STATION THEREOF

TECHNICAL FIELD
[1] The present invention relates to a bridging system for a docking station of a robot carrier, and a docking station thereof. The bridging system aids in transitioning a cleaning robot between the docking station and a photovoltaic array disposed on a solar tracker table.

BACKGROUND
[2] Many modern-day solar power plants employ solar tracker tables to orient photovoltaic arrays towards the sun in order to maximise energy generation. Automatic cleaning robots are being used in the recent years to remove dust and undesirable depositions on the surfaces of the photovoltaic arrays whilst dispensing manual cleaning which may be cumbersome, inaccurate and improper. It is known to use a robot carrier with solar tracking functionality for transitioning such a cleaning robot between a docking station on the robot carrier and an adjacent photovoltaic array, for mitigating human intervention at the solar power plant site.
[3] However, it has been observed that the solar tracker table is not always properly aligned with the robot carrier. This may be owed to several factors including precision errors in the control systems of the solar tracker, inaccuracies in the solar tracker and docking station construction and/or the robot carrier, and environmental impact. It has been noticed that there exists a possibility of orientational misalignment between the solar tracker table and the robot carrier, which may be up to 5°, usually 2° to 3°. This is over and above vertical height mismatch that may exist due to similar reasons. In such a case, the cleaning robot may not smoothly transition between the docking station and the photovoltaic array, and there is a possibility that a part of the cleaning robot may get lodged in a gap between the solar tracker table and the robot carrier, which accounts for human intervention and downtime, damage to the robot or to photovoltaic modules.
[4] Accordingly, there exists a need for a bridging system for the docking station that provides a path for smoothly transitioning the cleaning robot between the docking station and the photovoltaic array despite possible orientational misalignment between the solar tracker table and the robot carrier.

SUMMARY OF THE INVENTION
[5] Accordingly, the inventors of the present invention have devised a bridging system for a docking station of a robot carrier and a docking station thereof, that overcome the aforementioned problem, and any other associated problem identifiable by a person of ordinary skill in the art.
[6] Accordingly, a first aspect of the present invention provides a bridging system for a docking station of a robot carrier for transitioning a cleaning robot between said docking station and a photovoltaic array disposed on a solar tracker table, said docking station having a first end and a second end, the bridging system comprising: a pair of connecting plates independently pivoted at lateral sides of the second end of the docking station; and a movement means for each connecting plate, each of said movement means operably connected between the connecting plate and the first end of the docking station and configured to actuate the connecting plate based on a position of the cleaning robot on the docking station, the movement means configured to rotate the connecting plates independently of one another towards the photovoltaic array relative to a position of the cleaning robot on the docking station, thereby forming a bridge for transitioning the cleaning robot between the docking station and the photovoltaic array despite possible orientational misalignment between the robot carrier and the solar tracker table.
[7] In an embodiment, the movement means is a flexible member tensionably connected between the connecting plate and the first end of the docking station, said flexible member being operably connected between the connecting plate and the first end of the docking station under tension by the cleaning robot. In the embodiment, the flexible member is one of a wire-rope, a belt, or a chain.
[8] In another embodiment, each movement means is a link mechanism comprising: an input link having a top end, a bottom end and a middle portion between said top end and said bottom end, said input link pivoted to the first end of the docking station at said middle portion thereof; an output link having a top end and a bottom end, the top end of the output link pivoted to the second end of the docking station, said output link fixedly connected to the connecting plate; an intermediate link connected between the bottom end of the input link and the bottom end of the output link; wherein, in a first state defined by an exertion of pressure on the input link by the cleaning robot translatably supported on the docking station, the top end of the input link is displaced rearward to the first end of the docking station, thereby articulating the intermediate link and the output link to maintain the connecting plate in a raised position from the photovoltaic array, and in a second state defined by a break of contact between the cleaning robot and the input link, the self-weight of the connecting plate maintains contact between the connecting plate and the photovoltaic array for forming a bridge for transitioning the cleaning robot between the docking station and the photovoltaic array, whilst articulating the input link via the intermediate link for maintaining the top end of the input link in a forward position relative to the first end of the docking station.
