DESC:FIELD OF THE INVENTION:
The present invention relates to a cleaning robot and a method for cleaning a plurality of solar panels using the cleaning robot.

PRIOR ART OF THE INVENTION:
Generally, in solar power plants, several solar panels are disposed in rows known as a solar panel array to open environment for generating solar power. Due to exposure to the open environment, dust and debris get accumulated on a surface of the solar panels, which may decrease the efficiency of the solar power plant. Conventionally, cleaning robots are used to clean the solar panels during non-generation hours to avoid loss of power generation due to shadow of the cleaning robot on the solar panel.
However, there is a possibility that the cleaning robot may run out of charge during cleaning process in non-generation hours and stop on the solar panel which may cause loss of power generation due to shadow of the cleaning robot during generation hours. Further, if the cleaning process is not completed before the beginning of the generation hours, then the power loss may be a combination of loss due to some solar panels being left unclean, as well as the shadow of the cleaning robot on the solar panels. In such situations, it is necessary to track down the stopped cleaning robots and transport it manually to a charging station which is very cumbersome.
Therefore, there is a need of a method to avoid the power loss in the generation hours.

SUMMARY OF THE INVENTION:
In one aspect of the present invention, a cleaning robot for cleaning a plurality of solar panels is provided. The cleaning robot includes a cleaning unit to clean the solar panels. The cleaning robot also includes a battery to provide an operational power to the cleaning robot. The cleaning robot further includes a controller communicably coupled to one or more components of the cleaning robot. The controller is configured to compare a state of charge of a battery and a threshold charge to generate a first signal. The controller is also configured to compare a time of sunrise and a time of one cleaning cycle required to clean one or more solar panel array to generate a second signal. The controller is further configured to initiate the cleaning of the solar panels when both the first signal and the second signal satisfy a positive condition or abort the cleaning of the solar panels when at least one of the first signal and the second signal does not satisfy the positive condition.
According to the present invention, the threshold charge includes a charge required to complete one cleaning cycle for one or more solar panel array and a predetermined allowable depth of discharge.
According to the present invention, the positive condition of the first signal indicates the state of charge of the battery is equal to or greater than the charge required to complete one cleaning cycle and the predetermined allowable depth of discharge. The positive condition of the second signal indicates the time required to clean the solar panels is equal to or less than the time remaining for sunrise.
In another aspect of the present invention, a method for cleaning a plurality of solar panels using a cleaning robot is provided. The method includes comparing, by a controller of the cleaning robot, a state of charge of a battery of the cleaning robot and a threshold charge to generate a first signal. The method also includes comparing, by the controller, a time of sunrise and a time of one cleaning cycle required to clean one or more solar panel array to generate a second signal. The method further includes initiating, by the controller, the cleaning of the solar panels when both the first signal and the second signal satisfy a positive condition, or aborting, by the controller, the cleaning of the solar panels when at least one of the first signal and the second signal does not satisfy the positive condition.
According to the present invention, the threshold charge includes a charge required to complete one cleaning cycle for one or more solar panel array and a predetermined allowable depth of discharge.
According to the present invention, the positive condition of the first signal indicates the state of charge of the battery is equal to or greater than the charge required to complete one cleaning cycle and the predetermined allowable depth of discharge. The positive condition of the second signal indicates the time required to clean the solar panels is equal to or less than the time remaining for sunrise.
According to the present invention, the time of sunrise is calculated based on one or more of sun positions, date, time, weather, latitude, and longitude.
According to the present invention, the time of one cleaning cycle is calculated based on a speed of cleaning of the cleaning robot and a number of solar panel arrays to be cleaned.
According to the present invention, the state of charge of the battery is estimated based on a coulomb counting during charging and discharging, measuring internal resistance of the cell, measuring battery voltage or combination thereof.

