DESC:FIELD OF THE INVENTION:
The present invention relates to a solar panel cleaning system and a method of cleaning a plurality of solar panels.
PRIOR ART OF THE INVENTION:
Generally, in solar power plants, several solar panels are disposed in rows known as arrays 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, robots are used to clean solar panels in solar power plants which typically clean one continuous array of solar panels that are interconnected.
However, the uninterrupted length of a continuous array of solar panels may be shorter than the capacity of the robot to clean the solar panels. This implies that the capacity of the robot may not be utilized to the full extent. Thus, for full utilization of the capacity of the robot, an improved solar panel cleaning system is required to ensure full utilization of the capacity of the robot. Moreover, an energy efficient and cost-effective design of the solar panel cleaning system is needed to minimize number of power sources in the solar panel cleaning system.
SUMMARY OF THE INVENTION:
In one aspect of the present invention, a robot carrier of a solar panel cleaning system for carrying and transferring a robot to a plurality of solar panels is provided. The robot carrier includes a base having a first end and a second end opposite to the first end. The robot carrier also includes a docking platform to carry the robot. The docking platform having a first end and a second end. The robot carrier further includes an alignment system to align the docking platform with the solar panel. The alignment system includes a plurality of ranging sensors to detect distance between the solar panels and the docking platform. The alignment system also includes a plurality of proximity sensors to detect position of the solar panels with respect to the docking platform. The alignment system further includes a vertical rod fixedly coupled to the base. The docking platform is slidably connected to the vertical rod at a pivot point. The alignment system includes a first telescopic rod and a second telescopic rod. One end of the first telescopic rod is connected proximate the first end of the base and another end of the first telescopic rod is connected proximate the second end of the docking platform, and one end of the second telescopic rod is connected proximate the second end of the base and another end of the second telescopic rod is connected proximate the first end of the docking platform in such a manner that actuation of the first telescopic rod and the second telescopic rod allow the docking platform to slide along the vertical rod and rotate about the pivot point. The robot carrier includes a controller configured to calculate a vertical distance between the solar panels and the docking platform, and an angular orientation of the solar panels with respect to the docking platform based on inputs of the ranging sensors and the proximity sensors. The controller is further configured to control the actuation of the first telescopic rod and the second telescopic rod to align the docking platform with respect to the solar panels.
According to the present invention, the controller controls a plurality of operations of at least one of the robot and the robot carrier.
According to the present invention, the alignment system vertically moves the docking platform ranging between ground clearances of 300 millimeters to 800 millimeters.
According to the present invention, the alignment system angularly aligns the docking platform ranging between 5 degrees to 30 degrees.
According to the present invention, the alignment system rotates the docking platform about a vertical axis.
According to the present invention, a power source of the robot of the solar panel cleaning system is operatively coupled to the robot carrier through a first connection thereby providing an operational power to the robot carrier.
According to the present invention, wherein the traction system includes at least one drum winch disposed on the robot carrier. The traction system also includes a first cable wounded on the winch drum. One end of the first cable is fixedly coupled to the winch drum and other end of the first cable is fixedly coupled to a first fixed support. The traction system further includes a second cable wounded on the winch drum. One end of the second cable is fixedly coupled to the winch drum and another end of the second cable is fixedly coupled to a second fixed support opposite to the first fixed support. Clockwise rotation of the drum winch creates tension in the first cable thereby winding the first cable, unwinding the second cable, and pulling the robotic carrier in one direction. Counter-clockwise rotation of the drum winch creates tension in the second cable thereby unwinding the first cable, winding the second cable, and pulling the robotic carrier in another direction.
According to the present invention, the first cable is wounded on a first half of the winch drum and the second cable is wounded on a second half of the winch drum.
According to the present invention, the traction system includes a first drum winch disposed at one end of the robot carrier. The first cable is wounded on the first winch drum, one end of the first cable is fixedly coupled to the first winch drum and another end of the first cable is fixedly coupled to the first fixed support. The traction system also includes a second drum winch disposed at other end of the robot carrier opposite to the first drum winch. The second cable is wounded on the second winch drum, one end of the second cable is fixedly coupled to the second winch drum and another end of the second cable is fixedly coupled to the second fixed support opposite to the first fixed support. Clockwise rotation of first drum winch and second drum winch creates tension in the first cable thereby winding the first cable, unwinding the second cable, and pulling the robotic carrier in one direction. Counter-clockwise rotation of first drum winch and second drum winch creates tension in the second cable thereby unwinding the first cable, winding the second cable, and pulling the robotic carrier in another direction.
According to the present invention, the tractions system has a motor and a belt drive mechanism to rotate the drum winch.
In another aspect of the present invention, a method of aligning a docking platform of a robotic carrier of a solar panel cleaning system with respect to a solar panel is provided. The method includes step of detecting, by a plurality of ranging sensors, a distance between the solar panel and the docking platform. The method also includes step of detecting, by a plurality of proximity sensors, a position of the solar panel with respect to the docking platform. The method further includes step of calculating, by a controller, a vertical distance and an angle between the solar panels and the docking platform and an angular orientation of the solar panels with respect to the docking platform based on inputs of the ranging sensors and the proximity sensors. The method includes step of actuating, by the controller, a first telescopic rod and a second telescopic rod of an alignment system of the robotic carrier to align the docking platform with respect to the solar panel. The actuation of the first telescopic rod and the second telescopic rod allows the docking platform to slide along a vertical rod fixedly coupled to the robot carrier and rotate about a pivot point.
In yet another aspect of the present invention, a robot carrier of a solar panel cleaning system for carrying and transferring a robot to a plurality of solar panels is provided. The robot carrier includes a plurality of wheels disposed below a base of the robot carrier. The robot carrier also includes a traction system. The traction system includes at least one drum winch disposed on the robot carrier. The traction system also includes a first cable wounded on the winch drum. One end of the first cable is fixedly coupled to the winch drum and other end of the first cable is fixedly coupled to a first fixed support. The traction system further includes a second cable wounded on the winch drum. One end of the second cable is fixedly coupled to the winch drum and another end of the second cable is fixedly coupled to a second fixed support opposite to the first fixed support. Clockwise rotation of the drum winch creates tension in the first cable thereby winding the first cable, unwinding the second cable, and pulling the robotic carrier in one direction. Counter-clockwise rotation of the drum winch creates tension in the second cable thereby unwinding the first cable, winding the second cable, and pulling the robotic carrier in another direction.
According to the present invention, the first cable is wounded on a first half of the winch drum and the second cable is wounded on a second half of the winch drum.
According to the present invention, the traction system includes a first drum winch disposed at one end of the robot carrier. The first cable is wounded on the first winch drum, one end of the first cable is fixedly coupled to the first winch drum and another end of the first cable is fixedly coupled to the first fixed support. The traction system also includes a second drum winch disposed at other end of the robot carrier opposite to the first drum winch. The second cable is wounded on the second winch drum, one end of the second cable is fixedly coupled to the second winch drum and another end of the second cable is fixedly coupled to the second fixed support opposite to the first fixed support. Clockwise rotation of first drum winch and second drum winch creates tension in the first cable thereby winding the first cable, unwinding the second cable, and pulling the robotic carrier in one direction. Counter-clockwise rotation of first drum winch and second drum winch creates tension in the second cable thereby unwinding the first cable, winding the second cable, and pulling the robotic carrier in another direction.
According to the present invention, the tractions system has a motor and a belt drive mechanism to rotate the drum winch.
According to the present invention, a power source of the robot of the solar panel cleaning system is operatively coupled to the robot carrier through a first connection thereby providing an operational power to the robot carrier.
In yet another aspect of the present invention, a solar panel cleaning system is provided. The solar panel cleaning system includes a robot for cleaning a plurality of solar panels. The robot has a power source thereof. The solar panel cleaning system also includes a robot carrier for carrying and transferring the robot to the plurality of solar panels. The power source of the robot is operatively coupled to the robot carrier through a first connection thereby providing an operational power to the robot carrier. The solar panel cleaning system further includes at least one charging station for charging the power source of the robot. The power source of the robot is operatively coupled to the charging station through a second connection.
According to the present invention, the solar panel cleaning system includes the robot for cleaning the plurality of solar panels. The solar panel cleaning system also includes the robot carrier for carrying and transferring the robot to the plurality of solar panels. The robot carrier includes the docking platform to carry the robot. The robot carrier also includes the traction system to move the robot carrier. The robot carrier further includes the alignment system to align the robot with the solar panel.