[9] A second aspect of the present invention provides a docking station comprising a pair of parallely extending tracks lying substantially coplanar with respect to one another for translatably supporting a cleaning robot thereon; and the bridging system according to the first aspect.
BRIEF DESCRIPTION OF DRAWINGS
[10] Figures 1 to 3 illustrate a bridging system for a docking station and a photovoltaic array disposed adjacent to the bridging system according to a first exemplary and/or preferable embodiment of the present invention, in which:
Figure 1A and Figure 1B respectively illustrate a disengaged state and an engaged state of movable plates relative to the photovoltaic array, in a case where the photovoltaic array is oriented at a positive angle with respect to the docking station,
Figure 2A and Figure 2B respectively illustrate a disengaged state and an engaged state of movable plates relative to the photovoltaic array, in a case where the photovoltaic array is oriented parallel to the docking station, and
Figure 3A and Figure 3B respectively illustrate a disengaged state and an engaged state of movable plates relative to the photovoltaic array, in a case where the photovoltaic array is oriented at a negative angle with respect to the docking station; and
[11] Figure 4 through Figures 4A-4B illustrates side views of a bridging system for a docking station and a photovoltaic array disposed adjacent to the bridging system according to a second exemplary embodiment of the present invention, in which:
Figure 4A illustrates a disengaged state of movable plates relative to the photovoltaic array, and
Figure 4B illustrates an engaged state of movable plates with the photovoltaic array.
[12] Persons skilled in the art will appreciate that elements in the figures are illustrated for simplicity and clarity and may have not been drawn to scale. For example, the dimensions of some of the elements in the figure may be exaggerated relative to other elements to help to improve understanding of various exemplary embodiments of the present disclosure.
[13] Throughout the drawings, it should be noted that like reference signs are used to depict the same or similar elements, features, and structures.

DETAILED DESCRIPTION OF THE INVENTION
[14] In the following description, for the purpose of explanation, specific details are set forth in order to provide an understanding of the present disclosure. One skilled in the art will recognize that various implementations of the present disclosure, some of which are described below, may be incorporated into a number of systems.
[15] However, the systems are not limited to the specific implementations described herein. Further, structures and devices shown in the figures are illustrative of exemplary implementations of the present disclosure and are meant to avoid obscuring the present disclosure. In some embodiments, well-known apparatus structures, and well-known mechanisms are not described in detail.
[16] Furthermore, connections between components and/or modules within the figures are not intended to be limited to direct connections. Rather, these components and modules may be modified, re-formatted or otherwise changed by intermediary components and modules.
[17] The terminology used in the present disclosure is only for the purpose of explaining the embodiments and such terminology shall not be considered to limit the scope of the present disclosure. The terms “comprises”, “includes”, “has” and “having,” are open ended transitional phrases and therefore specify the presence of stated elements, units and/or components, but do not forbid the presence or addition of one or more other elements, components, and/or groups thereof.
[18] In general, the present invention relates to a bridging system for a docking station of a robot carrier for transitioning a cleaning robot between said docking station and a photovoltaic array disposed on a solar tracker table. The bridging system of the present invention facilitates a smooth transitioning of the cleaning robot between the docking station and the photovoltaic array, despite possible orientational misalignment with the robot carrier and the solar tracker table.
[19] In an implementation of the present invention, photovoltaic arrays are provided on solar tracker tables that orient the arrays towards the sun to maximize the capture of direct solar radiation. A robot carrier system having or not having a similar tracking functionality is provided parallel to a linear arrangement of the photovoltaic arrays. The robot carrier translatably supports a cleaning robot thereon. The cleaning robot can move across the length of the robot carrier, and move onto a photovoltaic array where cleaning is desired, through a docking station adjacent to that photovoltaic array. A bridging system is associated with the docking station, which forms a bridge for transitioning the cleaning robot from the docking station to the photovoltaic array. After a cleaning action on the photovoltaic array is completed, the cleaning robot can return to the docking station through the same bridge. Thereafter, the cleaning robot can traverse to another photovoltaic array where cleaning is desired, through a similar docking station and its associated bridging system.
