WO2020194345A1 - Improved cleaning of solar panels - Google Patents
Improved cleaning of solar panels Download PDFInfo
- Publication number
- WO2020194345A1 WO2020194345A1 PCT/IN2020/050270 IN2020050270W WO2020194345A1 WO 2020194345 A1 WO2020194345 A1 WO 2020194345A1 IN 2020050270 W IN2020050270 W IN 2020050270W WO 2020194345 A1 WO2020194345 A1 WO 2020194345A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cleaning device
- solar panel
- coupling unit
- wheels
- automated cleaning
- Prior art date
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 178
- 230000008878 coupling Effects 0.000 claims abstract description 52
- 238000010168 coupling process Methods 0.000 claims abstract description 52
- 238000005859 coupling reaction Methods 0.000 claims abstract description 52
- 238000004891 communication Methods 0.000 claims abstract description 8
- 229920001410 Microfiber Polymers 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 2
- 230000015654 memory Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000036961 partial effect Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000000670 limiting effect Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000356 contaminant Substances 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 210000003608 fece Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- A—HUMAN NECESSITIES
- A46—BRUSHWARE
- A46B—BRUSHES
- A46B13/00—Brushes with driven brush bodies or carriers
- A46B13/001—Cylindrical or annular brush bodies
-
- A—HUMAN NECESSITIES
- A46—BRUSHWARE
- A46B—BRUSHES
- A46B13/00—Brushes with driven brush bodies or carriers
- A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Definitions
- the present disclosure relates to solar panels and in particular, relates to systems and methods for cleaning solar panels.
- a typical solar power plant consists of a plurality of solar panels structurally mounted in an open environment to receive sunlight. Owing to positioning of the solar panels in the open environment, soiling of the solar panels may occur due to settlement of ambient dust, bird droppings. Due to soiling of the solar panels, an amount of sunlight received by the solar panel may be obstructed which may lead to substantial reduction in output and overall efficiency of the solar panel. This may further lead to substantial financial losses.
- solar power plants With increasing impetus on adoption of renewable energy as major source of power supply and decreasing cost of solar modules, solar power plants are being installed in an ever increasing number which results in ever increasing costs in periodic cleaning of solar power plants.
- water based cleaning techniques such as manual cleaning or robotic cleaning, may be implemented for cleaning the solar panels.
- water based cleaning techniques uses a large amount of water which may not be feasible to implement in water deficient regions.
- manual cleaning of the solar panel consumes substantial amount of time which is not feasible to implement in large solar power plant to clean large number of solar panels.
- robotic cleaning techniques can also be implemented for cleaning the solar panel without using water.
- robotic cleaning techniques may be costly and require additional infrastructure for allowing movement of cleaning robots on the solar panel.
- cleaning robots lack provisions for maintaining orientation of the cleaning robot on the solar panel. For instance, due to presence of obstacles on the solar panel, the cleaning robot moving on the solar panel may be misaligned. Owing to such misalignment, the cleaning robot may fail to effectively and efficiently perform cleaning operation on the solar panel.
- an automated cleaning device for a solar panel includes a frame having a first end portion and a second end portion distal to the first end portion. Further automated cleaning device includes a first coupling unit positioned at the first end portion and adapted to be operated to move the first end portion along the solar panel. The automated cleaning device includes a second coupling unit positioned at the second end portion and adapted to be operated to move the second end portion along the solar panel. Further, the automated cleaning device includes at least one sensing unit coupled to the frame and configured to determine a value of orientation of the frame on the solar panel. The automated cleaning device includes a controlling unit in communication with at least one sensing unit and configured to receive the determined value of orientation of the frame from the at least one sensing unit. Further, the controlling unit is configured to control operation of at least one of the first coupling unit and the second coupling unit based on the value of orientation of the frame to move the automated cleaning device over the solar panel.
- Figures la, lb, lc illustrate different perspective views of an automated cleaning device for a solar panel, according to an embodiment of the present disclosure
- FIG. 2a, 2b, and 2c illustrate partial exploded views of the solar panel cleaning device depicting cleaning members of the solar panel cleaning device
- Figures 3a, 3b, and 3c illustrate partial exploded views of the solar panel cleaning device, according to an embodiment of the present disclosure
- Figures 4a and 4b illustrate a perspective view and a partial exploded view of a gear assembly of the solar panel cleaning device, according to an embodiment of the present disclosure
- Figure 5 illustrates a partial exploded view of the solar panel cleaning device, according to another embodiment of the present disclosure
- Figure 6 illustrates a block diagram depicting operation of the solar panel cleaning device, according to an embodiment of the present disclosure.
- FIGS. 7a and 7b illustrate schematic diagram depicting movement of the solar panel cleaning device on a solar panel, according to an embodiment of the present disclosure.
- FIGS. la, lb, lc illustrate different perspective views of an automated cleaning device 100 for a solar panel, according to an embodiment of the present disclosure.
- the automated cleaning device 100 may interchangeably be referred to as the solar panel cleaning device 100.