BRIEF DESCRIPTION OF THE DRAWINGS:
FIG. 1 illustrates a perspective view of a solar panel cleaning system, according to an embodiment of the present disclosure;
FIG. 2 illustrates a perspective view of a robot carrier associated with the solar panel cleaning system, according to an embodiment of the present disclosure;
FIG. 3A illustrates a top view of a traction system of the robot carrier at first end position, according to an embodiment of the present disclosure;
FIG. 3B illustrates a top view of the traction system of the robot carrier at intermediate position, according to an embodiment of the present disclosure;
FIG. 3C illustrates a top view of the traction system of the robot carrier at second end position, according to an embodiment of the present disclosure;
FIG. 4 illustrates a perspective view of a robot carrier associated with the solar panel cleaning system, according to another embodiment of the present disclosure;
FIG. 5A illustrates a top view of a traction system of the robot carrier at first end position, according to another embodiment of the present disclosure;
FIG. 5B illustrates a top view of the traction system of the robot carrier at intermediate position, according to another embodiment of the present disclosure;
FIG. 5C illustrates a top view of the traction system of the robot carrier at second end position, according to another embodiment of the present disclosure;
FIG. 5D illustrates a perspective view of a docking platform associated with the robot carrier, according to another embodiment of the present disclosure;
FIG. 5E illustrates a side view of the docking platform associated with the robot carrier, according to another embodiment of the present disclosure;
FIG. 6A illustrates a side view of an alignment system of the robot carrier at first position, according to an embodiment of the present disclosure;
FIG. 6B illustrates a side view of the alignment system of the robot carrier at second position, according to an embodiment of the present disclosure;
FIG. 6C illustrates a side view of the alignment system of the robot carrier at third position, according to an embodiment of the present disclosure;
FIG. 6D illustrates a side view of the alignment system of the robot carrier at fourth position, according to an embodiment of the present disclosure;
FIG. 7 illustrates a perspective view of the alignment system of the robot carrier, according to an embodiment of the present disclosure;
FIG. 8 illustrates a top view of the solar panel cleaning system, according to an embodiment of the present disclosure;
FIG. 9A illustrates a perspective view of a first connection associated with the solar panel cleaning system, according to an embodiment of the present disclosure;
FIG. 9B illustrates a front view of the first connection during engagement, according to an embodiment of the present disclosure;
FIG. 9C illustrates a front view of the first connection during disengagement, according to an embodiment of the present disclosure;
FIG. 10A illustrates a perspective view of a second connection associated with the solar panel cleaning system, according to an embodiment of the present disclosure;
FIG. 10B illustrates a front view of the second connection during engagement, according to an embodiment of the present disclosure;
FIG. 10C illustrates a front view of the second connection during disengagement, according to an embodiment of the present disclosure; and
FIG. 11 illustrates a flowchart for a method of cleaning the solar panels using the solar panel cleaning system, 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.
FIG. 1 shows a perspective view of a solar panel cleaning system (100) for cleaning a plurality of solar panels (102) within a solar power plant. The solar panels (102) typically include an array of rectangular-shaped structures disposed at a particular height and angle. The solar panel cleaning system (100) includes a robot (104) for cleaning the plurality of solar panels (102). The robot (104) includes a power source (not shown) thereof. The power source may include lithium-ion battery, lithium-ferro-phosphate battery, lead-acid, nickle metal hydrite, and the like. The robot (104) also includes a body portion (106). The robot (104) further includes a plurality of driving wheels (108) to guide and move the robot (104) on the solar panels (102) during the cleaning operation. The robot (104) includes a cleaning unit (110) such as brush, mop, cloth, and the like, to clean the solar panels (102). Further, the robot (104) defines a rectangular-shaped structure having dimensions corresponding to the solar panels (102).
Referring to FIG. 2, the solar panel cleaning system (100) also includes a robot carrier (112) for carrying and transferring the robot (104) to the plurality of solar panels (102). More particularly, the robot carrier (112) carries the robot (104) (as shown in FIG. 1) and transfer the robot (104) from one array of the solar panels (102) to another array of solar panels (102) during cleaning of the solar panels (102). The robot carrier (112) has a base (113). The base (113) has a first end (112a) and a second end (112b) opposite to the first end (112a). The robot carrier (112) includes a docking platform (114) to carry the robot (104). The docking platform (114) having a first end (114a) and a second end (114b). The docking platform (114) defines a rectangular-shaped, or C shaped, or other similar shaped structure and has dimensions corresponding to the dimensions of the robot (104). The robot carrier (112) also includes a traction system (116) to move the robot carrier (112). The traction system (116) transfers the robot (104) from one array of the solar panels (102) to another array of the solar panels (102).