[20] The bridging system of the present invention will now be described in detail. Referring to Figures 1 to 4, a first aspect of the present invention discloses a bridging system for a docking station (10) of a robot carrier (not shown) for transitioning a cleaning robot (20) between the docking station (10) and a photovoltaic array (30) disposed on a solar tracker table. The docking station (10) has a first end (11) and a second end (12). The bridging system comprises a pair of connecting plates (40) independently pivoted at lateral sides of the second end (12) of the docking station. The bridging system essentially includes a movement means (50, 60) for each connecting plate (40). Each of the movement means (50, 60) is operably connected between the connecting plate (40) and the first end (11) of the docking station (12) and configured to actuate the connecting plate (40) based on a position of the cleaning robot (20) on the docking station (10). The movement means (50, 60) are configured to rotate the connecting plates (40) independently of one another towards the photovoltaic array (30) relative to a position of the cleaning robot (20) on the docking station. Therefore, a bridge is formed by the connecting plates (40) between the docking station (10) and the photovoltaic array (30), for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30) despite possible orientational misalignment between the robot carrier and the solar tracker table.
[21] A second aspect of the present invention relates docking station (10) comprising a pair of parallely extending tracks (101, 102) lying substantially coplanar with respect to one another for translatably supporting a cleaning robot (20) thereon; and the bridging system according to the first aspect of the invention. In an embodiment of the second aspect, the docking system (10) has at least one locking means to selectively retain the cleaning robot (20) proximate to the first end (11) of the docking station (10) when a cleaning action on the photovoltaic array (30) is not desired.
[22] Hereinafter, embodiments of the invention will be described in detail by the use of the drawings. The following embodiments are not intended to unreasonably limit the contents of the invention. Additionally, all configurations which will be described below are not necessarily essential constituent elements of the invention, unless explicitly stated.
[23] [First Exemplary and/or Preferable Embodiment]
The first exemplary and/or preferable embodiment of the present invention will now be explained in conjunction with Figures 1 to 3 of the appended drawings. Referring to Figure 1A, shown is a docking station (10) disposed adjacent to a photovoltaic array (30). The docking station (10) has a first end (11) and a second end (12). The docking station (10) has a pair of parallely extending tracks (101, 102) lying substantially coplanar with respect to one another. The first end (11) and the second end (12) of the docking station correspond respectively to the first end and the second end of each of the tracks (101, 102). The reference signs (L) and (R) in Figures 1 to 3 respectively correspond to left and right sides relative to a central long axis of the docking station (10).
[24] A cleaning robot (20) is translatably supported on the docking station (10), i.e., on the two extending tracks (101, 102). The cleaning robot (20) has a structural frame (21) for mounting a cleaning roller (22). The cleaning roller (22) is rotatable along its longitudinal axis. The cleaning roller (22) may be provided with bristles and/or absorbent surfaces, for cleaning dust and undesired depositions on the photovoltaic array (30). The cleaning robot (20) has wheels (23) mounted to the structural frame (21). The wheels (23) are in translatable communication with respect to the docking station (10), i.e., on the tracks (101, 102) of the docking station (10) in the present embodiment. In the present embodiment, the wheels (23) are in contact with side surfaces of the tracks (101, 102). However, in other embodiments, the wheels (23) may be in translatable communication with top surfaces of the tracks (101, 102).
[25] According to the present embodiment, the bridging system includes a pair of connecting plates (40) independently pivoted at lateral sides of the second end (12) of the docking station (10). That is, a left connecting plate (40) is pivoted at the second end of the track (101) and a right connecting plate (40) is pivoted at the second end of the track (102).
[26] According to the present embodiment, each of the connecting plates (40) is provided with a movement means (50). In the present embodiment, the movement means (50) is a flexible member. The movement means (50) is tensionably connected between the connecting plate (40) and the first end (11) of the docking station (10). Each flexible member (50) is operably connected between the connecting plate (40) and the first end (11) of the docking station (10) under tension by the cleaning robot. As can be seen from Figure 1A, a left flexible member (50) is connected tensionably between the first end (11) of the docking station corresponding to the first end of the track (101) and the left connecting plate (40). Similarly, a right flexible member (50) is connected tensionably between the first end (11) of the docking station corresponding to the first end of the track (102) and the right connecting plate (40). Each flexible member (50) is connected to the first end (11) of the docking station via a bracket (B). Figures 1-3 illustrate brackets (B) provided at the first ends of the tracks (101, 102) for connecting to a flexible member (50) to maintain desired tension of the flexible members (50) between the first end (11) of the docking station (10) and the connecting plates (40).