BRIEF DESCRIPTION OF THE DRAWINGS:
FIG. 1 illustrates a flowchart for a method for cleaning a plurality of solar panels using a cleaning robot, according to an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE INVENTION
Embodiments, of the present disclosure, will now be described with reference to the accompanying drawing.
Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or the like parts. Wherever possible, corresponding, or similar reference numbers will be used throughout the drawings to refer to the same or corresponding parts.
The terminology used, in the present disclosure, is only for the purpose of explaining a particular embodiment and such terminology shall not be considered to limit the scope of the present disclosure. As used in the present disclosure, the forms “a,” “an,” and “the” may be intended to include the plural forms as well, unless the context clearly suggests otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are open ended transitional phrases and therefore specify the presence of stated elements, modules, units and/or components, but do not forbid the presence or addition of one or more other elements, components, and/or groups thereof.
The terms first, second, third, etc., should not be construed to limit the scope of the present disclosure as the aforementioned terms may be only used to distinguish one element, component, region, layer or section from another component, or section. Terms such as first, second, third etc., when used herein do not imply a specific sequence or order unless clearly suggested by the present disclosure.
A solar Photo Voltaic (PV) system (not shown) typically includes a solar panel array. The solar panel array includes a plurality of solar panels, a plurality of bridges disposed between the solar panel, at least one docking station, and at least one reverse station. The PV system also includes a cleaning robot for cleaning the plurality of solar panels. The cleaning robot includes a battery (not shown) thereof. The battery may include lithium-ion battery, lithium-ferro-phosphate battery, lead-acid, nickle metal hydrite, and the like. The cleaning robot also includes a body portion. The cleaning robot further includes a plurality of driving wheels and motors to guide and move the cleaning robot on the solar panels during the cleaning operation. The cleaning robot includes a cleaning unit (not shown) such as brush, mop, cloth, and the like, to clean the solar panels. Further, the cleaning robot defines an approximate rectangular-shaped structure having dimensions corresponding to one or plurality of solar panels and their placement in the solar panel array.
The cleaning robot includes a controller (not shown) communicably coupled to one or more components of the cleaning robot. The controller may control a plurality of operations of the cleaning robot. The controller may control one or more of an electrical system or subsystems in the cleaning robot. The controller may store information, analyze one or more input data from one or more components, and send one or more output data to desired one or more components. The controller may store various logical operations, algorithm, and programs to performs one or more operations and maintain the clock to track the time. It should be noted that the controller may perform any other function which is not explicitly described in this present invention. The controller may include a memory (not shown) to store one or more information such as algorithms, instructions, programs, schedules, and the like. This information may be retrieved from the memory during the operations. The controller may also include a processer (not shown) to process one or more information such as algorithms, instructions, programs, schedules, and the like.
Further, the controller compares a state of charge of the battery and a threshold level of state of charge to provide a first signal. The state of charge of the battery is estimated based on a coulomb counting during charging and discharging, measuring internal resistance of cells, measuring battery voltage or other methods for estimating the state of charge of the battery. Further, the threshold charge includes a charge required to complete one cleaning cycle while maintaining predetermined allowable depth of discharge at the end of the cleaning cycle. The controller ensures that the state of charge of the battery is greater than the consumption of charge required for one cleaning cycle and the predetermined allowable depth of discharge.
The controller also compares a time of sunrise relevant to the current cleaning cycle and a time of one cleaning cycle to provide a second signal. The time of sunrise is calculated based on one or more of sun positions, date, time, weather, latitude, and longitude. The time of one cleaning cycle is calculated based on a speed of cleaning of the cleaning robot and a number of solar panels to be cleaned.
Furthermore, the controller initiates the cleaning of the solar panels based on the first signal and the second signal. Further, the controller aborts cleaning operation if conditions of the first signal and the second signal do not meet the requirements. More particularly, the cleaning of the solar panels is initiated by the controller when the first signal indicates that the state of charge of the battery is greater than the threshold charge, and the second signal indicates that the cleaning robot can clean the solar panels before the time of sunrise.
FIG. 1 illustrates a flowchart for a method (100) of cleaning the plurality of solar panels using the cleaning robot. At step (102), the controller compares the state of charge of the battery and the threshold charge to provide the first signal. The state of charge of the battery is estimated based on the coulomb counting during charging. Further, the threshold charge includes the charge required to complete one cleaning cycle and the predetermined allowable depth of discharge. The controller ensures that the state of charge of the battery is greater than the consumption of charge required for one cleaning cycle and the predetermined allowable depth of discharge.
At step (104), the controller compares the time of sunrise relevant to the current cleaning cycle and the time of one cleaning cycle to provide the second signal. The time of sunrise is calculated based on one or more of sun positions, date, time, weather, latitude, and longitude. The time of one cleaning cycle is calculated based on a speed of cleaning of the cleaning robot and the number of solar panels to be cleaned.
At step (106), the controller initiates the cleaning of the solar panels based on the first signal and the second signal. Further, the controller aborts cleaning operation if conditions of the first signal and the second signal do not meet the requirements. More particularly, the cleaning of the solar panels is initiated by the controller when the first signal indicates that the state of charge of the battery is greater than the threshold charge, and the second signal indicates that the cleaning robot can clean the solar panels before the time of sunrise.
The method (100) ensures that if the battery of the cleaning robot is not capable to complete the cleaning cycle, then the cleaning process must be aborted before initiating the cleaning process. Further, the method (100) ensures that the cleaning cycle is completed before the beginning of generation hours. Due to this loss of power generation, due to shadow of the cleaning robot on the solar panel is eliminated completely which increases the efficiency of the solar power plant. Moreover, a maintenance staff is not required to track the cleaning robots and transport it manually to a charging station.
While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems, and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.
,CLAIMS:
1. A cleaning robot for cleaning a plurality of solar panels, the cleaning robot comprising:
a cleaning unit to clean the solar panels;
a battery to provide an operational power to the cleaning robot; and
a controller communicably coupled to one or more components of the cleaning robot, the controller is configured to:
compare a state of charge of a battery and a threshold charge to generate a first signal;
compare a time of sunrise and a time of one cleaning cycle required to clean one or more solar panel array to generate a second signal; and
initiate the cleaning of the solar panels when both the first signal and the second signal satisfy a positive condition or abort the cleaning of the solar panels when at least one of the first signal and the second signal does not satisfy the positive condition.