Referring to FIGS. 3A to 3C, the traction system (116) includes two drum winch (118) and at least two cables (120), (122). This arrangement provides locomotion of to the robot carrier (112) to transfer the robot (104) form one point to another within the solar power plant. The robot carrier (112) includes a plurality of wheels (123) disposed below the base (116) of the carrier (112) and supported on a pair of rails (124) (as shown in FIG. 1). It should be note that the traction system (116) may include any other arrangement for locomotive purpose of the robot carrier (112) without limiting the scope of the present invention, including motors, engines, actuators etc. As illustrated, the drum winch (118) is disposed on either ends of the robot carrier (112). One end of a first cable (120) is fixedly coupled to one drum winch (118) and another end of the first cable (120) is fixedly coupled to a fixed support (152) (as shown in FIG. 1). Further, one end of a second cable (122) is fixedly coupled to another drum winch (118) and another end of the second cable (122) is fixedly coupled to another fixed support (not shown). Moreover, the first cable (120) and the second cable (122) may be disposed at an inclination with respect to the movement direction of the robot carrier (112). The drum winch (118) may be rotated in clockwise direction or counter-clockwise direction for moving the robot carrier (112) in one direction or in another direction. The drum winches (118) are rotationally coupled to a motor (not shown) disposed centrally on the robot carrier (112) which rotates the drum winches (118). The motor is coupled to the drum winches (118) with a chain-sprocket drive to ensure synchronized movement. The motor may be coupled to the drum winches (118) with suitable mechanical coupling, such as a belt drive, a gear drive, and the like. It should be noted that type of the mechanical coupling does not limit the scope of the present disclosure.
In an embodiment of the present invention, the first cable (120) is wounded on the winch drum (118). One end of the first cable (120) is fixedly coupled to the winch drum (118) and other end of the first cable (120) is fixedly coupled to a first fixed support (152). Further, the second cable (122) is wounded on the winch drum (118), one end of the second cable (122) is fixedly coupled to the winch drum (118) and another end of the second cable (122) is fixedly coupled to a second fixed support (not shown) opposite to the first fixed support (152). Clockwise rotation of the drum winch (118) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction. Also, counter-clockwise rotation of the drum winch (118) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.
In another embodiment of the present invention, the first drum winch (118) is disposed at one end of the robot carrier (112). The first cable (120) is wounded on the first winch drum (118), one end of the first cable (120) is fixedly coupled to the first winch drum (118) and another end of the first cable (120) is fixedly coupled to the first fixed support (152). The second drum winch (119) disposed at other end of the robot carrier (112) opposite to the first drum winch (118). The second cable (122) is wounded on the second winch drum (119), one end of the second cable (122) is fixedly coupled to the second winch drum (119) and another end of the second cable (122) is fixedly coupled to the second fixed support opposite to the first fixed support (152). Clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction. Also, counter-clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.
Further, FIG. 3A, FIG. 3B, and FIG. 3C shows a first end position of the robot carrier (112), an intermediate position of the robot carrier (112), and a second end position of the robot carrier (112), respectively. Further, the drum winches (118) may be rotated to switch the position of the robot carrier (112). The first cable (120) and the second cable (122) are wound on each drum winch (118). Further, the first cable (120) is used to pull the robot carrier (112) in one direction, and the second cable (122) is used to pull the robot carrier (112) in another direction. More particularly, when both the drum winches (118) rotate in the clockwise direction, it loosens the first cable (120) on one drum winch (118) and generates tension in the second cable (122) on another drum winch (118) which move the robot carrier (112). Further, the first cable (120) unwinds from one drum winch (118), while the second cable (122) on the other side winds on another drum winch (118). Similarly, when both the drum winches (118) rotate in the counter-clockwise direction, it loosen the second cable (122), and generates tension in the first cable (120) which move the robot carrier (112). Further, the second cable (122) unwinds from one drum winch (118), while the first cable (120) on the other side winds on another drum winch (118).
In another embodiment of FIG. 4, the traction system (116) includes a single drum winch (118) and at least two cables (120), (122). This arrangement provides locomotion of to the robot carrier (112) to transfer the robot (104) form one point to another within the solar power plant. The robot carrier (112) includes a plurality of wheels (123) supported on a pair of rails (124).
Referring to FIGS. 5A to 5C, the drum winch (118) is disposed on central bottom potion of the robot carrier (112). One end of a first cable (120) is fixedly coupled to a left side of the drum winch (118) and another end of the first cable (120) is fixedly coupled to a rigid support (not shown), such that rotation of the drum winch (118) allows movement of the robot carrier (112) in one direction. Further, one end of a second cable (122) is fixedly coupled to a right side of the drum winch (118) and another end of the second cable (122) is fixedly coupled to a rigid support (not shown), such that rotation of the drum winch (118) allows movement of the robot carrier (112) in another direction. Moreover, the first cable (120) and the second cable (122) are disposed at an inclination with respect to the movement direction of the robot carrier (112) to avoid tangling of the first cable (120) and the second cable (122) on the drum winch (118). The drum winch (118) may be rotated in clockwise direction or counter-clockwise direction for moving the robot carrier (112) in one direction or in another direction. The drum winch (118) is rotationally coupled to a motor which rotates the drum winch (118).