[27] In the first exemplary and/or preferable embodiment, the movement means (50) (i.e., the flexible member) is a wire-rope. However, in alternative embodiments, the movement means could be a belt, a chain, or the like, but not limited thereto.
[28] In the first exemplary embodiment, when the cleaning robot (20) is at the first end of the docking station (10), a part of the cleaning robot (20) presses on the wire-ropes (50) against the brackets (B) at the first end (11) of the docking station (10), to create a tension across the length of the wire-ropes (50) between the connecting plates (40) and the cleaning robot (20). The cleaning robot (20) may have protruded surfaces to exert pressure on the wire-ropes (50) and the brackets (B) when the cleaning robot (20) is at or in close proximity to the first end of the docking station (10). This tension on the wire-ropes (50) between the first end (11) and the second end (12) of the docking station (10), brought about by the cleaning robot (20) at the first end (11), maintains the connecting plates (40) in a raised or lifted position from the photovoltaic array (30). In the raised position, the tracker table is free to rotate, as the bridge plates will not impede the motion.
[29] As the cleaning robot (20) starts departing from the first end (11) and translates towards the second end (12) of the docking station (10), the tension on the wire-ropes (50) between the connecting plates (40) and the cleaning robot (20) is varied and reduced, and the self-weight of the connecting plates (40) causes the connecting plates (40) to rotate independently of one another towards the photovoltaic array (30). Finite portions of each of the connecting plates (40) contacts the top surface of the photovoltaic array (30). Thus, the connecting plates (40) form a bridge between the docking station (10) and the photovoltaic array (30), for smoothly transitioning the cleaning robot (20) between the second end (12) of the docking station (10) and the photovoltaic array (30). Since the two connecting plates (40) are pivoted independently of one another at the second end (12) of the docking station (10), the rotation of each of the connecting plates (40) towards the photovoltaic array (30) is also independent of one another. This is in aid of the purpose, as when the robot is cleaning and is on the array, and during this time, if the tracker table rotates a little, the bridge still maintains the contact, and the robot can return safely to the docking station.
[30] Figure 1A and Figure 1B respectively illustrate a disengaged state and an engaged state of movable plates (40) relative to the photovoltaic array (30), in a case where the photovoltaic array (30) is oriented at a positive angle with respect to the docking station (10). Here, disengaged state refers to a condition in which the connecting plates (40) are not in contact with the photovoltaic array (30) and are in a raised or lifted position relative to the photovoltaic array (30). Engaged state refers to a condition in which the connecting plates (40) are in contact with the photovoltaic array (30) forming a bridge connection between the docking station (10) and the photovoltaic array (30). In Figure 1A, the cleaning robot (20) is at the first end (11) of the docking station (10) and in Figure 1B, a state is shown where the cleaning robot (20) has translated on to the photovoltaic array (30). As can be seen from Figure 1B, the left end (31) of the photovoltaic array (30) is at a lower elevation from the docking station (10), and the right end (32) of the photovoltaic array (30) is at a higher elevation from the docking station (10).
[31] Referring Figure 2, Figure 2A and Figure 2B respectively illustrate a disengaged state and an engaged state of movable plates (40) relative to the photovoltaic array, in a case where the photovoltaic array (30) is oriented parallel to the docking station (10).
[32] Referring Figure 3, Figure 3A and Figure 3B respectively illustrate a disengaged state and an engaged state of movable plates relative to the photovoltaic array, in a case where the photovoltaic array is oriented at a negative angle with respect to the docking station. As can be seen from Figure 3B, the left end (31) of the photovoltaic array (30) is at a higher elevation from the docking station (10), and the right end (32) of the photovoltaic array (30) is at a lower elevation from the docking station.