- the solar panel cleaning device 100 may interchangeably be referred to as the cleaning device 100, without departing from the scope of the present disclosure.
- the cleaning device 100 may be remotely controlled for cleaning solar panels, solar panel rows or photovoltaic devices.
- the cleaning device 100 may be embodied as an electromechanical device for cleaning the solar panels or photovoltaic devices.
- the cleaning device 100 may include, but is not limited to, a controlling unit 102 and at least one sensing unit 104 in communication with the controlling unit 102.
- the controlling unit 102 may be configured to control movement of the cleaning device 100 on the solar panels.
- the cleaning device 100 may include a frame 106 extending in longitudinal direction.
- the frame 106 may include a first end portion 106- 1, an intermediate portion 106-2 distal to the first end portion 106-1, and a second end portion 106-3 distal to the intermediate portion 106-2.
- Each of the first end portion 106-1 and the second end portion 106-3 includes a coupling unit.
- the first end portion 106-1 and the second end portion 106-3 includes a first coupling unit 108-1 and a second coupling unit 108-2. Constructional and operational details of the coupling units 108-1, 108-2 are explained with respect to Figure 2a and 2b of the present disclosure.
- Figure 2a, 2b, and 2c illustrate partial exploded views of the solar panel cleaning device 100 depicting cleaning members of the solar panel cleaning device 100, according to an embodiment of the present disclosure.
- the cleaning device 100 may include at least one cleaning member 110 movably coupled to at least one driving motor.
- the at least one cleaning member 110 may be adapted to clean a surface of the solar panel when the cleaning device 100 traverses on the surface of the solar panel.
- the at least one cleaning member 110 may be adapted to clean contaminants deposited over the surface of the solar panel.
- the at least one cleaning member 110 may be embodied as a brush, without departing from the scope of the present disclosure.
- the brush may be made of microfiber cloths 114.
- the brush may be made of any static electrically charged soft cloth.
- the at least one cleaning member 110 may be embodied as a plurality of microfiber cloths 114 attached to a cylindrical shaft.
- the cleaning device 100 may include a first cleaning member 110-1 and a second cleaning member 110-2.
- first cleaning member 110-1 and the second cleaning member 110-2 may collectively be referred to as the pair of cleaning members 110-1, 110-2, without departing from the scope of the present disclosure.
- Each of the first cleaning member 110-1 and the second cleaning member 110-2 may include a cylindrical shaft 202 adapted to be attached with the plurality of microfiber cloths 114.
- Each of the first cleaning member 110-1 and the second cleaning member 110-2 may include a first end 204-1 and a second end 204-2 distal to the first end 204-1.
- the first end 204-1 of the first cleaning member 110-1 may be rotatably coupled to a first driving motor 116-1 positioned at the first end portion 106-1.
- the first end 204-1 of the second cleaning member 110-2 may be rotatably coupled to a second driving motor 116-2 disposed on the second end portion 106-3.
- each of the first cleaning member 110-1 and the second cleaning member 110-2 may be rotatably coupled to the intermediate portion 106-2 of the cleaning device 100 through at least one bearing member.
- Each of the pair of cleaning member 110-1, 110-2 may remain in contact with the surface of the solar panels.
- the microfiber cloths 114 attached to respective cleaning members 110-1, 110-2 may rub against the surface of the solar panel, and thereby removing dust/debris on the solar panel.
- Another embodiment of the cleaning device 100 includes rotatable brush having a rotational axis and a drive configured to translate the rotatable brush in the direction which is perpendicular to an axis of the rotation of the rotatable brush.
- the cleaning device 100 may include a single cleaning member extending from the first end portion 106-1 to the second end portion 106-3 of the frame 106.
- one end of the cleaning member may be rotatably coupled to a driving motor adapted to rotate the cleaning member.
- one end of the cleaning member positioned at the first end portion 106-1 may be coupled to the driving motor.
- one end of the cleaning member positioned at the second end portion 106-3 may be coupled to the driving motor.
- the cleaning device 100 may include at least one intermediate wheel located at the intermediate portion 106-2 of the cleaning device 100. In the illustrated embodiment, the cleaning device 100 may include a plurality of intermediate wheels 118.
- each of the plurality of intermediate wheels 118 may be embodied as a caster wheel, without departing from the scope of the present disclosure.
- the cleaning device 100 may not be provided with the plurality of intermediate wheels 118, without departing from the scope of the present disclosure.
- FIGS 3a, 3b, and 3c illustrate partial exploded views of the solar panel cleaning device 100, according to an embodiment of the present disclosure.
- constructional details of the coupling unit are explained with respect to the first coupling unit 108-1 attached to the first end portion 106-1 of the cleaning device 100.
- the description of the first coupling unit 108-1 is equally applicable to the second coupling unit 108-2 of the cleaning device 100, without departing from the scope of the present disclosure.
- the first coupling unit 108-1 may include a pair of surface wheels 302 for enabling movement of the cleaning device 100 on the solar panels.