Further, FIG. 5A, FIG. 5B, and FIG. 5C show a first end position of the robot carrier (112), an intermediate position of the robot carrier (112), and a second end position of the robot carrier (112), respectively. Furthermore, the drum winch (118) may be rotated to switch the position of the robot carrier (112). The first cable (120) and the second cable (122) are wound on each halve of the drum winch (118). Further, the first cable (120) is used to pull the robot carrier (112) in one direction, and the second cable (122) is used to pull the robot carrier (112) in another direction. More particularly, when the drum winch (118) rotates in the clockwise direction, it loosens the first cable (120), and generates tension in the second cable (122) which moves the robot carrier (112). Further, the first cable (120) unwinds from the drum winch (118), while the second cable (122) on the other side winds on the drum winch (118). Similarly, when the drum winch (118) rotates in the counter-clockwise direction, it loosens the second cable (122), and generates tension in the first cable (120) which moves the robot carrier (112). Further, the second cable (122) unwinds from the drum winch (118), while the first cable (120) on the other side winds on the drum winch (118).
The solar panel cleaning system (100) further includes a plurality of sensors (not shown) to detect position and alignment of the solar panel (102) with respect to the docking platform (114) and in turn with the robot (104). The sensors may include a position sensor to detect the position of the solar panel (102) with respect to the robot carrier (112). The sensors may also include an alignment sensor to detect the height and the alignment of the solar panels (102) with respect to a docking platform (114) of the robot carrier (112). Further, the solar panel cleaning system (100) includes atleast one controller (not shown) to control a plurality of operations of at least one of the robot (104) and the robot carrier (112). The controller controls one or more of an electrical system or subsystem in the solar panel cleaning system (100). The controller may store information, analyze one or more input signals from one or more components, sensors and actuators of the solar panel cleaning system (100), and send one or more output signals to desired one or more components, sensors and actuators of the solar panel cleaning system (100). The controller may posses communication capability to communicate between robot and robot carrier, along with central command station, internet etc. for purposes of performing operations. The controller may store various logical operations, algorithm, and programs to performs one or more operations. 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.
Referring now to FIG. 6A to FIG. 6D, the robot carrier (112) further includes an alignment system (126) to align the robot (104) with the solar panel (102). The alignment system (126) is used to adjust the alignment of the robot (104) with respect to the solar panel (102) which is to be cleaned. This is done by changing the height of the docking platform (114) and by changing the angular orientation of the docking platform (114) to match the height and angular orientation of the solar panel (102). Further, this is achieved by maintaining two degrees of freedom using parallel control of actuation devices.
The alignment system (126) includes a plurality of ranging sensors (148) to detect distance between the solar panels (102) and the docking platform (114). The alignment system (126) also includes a plurality of proximity sensors (150) to detect position of the solar panels (102) with respect to the docking platform (114). Further, the ranging sensors (148) such as radar, sonar, lidar, time-of-flight sensors are used to calculate the distance between the sensor and the solar panels (102). The proximity sensor (150) is used to detect and confirm the position of a flag that is mounted on the solar panels (102) for position.
The alignment system (126) further includes a vertical rod (128) fixedly coupled to the base (113). The docking platform (114) is slidably connected to the vertical rod (128) at a pivot point (P1). The alignment system (126) includes a first telescopic rod (130) and a second telescopic rod (132) to lift and align the robot (104) such that docking platform achieves between 300 millimeters (mm) to 800 millimeters (mm) of ground clearance, and 5 degrees to 30 degrees of tilt, respectively. One end of the first telescopic rod (130) is connected proximate the first end (112a) of the base (113) and another end of the first telescopic rod (130) is connected proximate the second end (114b) of the docking platform (114), and one end of the second telescopic rod (132) is connected proximate the second end (112b) of the base (113) and another end of the second telescopic rod (132) is connected proximate the first end (114a) of the docking platform (114) in such a manner that actuation of the first telescopic rod (130) and the second telescopic rod (132) allow the docking platform (114) to slide along the vertical rod (128) and rotate about the pivot point (P1).
The alignment system (126) provides two degrees of freedom by using two linear first telescopic rod (130) and the second telescopic rod (132). One degree of freedom allows height adjustment of the robot (104) whereas another degree of freedom allows adjustment in angular orientation of the robot (104). Further, the linear first telescopic rod (130) and the second telescopic rod (132) include lead-screw, ball screw, chain or belt drive, hydraulic/pneumatic pistons, and the like, to control the height and angle of the robot (104). Using two parallel linear first telescopic rod (130) and the second telescopic rod (132), the height as well as the angular orientation of the robot (104) may be adjusted. Further, the height and the angular orientation of the solar panel (102) is measured using the alignment sensors (not shown). Based on inputs provided by the alignment sensor, the controller may give input signal to the linear first telescopic rod (130) and the second telescopic rod (132) to align the robot (104) with respect to the solar panels (102) and take feedback from the actuators as required. It should be noted that, any other mechanism may be used to lift and align the robot (104) between 300 millimeters (mm) to 800 millimeters (mm) of ground clearance, and 5 degrees to 30 degrees of tilt, respectively, without limiting the scope of the present invention. Ground clearance is defined as the minimum distance of the docking platform (114) and ground surface.