[33] Thus, even in a case where the photovoltaic array (30) is tilted relative to the docking station (10), a bridge connection between the docking station (10) and the photovoltaic array (30) can still be established by virtue of the constructional features of the present invention as described in the foregoing. In other words, even in a case where a left end (31) and the right end (32) of the photovoltaic array (30) are at different elevations from a reference plane parallel to the plane of the docking station (10) (i.e., tracks 101, 102), a bridge connection between the docking station (10) and the photovoltaic array (30) can still be established by virtue of the constructional features of the present invention as described in the foregoing. Here, the left end (31) and the right end (32) of the photovoltaic array (30) are opposite ends of the photovoltaic array (30) considered parallel to an imaginary line perpendicularly connecting the first end (11) and the second end (12) of the docking station (10). The bridging system of the present invention thereby facilitates formation of a bridge for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30) despite possible orientational misalignment between the robot carrier and the solar tracker table.
[34] After a cleaning action is completed by the cleaning robot (20) on the photovoltaic array (30), the cleaning robot (20) may translate and return to the docking station (10) for moving to another docking station (not shown) on the robot carrier (not shown). The connecting plates (40) maintain contact with the photovoltaic array (30) until the cleaning robot (20) completes a cleaning action on the photovoltaic array (30) and returns to the second end (12) of the docking station (10). The connecting plates (40) are configured to rotatably retract from the photovoltaic array (30) relative to a translatory motion of the cleaning robot (20) from the second end (12) of the docking station (10) to the first end (11) of the docking station (10). Therefore, the bridging system of the present invention also facilitates bi-directional movement of the cleaning robot (20) between the docking station (10) and the photovoltaic array (30), thus requiring a single cleaning robot (20) for performing cleaning operations on multiple photovoltaic arrays in linear arrangement in a solar power plant.
[35] The docking station (10) may be provided with at least one locking means to selectively retain the cleaning robot (20) at the first end of the docking station (10) when a cleaning on the photovoltaic array (30) is not desired. Therefore, the cleaning robot (20) may be maintained stationary at the first end of during its non-operational time.
[36] In the first exemplary and/or preferable embodiment, the bridging system includes a pair of protective members (not shown) connected at least at end portions of each of the connecting plates (40) configured to come in contact with the photovoltaic array (30). These protective members prevent surface damage and/or scratches on the photovoltaic array (30) upon contact of the connecting plates (40) with the photovoltaic array (30). The protective members may be made from rubber, silicone, or the like.
[37] [Second Exemplary Embodiment]
The second exemplary embodiment of the present invention will now be explained in conjunction with Figure 4 of the appended drawings. Referring to Figure 4A, shown is a docking station (10) disposed adjacent to a photovoltaic array (30). The docking station (10) has a first end (11) and a second end (12). The docking station (10) may be comprised of a pair of parallely extending tracks lying substantially coplanar with respect to one another. A cleaning robot (20) is translatably supported on the docking station (10). The cleaning robot (20) has a structural frame (21) for mounting a cleaning roller (22). The cleaning roller (22) is rotatable along its longitudinal axis. The cleaning roller (22) may be provided with bristles and/or absorbent surfaces, for cleaning dust and undesired depositions on the photovoltaic array (30). The cleaning robot (20) has wheels (23) mounted to the structural frame (21). The wheels (23) are in translatable communication with respect to the docking station (10).
[38] The bridging system includes a pair of connecting plates (40) independently pivoted at lateral sides of the second end (12) of the docking station (10). Each of the connecting plates (40) is provided with a movement means (60). In the second exemplary embodiment, each movement means is a link mechanism (60). Referring to Figure 4A, each link mechanism (60) comprises an input link (61), an output link (62) and an intermediate link (63) connected between the input link (61) and the output link (62). The input link (61) has a top end (611), a bottom end (612) and a middle portion between the top end (611) and the bottom end (612) of the input link (61). The input link (61) is pivoted to the first end (11) of the docking station (10) at the middle portion between the top end (611) and the bottom end (612) of the input link (61). That is, the fulcrum for the input link (61) is present at the first end (11) of the docking station (10). The output link (62) has a top end (621) and a bottom end (622). The top end (621) of the output link (62) is pivoted to the second end of the docking station (10). The output link (62) is fixedly connected to the connecting plate (40). The intermediate link (63) is connected between the bottom end (612) of the input link (61) and the bottom end (622) of the output link (62). That is, a left end (631) of the intermediate link (63) is connected to the bottom end (612) of the input link (61), and a right end (632) of the intermediate link (63) is connected to the bottom end (622) of the output link (62).