2. The cleaning robot as claimed in claim 1, wherein the threshold charge includes a charge required to complete one cleaning cycle for one or more solar panel array and a predetermined allowable depth of discharge.

3. The cleaning robot as claimed in claim 3, wherein:
the positive condition of the first signal indicates the state of charge of the battery is equal to or greater than the charge required to complete one cleaning cycle and the predetermined allowable depth of discharge; and
the positive condition of the second signal indicates the time required to clean the solar panels is equal to or less than the time remaining for sunrise.

4. A method (100) of cleaning a plurality of solar panels using a cleaning robot, the method (100) comprising steps of:
comparing, by a controller of the cleaning robot, a state of charge of a battery of the cleaning robot and a threshold charge to generate a first signal;
comparing, by the controller, a time of sunrise and a time of one cleaning cycle required to clean one or more solar panel array to generate a second signal; and
initiating, by the controller, the cleaning of the solar panels when both the first signal and the second signal satisfy a positive condition, or aborting, by the controller, the cleaning of the solar panels when at least one of the first signal and the second signal does not satisfy the positive condition.

5. The method (100) as claimed in claim 4, wherein the threshold charge includes a charge required to complete one cleaning cycle for one or more solar panel array and a predetermined allowable depth of discharge.

6. The method (100) as claimed in claim 5, wherein:
the positive condition of the first signal indicates the state of charge of the battery is equal to or greater than the charge required to complete one cleaning cycle and the predetermined allowable depth of discharge; and
the positive condition of the second signal indicates the time required to clean the solar panels is equal to or less than the time remaining for sunrise.

7. The method (100) as claimed in claims 4 to 6, wherein the time of sunrise is calculated based on one or more of sun positions, date, time, weather, latitude, and longitude.

8. The method (100) as claimed in any one of claims 4 to 7, wherein the time of one cleaning cycle is calculated based on a speed of cleaning of the cleaning robot and a number of solar panel arrays to be cleaned.

9. The method (100) as claimed in any one of claims 4 to 8, wherein the state of charge of the battery is estimated based on a coulomb counting during charging and discharging, measuring internal resistance of the cell, measuring battery voltage or combination thereof.