As shown in FIGS. 5D and 5E, the alignment system (126) further includes a controller (not shown) configured to calculate a vertical distance between the solar panels (102) and the docking platform (114), and an angular orientation of the solar panels (102) with respect to the docking platform (114) based on inputs of the ranging sensors (148) and the proximity sensors (150). The method of calculation of angle and distance of the docking platform (114) from solar panels (102) is based on calculating the average and difference in the distance of the solar panel (102) from the ranging sensor (148). The difference in readings from individual ranging sensors (148) is indicative of the angle difference between the docking platform (114) and the solar panels (102). The average readings of the individual ranging sensor (148) is indicative of the distance of the center of the docking platform (114) from the center of the solar panel (102). The controller is further configured to control the actuation of the first telescopic rod (130) and the second telescopic rod (132) to align the docking platform (114) with respect to the solar panels (102), while taking feedback from the ranging sensors (148). Once both the proximity sensor (150) sensors detect presence of the solar panel, the alignment of the docking platform (114) with the solar panel (102) is completed. The controller controls a plurality of operations of at least one of the robot (104) and the robot carrier (112).
FIG. 6A to FIG. 6D show end positions of the telescopic rod (130, 132). In FIG. 6A, the telescopic rod (130, 132) includes minimum height of docking platform (114) as 300 mm and minimum angular orientation of the docking platform (114) as 5 degrees. In FIG. 6B, the telescopic rod (130, 132) includes maximum height of docking platform (114) as 800 mm and minimum angular orientation of the docking platform (114) as 5 degrees. In FIG. 6C, the telescopic rod (130, 132) includes minimum height of docking platform (114) as 300 mm and maximum angular orientation of the docking platform (114) as 30 degrees. In FIG. 6D, the telescopic rod (130, 132) includes maximum height of docking platform (114) as 800 mm and maximum angular orientation of the docking platform (114) as 30 degrees. In other embodiments, the telescopic rod (130, 132) may include any height range and any angular orientation range as application requirement, without limiting the scope of the present invention.
As shown in FIG. 7, the alignment system (126) rotates the robot (104) about a vertical axis (A1). The alignment system (126) may include a motor (not shown) to rotate the robot (104) about the vertical axis (A1) to align the robot (104) with respect to the solar panel (102) in a horizontal plane.
Referring now to FIG. 8, the solar panel cleaning system (100) includes at least one charging station (134) for charging the power source of the robot (104). The charging station (134) is disposed on an opposite side of the robot carrier (112) to charge the power source of the robot (104). The charging station (134) may include one or more auxiliary solar panels (not shown) and coupled with suitable power conversion devices and other components to convert solar energy into an electrical energy to the usable form. Further, the charging station (134) may be disposed at pre-defined optimized positions to increase the efficiency and productivity of the solar panel cleaning system (100).
Referring to FIG. 9A to FIG. 9C, the power source of the robot (104) provides operational power to the robot carrier (112). The power source of the robot (104) is operatively coupled to the robot carrier (112) through a first connection (136). The first connection (136) includes a first moving element (138) and a first stationary element (140), such that the first moving element (138) operationally and slidably contacts the first stationary element (140) (as shown in FIG. 9B) to establish an electrical contact between the power source of the robot (104) and the robot carrier (112). During the cleaning of the solar panels (102), power from the power source is extracted using a battery management system (not shown) to operate the robot (104). The power from the power source is used to operate one or more components of the robot (104), such as motors, controllers, communication devices, and the like. Further, during transferring the robot (104) from one solar panel (102) to another solar panel (102), the power from the power source is used by the robot carrier (112). Moreover, when the robot (104) moves away from the robot carrier (112) to clean the solar panel (102), the first moving element (138) loses the contact with the first stationary element (140) (as shown in FIG. 9C) thereby preventing the power supply from the power source to the robot carrier (112). Thus, the robot carrier (112) does move and/or displace from its position until the electrical connections between the power source of the robot (104) and the robot carrier (112) is restored through the first connection (136).
Referring to FIG. 10A to FIG. 10C, the power source of the robot (104) is operatively coupled to the charging station (134) through a second connection (142). The second connection (142) includes a second moving element (144) and a second stationary element (146), such that the second moving element (144) operationally and slidably connect with the second stationary element (146) (as shown in FIG. 10B) to establish an electrical contact between the power source of the robot (104) and the charging station (134). Further, when the power source of the robot (104) is fully charge, the robot (104) may be moved away from the charging station (134) thereby disengaging the connection between the second moving element (144) and the second stationary element (146) (as shown in FIG. 10C).
In another embodiment, the auxiliary solar panel is used for charging the power source of the robot (104). This auxiliary solar panel is electrically connected to the robot (104) and robot carrier (112) through the second connection (142). In this arrangement, the solar power is converted to electric power in the auxiliary solar panel which is used to charge the power source of the robot (104) through a battery management system (not shown).