[39] In a first state defined by an exertion of pressure on the input link (61) by the cleaning robot (20) that is translatably supported on the docking station (10), the input link (61) is rotatably displaced in a first direction (I) from the first end (11) of the docking station (10). The top end (611) of the input link (61) flexes rearward from the fulcrum (towards R’ direction) and the bottom end (612) of the output link (62) is displaced forward from the fulcrum (towards F’ direction) as shown in Figure 4A. Thereby, the input link (61) articulates the intermediate link (63) and the output link (62) to maintain the connecting plate (40) in a raised position from the photovoltaic array (30). In a second state defined by a break of contact between the cleaning robot (20) and the input link (61), the self-weight of the connecting plate (40) maintains contact between the connecting plate (40) and the photovoltaic array (30), for forming a bridge for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30). Correspondingly, the intermediate link (63) is articulated to rotatably displace the input link (61) in a second direction (II) opposite to the first direction (I).
[40] Thus, even in a case where the photovoltaic array (30) is tilted relative to the docking station (10), a bridge connection between the docking station (10) and the photovoltaic array (30) can still be established by virtue of the constructional features of the present invention as described in the foregoing. In other words, even in a case where opposite ends of the photovoltaic array (30), considered parallel to an imaginary line perpendicularly connecting the first end (11) and the second end (12) of the docking station, are at different elevations from a reference plane parallel to the plane of the docking station (10), a bridge connection between the docking station (10) and the photovoltaic array (30) can still be established by virtue of the constructional features of the present invention as described in the foregoing. The bridging system of the present invention thereby facilitates formation of a bridge for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30) despite possible orientational misalignment between the robot carrier and the solar tracker table.
[41] After a cleaning action is completed by the cleaning robot (20) on the photovoltaic array (30), the cleaning robot (20) may translate and return to the docking station (10) for moving to another docking station (not shown) on the robot carrier (not shown). The connecting plates (40) maintain contact with the photovoltaic array (30) until the cleaning robot (20) completes a cleaning action on the photovoltaic array (30) and returns to the first end (11) of the docking station (10), and the bridging system can be returned to the first state as defined earlier. Therefore, the bridging system of the present invention also facilitates bi-directional movement of the cleaning robot (20) between the docking station (10) and the photovoltaic array (30), thus requiring a single cleaning robot (20) for performing cleaning operations on multiple photovoltaic arrays in linear arrangement in a solar power plant.
[42] The docking station (10) may be provided with at least one locking means to selectively retain the cleaning robot (20) at the first end of the docking station (10) when a cleaning on the photovoltaic array (30) is not desired. Therefore, the cleaning robot (20) may be maintained stationary at the first end (11) of the docking station (10) during its non-operational time. Similar mechanisms can be developed using other types of kinematic linkages, where the weight of the robots and self weight of the bridge members can be used to make a bridge. The choice of mechanism shown in the application does not limit the scope of this invention. More particularly, the bridge members are held up using the weight of the robot and deployed using its self-weight. Further, working of both bridge members independently helps to ensure that connection is maintained till the cleaning robot (20) returns and raises the bridge members. Moreover, it is important to note that no additional electronics, mechanical prime-mover, sensors, and the like, are required for the above mentioned working of the bridge members.
[43] The bridging system preferably includes a pair of protective members (not shown) connected at least at end portions of each of the connecting plates (40) configured to come in contact with the photovoltaic array (30). These protective members prevent surface damage and/or scratches on the photovoltaic array (30) upon contact of the connecting plates (40) with the photovoltaic array (30). The protective members may be made from rubber, silicone, or the like. (images of rubber pads at the end of the bridge were provided by us for potential use in the patent. Are we deciding to not add the images to the application?)
[44] By virtue of the bridging system of the present invention, the cleaning robot can easily and smoothly transition between the docking station and the photovoltaic array, despite possible orientational misalignment generally 2° to 3°, and up to 5°, between the solar tracker table and the robot carrier. In this present invention, the bridging system allows automatic adjustments using only gravitational force. Further, it is important to note that no additional motors, electronics, sensors, and the like, are required for the bridging system to be deployed, retracted, and adjusted if there is any further misalignment. This allows simplicity in manufacturing of the bridging system with less number of components, thus, overall cost reduction is achieved. Further, simple configuration and less number of components also reduce maintenance of the bridging system.