In yet another embodiment, a plurality of solar panels (102) are connected in series to form a string (not shown). Further, a high-voltage direct current (DC) is used to generate alternating current (AC) via an inverter. A plurality of such strings are used to generate AC power in the solar power plant. One or more such strings may be used to charge the power source of the robot (104) by connecting a plurality of charging circuits (not shown) in parallel. The high voltage DC is converted to low voltage DC using DC-DC converters (not shown) and the power thus extracted is sent to the battery management system to charge the power source of the robot (104).
FIG. 11 illustrates a method (1100) of aligning the docking platform (114) of the robotic carrier (112) of the solar panel cleaning system (100) with respect to the solar panel (102). At step (1102), a distance and angle between the solar panel (102) and the docking platform (114) is detected by the plurality of ranging sensors (148).
At step (1104), a position of the solar panel (102) with respect to the docking platform (114) is detected by the plurality of proximity sensors (150).
At step (1106), a vertical distance between the solar panels (102) and the docking platform (114) and an angular orientation of the solar panels (102) with respect to the docking platform (114) is calculated by the controller based on inputs of the ranging sensors (148) and the proximity sensors (150).
At step (1108), the first telescopic rod (130) and the second telescopic rod (132) of the alignment system (126) of the robotic carrier (112) is actuated by the controller to align the docking platform (114) with respect to the solar panel (102). The actuation of the first telescopic rod (130) and the second telescopic rod (132) allow the docking platform (114) to slide along the vertical rod (128) fixedly coupled to the robot carrier (112) and rotate about the pivot point (P1).
The present invention discloses an improved solar panel cleaning system for cleaning the plurality of solar panels in plurality of solar panel arrays. The simple and cost-effective design of the solar panel cleaning system utilizes the full cleaning capacity of the robot by reducing the number of power sources in the solar panel cleaning system. Further, the solar panel cleaning system uses a common power source for operations of robot as well as the robot carrier. Furthermore, transferring of robot is made simpler and cheaper, by providing operational power to the robot carrier from the power source of the robot. This arrangement further eliminates the need of additional charging station for charging the robot carrier and several interconnections associated with the robot carrier.
In another embodiment, the robot carrier includes an auxiliary battery (not shown) and an auxiliary solar panel (not shown) for charging the auxiliary battery. Further, the auxiliary solar panel converts solar energy into electrical energy to store in the auxiliary battery via battery management system.
In yet another embodiment, the solar panel cleaning system includes a solar panel string for charging the auxiliary battery. In this embodiment, a portion of the solar power is extracted from the array of the solar panel. In this method of charging the auxiliary battery, the voltage of the solar panel string is drop down using DC-DC converter (not shown) to charge the auxiliary battery via battery management system.
Additionally, the robot carrier may be used to carry the robot to the charging stations, repair yards, and the like. Also, the solar panel cleaning system automatically positions and aligns the robot with respect to the solar panels accurately for repeated cleaning operations. Moreover, the charging station may charge the power source of the robot even when solar irradiance is low, such as during cloudy or rainy weather.
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 robot carrier (112) of a solar panel cleaning system (100) for carrying and transferring a robot (104) to a plurality of solar panels (102), the robot carrier (112) comprising:
a base (113) having a first end (112a) and a second end (112b) opposite to the first end (112a);
a docking platform (114) to carry the robot (104), the docking platform (114) having a first end (114a) and a second end (114b);
a traction system (116) to move the robot carrier (112);
an alignment system (126) to align the docking platform (114) with the solar panel (102), the alignment system (126) having:
a plurality of ranging sensors (148) to detect distance between the solar panels (102) and the docking platform (114);
a plurality of proximity sensors (150) to detect position of the solar panels (102) with respect to the docking platform (114);
a vertical rod (128) fixedly coupled to the base (113), the docking platform (114) is slidably connected to the vertical rod (128) at a pivot point (P1); and
a first telescopic rod (130) and a second telescopic rod (132), one end of the first telescopic rod (130) is connected proximate the first end (112a) of the base (113) and another end of the first telescopic rod (130) is connected proximate the second end (114b) of the docking platform (114), and one end of the second telescopic rod (132) is connected proximate the second end (112b) of the base (113) and another end of the second telescopic rod (132) is connected proximate the first end (114a) of the docking platform (114) in such a manner that actuation of the first telescopic rod (130) and the second telescopic rod (132) allows the docking platform (114) to slide along the vertical rod (128) and rotate about the pivot point (P1); and
a controller configured to:
calculate a vertical distance between the solar panels (102) and the docking platform (114), and an angular orientation of the solar panels (102) with respect to the docking platform (114) based on inputs of the ranging sensors (148) and the proximity sensors (150); and
control the actuation of the first telescopic rod (130) and the second telescopic rod (132) to align the docking platform (114) with respect to the solar panels (102).

2. The robot carrier (112) as claimed in claim 1, wherein the controller controls a plurality of operations of at least one of the robot (104) and the robot carrier (112).

3. The robot carrier (112) as claimed in claim 1 or claim 2, wherein the alignment system (126) vertically moves the docking platform (114) ranging between ground clearances of 300 millimeters to 800 millimeters.

4. The robot carrier (112) as claimed in claims 1 to 3, wherein the alignment system (126) angularly aligns the docking platform (114) ranging between 5 degrees to 30 degrees.

5. The robot carrier (112) as claimed in claims 1 to 4, wherein the alignment system (126) rotates the docking platform (114) about a vertical axis (A1).

6. The robot carrier (112) as claimed in claims 1 to 5, wherein a power source of the robot (104) of the solar panel cleaning system (100) is operatively coupled to the robot carrier (112) through a first connection (136) thereby providing an operational power to the robot carrier (112).

7. The robot carrier (112) as claimed in claims 1 to 6, wherein the traction system (116) has:
at least one drum winch (118) disposed on the robot carrier (112);
a first cable (120) wounded on the winch drum (118), one end of the first cable (120) is fixedly coupled to the winch drum (118) and other end of the first cable (120) is fixedly coupled to a first fixed support (152); and
a second cable (122) wounded on the winch drum (118), one end of the second cable (122) is fixedly coupled to the winch drum (118) and another end of the second cable (122) is fixedly coupled to a second fixed support opposite to the first fixed support (152),
clockwise rotation of the drum winch (118) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction,
counter-clockwise rotation of the drum winch (118) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.

8. The robot carrier (112) as claimed in claim 7, wherein the first cable (120) is wounded on a first half of the winch drum (118) and the second cable (122) is wounded on a second half of the winch drum (118).