[45] The foregoing description of the invention has been set merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to person skilled in the art, the invention should be construed to include everything within the scope of the disclosure.
, Claims:

1. A bridging system for a docking station (10) of a robot carrier for transitioning a cleaning robot (20) between said docking station (10) and a photovoltaic array (30) disposed on a solar tracker table, said docking station (10) having a first end (11) and a second end (12), the bridging system comprising:
a pair of connecting plates (40) independently pivoted at lateral sides of the second end (12) of the docking station (10); and
a movement means (50, 60) for each connecting plate (40), each of said movement means (50, 60) being operably connected between the connecting plate (40) and the first end (11) of the docking station (12) and configured to actuate the connecting plate (40) based on a position of the cleaning robot (20) on the docking station (10),
the movement means (50, 60) being configured to rotate the connecting plates (40) independently of one another towards the photovoltaic array (30) relative to a position of the cleaning robot (20) on the docking station (10), thereby forming a bridge for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30) despite possible orientational misalignment between the robot carrier and the solar tracker table.
2. The bridging system as claimed in claim 1, wherein the movement means (50) is a flexible member tensionably connected between the connecting plate (40) and the first end (11) of the docking station (10), said flexible member being operably connected between the connecting plate (40) and the first end (11) of the docking station (10) under tension by the cleaning robot (20).
3. The bridging system as claimed in claim 2, wherein the flexible member (50) is one of a wire-rope, a belt, or a chain.
4. The bridging system as claimed in claim 2 or claim 3, wherein each flexible member (50) is connected to the first end (11) of the docking station (10) via a bracket (B).
5. The bridging system as claimed in any one of claims 1 to 4, wherein the connecting plates (40) are configured to rotatably retract from the photovoltaic array (30) relative to a translatory motion of the cleaning robot (20) from the second end (12) to the first end (11) of the docking station (10).
6. The bridging system as claimed in claim 1, wherein each movement means is a link mechanism (60) comprising:
an input link (61) having a top end (611), a bottom end (612) and a middle portion between said top end (611) and said bottom end (612), said input link (61) pivoted to the first end (11) of the docking station (10) at said middle portion thereof;
an output link (62) having a top end (621) and a bottom end (622), the top end (621) of the output link (62) pivoted to the second end (12) of the docking station (10), said output link (62) fixedly connected to the connecting plate (40);
an intermediate link (63) connected between the bottom end (612) of the input link (61) and the bottom end (622) of the output link (62);
wherein,
in a first state defined by an exertion of pressure on the input link (61) by the cleaning robot (20) translatably supported on the docking station (10), the input link (61) is rotatably displaced in a first direction (I) from the first end (11) of the docking station (10), thereby articulating the intermediate link (63) and the output link (62) to maintain the connecting plate (40) in a raised position from the photovoltaic array (30), and
in a second state defined by a break of contact between the cleaning robot (20) and the input link (61), the self-weight of the connecting plate (40) maintains contact between the connecting plate (40) and the photovoltaic array (30) for forming a bridge for transitioning the cleaning robot (20) between the docking station (10) and the photovoltaic array (30), whilst articulating the intermediate link (63) to rotatably displace the input link (61) in a second direction (II) opposite to the first direction (I).
7. The bridging system as claimed in any one of claims 1 to 6, wherein the bridging system includes a pair of protective members connected at least at end portions of each of the connecting plates (40), for preventing surface damage and/or scratches on the photovoltaic array (30) upon contact of the connecting plates (40) with the photovoltaic array (30).
8. A docking station (10) comprising:
a pair of parallely extending tracks (101, 102) lying substantially coplanar with respect to one another for translatably supporting a cleaning robot (20) thereon; and
a bridging system as claimed in any one of claims 1 to 7.
9. The docking station (10) as claimed in claim 8, wherein the docking station (10) has at least one locking means to selectively retain the cleaning robot (20) proximate to the first end (11) of the docking station (10) when a cleaning action on the photovoltaic array (30) is not desired.