9. The robot carrier (112) as claimed in claim 7, wherein the traction system (116) has:
a first drum winch (118) disposed at one end of the robot carrier (112), the first cable (120) is wounded on the first winch drum (118), one end of the first cable (120) is fixedly coupled to the first winch drum (118) and another end of the first cable (120) is fixedly coupled to the first fixed support (152); and
a second drum winch (119) disposed at other end of the robot carrier (112) opposite to the first drum winch (118), the second cable (122) is wounded on the second winch drum (119), one end of the second cable (122) is fixedly coupled to the second winch drum (119) and another end of the second cable (122) is fixedly coupled to the second fixed support opposite to the first fixed support (152),
clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction,
counter-clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.

10. The robot carrier (112) as claimed in claims 1 to 9, wherein the tractions system has a motor and a belt drive mechanism to rotate the drum winch (118).
11. A method (1100) of aligning a docking platform (114) of a robotic carrier (112) of a solar panel cleaning system (100) with respect to a solar panel (102), the method (1100) comprising steps of:
detecting, by a plurality of ranging sensors (148), a distance between the solar panel (102) and the docking platform (114);
detecting, by a plurality of proximity sensors (150), a position of the solar panel (102) with respect to the docking platform (114);
calculating, by a controller, a vertical distance and an angle between the solar panels (102) and the docking platform (114) and an angular orientation of the solar panels (102) with respect to the docking platform (114) based on inputs of the ranging sensors (148) and the proximity sensors (150); and
actuating, by the controller, a first telescopic rod (130) and a second telescopic rod (132) of an alignment system (126) of the robotic carrier (112) to align the docking platform (114) with respect to the solar panel (102), the actuation of the first telescopic rod (130) and the second telescopic rod (132) allows the docking platform (114) to slide along a vertical rod (128) fixedly coupled to the robot carrier (112) and rotate about a pivot point (P1).

12. A robot carrier (112) of a solar panel cleaning system (100) for carrying and transferring a robot (104) to a plurality of solar panels (102), the robot carrier (112) comprising:
a plurality of wheels (123) disposed below a base (113) of the robot carrier (112); and
a traction system (116) having:
at least one drum winch (118) disposed on the robot carrier (112);
a first cable (120) wounded on the winch drum (118), one end of the first cable (120) is fixedly coupled to the winch drum (118) and other end of the first cable (120) is fixedly coupled to a first fixed support (152); and
a second cable (122) wounded on the winch drum (118), one end of the second cable (122) is fixedly coupled to the winch drum (118) and another end of the second cable (122) is fixedly coupled to a second fixed support opposite to the first fixed support (152),
clockwise rotation of the drum winch (118) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction,
counter-clockwise rotation of the drum winch (118) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.

13. The robot carrier (112) as claimed in claim 12, wherein the first cable (120) is wounded on a first half of the winch drum (118) and the second cable (122) is wounded on a second half of the winch drum (118).

14. The robot carrier (112) as claimed in claim 12, wherein the traction system (116) has:
a first drum winch (118) disposed at one end of the robot carrier (112), the first cable (120) is wounded on the first winch drum (118), one end of the first cable (120) is fixedly coupled to the first winch drum (118) and another end of the first cable (120) is fixedly coupled to the first fixed support (152); and
a second drum winch (119) disposed at other end of the robot carrier (112) opposite to the first drum winch (118), the second cable (122) is wounded on the second winch drum (119), one end of the second cable (122) is fixedly coupled to the second winch drum (119) and another end of the second cable (122) is fixedly coupled to the second fixed support opposite to the first fixed support (152),
clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the first cable (120) thereby winding the first cable (120), unwinding the second cable (122), and pulling the robotic carrier (112) in one direction,
counter-clockwise rotation of first drum winch (118) and second drum winch (119) creates tension in the second cable (122) thereby unwinding the first cable (120), winding the second cable (122), and pulling the robotic carrier (112) in another direction.
15. The robot carrier (112) as claimed in claims 12 to 14, wherein the tractions system has a motor and a belt drive mechanism to rotate the drum winch (118).

16. The robot carrier (112) as claimed in claims 12 to 15, wherein a power source of the robot (104) of the solar panel cleaning system (100) is operatively coupled to the robot carrier (112) through a first connection (136) thereby providing an operational power to the robot carrier (112).

17. A solar panel cleaning system (100) comprising:
a robot (104) for cleaning a plurality of solar panels (102), the robot (104) having a power source thereof;
a robot carrier (112) for carrying and transferring the robot (104) to the plurality of solar panels (102), the power source of the robot (104) is operatively coupled to the robot carrier (112) through a first connection (136) thereby providing an operational power to the robot carrier (112); and
at least one charging station (134) for charging the power source of the robot (104), the power source of the robot (104) is operatively coupled to the charging station (134) through a second connection (142).
18. The solar panel cleaning system (100) as claimed in claims 1 to 17, wherein the solar panel cleaning system (100) has:
the robot (104) for cleaning the plurality of solar panels (102); and
the robot carrier (112) for carrying and transferring the robot (104) to the plurality of solar panels (102), the robot carrier (112) having:
the docking platform (114) to carry the robot (104);
the traction system (116) to move the robot carrier (112); and
the alignment system (126) to align the robot (104) with the solar panel (102).