- the pair of surface wheels 302 may interchangeably be referred to as the surface wheels 302.
- the pair of surface wheels 302 may be adapted to traverse on an upper surface of the solar panel.
- the pair of surface wheels 302 may include a first surface wheel 302-1 and a second surface wheel 302-2 positioned distal to the first surface wheel 302-1 along a width of the cleaning device 100 at the first end portion 106-1.
- the first coupling unit 108-1 may include a plurality of side wheels 304 for supporting movement of the cleaning device 100 on the solar panel.
- the plurality of side wheels 304 may be adapted to traverse on a side surface, such as a periphery, of the solar panel.
- the plurality of side wheels 304 may include a pair of drive wheels 304-1 and a pair of driven wheels 304-2 positioned adjacent to the pair of drive wheels 304-2.
- the pair of drive wheels 304-1 may include a first drive wheel 308-1 and a second drive wheel 308-2.
- the first drive wheel 308-1 may be positioned in vicinity of the first surface wheel 302-1.
- the second drive wheel 308-2 may be positioned in vicinity of the second surface wheel 302-2.
- the pair of driven wheels 304-2 may be adapted to support the cleaning device 100 on the solar panel.
- the pair of driven wheels 304-2 may be embodied as non-driven wheels.
- each of the pair of driven wheels 304-2 may be a caster wheel.
- the pair of driven wheels 304-2 may rotate about an axis perpendicular to a surface of the solar panels.
- the pair of driven wheels 304-2 may be adapted to hold the cleaning device 100 on the solar panel, thereby allowing smooth movement of the cleaning device 100 in the longitudinal direction.
- Figures 4a and 4b illustrate a perspective view and a partial exploded view of a gear assembly of the solar panel cleaning device 100, according to an embodiment of the present disclosure.
- the first coupling unit 108-1 may include a first gear assembly 306-1 and a second gear assembly 306-2.
- the first gear assembly 306-1 and the second gear assembly 306-2 may collectively be referred to as the gear assemblies 306-1, 306-2, without departing from the scope of the present disclosure.
- the first gear assembly 306-1 may be adapted to be coupled to the first surface wheel 302-1 and the first drive wheel 308-1.
- the second gear assembly 306-2 may be adapted to be coupled to the second surface wheel 302-2 and the second drive wheel 308-2.
- gear assemblies 306-1 and 306-2 are explained with respect to the first gear assembly 306-1 of the cleaning device 100.
- the description of the first gear assembly 306-1 is equally applicable to the second gear assembly 306-2 of the cleaning device 100, without departing from the scope of the present disclosure.
- the first gear assembly 306-1 may include a housing member 402 adapted to accommodate various sub-components of the first gear assembly 306-1. Further, the first gear assembly 306-1 may include a first bevel gear 404-1 and a second bevel gear 404-2 adapted to be engaged with the first bevel gear 404-1.
- the first bevel gear 404-1 may be adapted to be coupled to one of the first surface wheel 302-1 and the second surface wheel 302-2.
- the first bevel gear 404-1 of the first gear assembly 306-1 may be coupled to the first surface wheel 302-1.
- the first bevel gear 404-1 may be coupled to the first surface wheel 302-1 through a first shaft 406-1. Further, the first shaft 406-1 may be coupled to the first drive wheel 308-1.
- the second bevel gear 404-2 may be adapted to be engaged with the first bevel gear 404-1.
- the second bevel gear 404-2 may be adapted to be coupled to one of the first drive wheel 308-1 and the second drive wheel 308-2.
- the second bevel gear 404-2 of the first gear assembly 306-1 may coupled to the first drive wheel 308-1.
- the second bevel gear 404-2 may be coupled to the first drive wheel 308-1 through a second shaft 406-2. Further, the second shaft 406-2 may be coupled to the first surface wheel 302-1.
- the first gear assembly 306-1 may be adapted to be coupled to the second gear assembly 306-2 through a pulley mechanism 408.
- the pulley mechanism 408 may include at least a first pulley member 408-1, a second pulley member 408-2, and a belt member 408-3.
- the first pulley member 408-1 may be coupled to the first shaft 406-1 of the first gear assembly 306-1.
- the second pulley member 408-2 may be coupled to the first shaft 406-1 of the second gear assembly 306-2.
- the first pulley member 408-1 may be coupled to the second pulley member 408-2 through the belt member 408-3.
- the belt member 408-3 may be embodied as one of a single sided timing belt, a double sided timing belt, a flat belt, a teethed belt, and a non-teethed belt, without departing from the scope of the present disclosure.
- the pulley mechanism 408 may include a belt tensioner 410 adapted to maintain sufficient tension on the belt member 408-3 during operation of the cleaning device 100.
- the first coupling unit 108-1 and the second coupling unit 108-2 may include a first drive motor 310 and a second drive motor 312.
- the first drive motor 310 and the second drive motor 312 may be in communication with the controlling unit 102.
- the first drive motor 310 may be adapted to drive at least one of the first surface wheel 302-1 and the first drive wheel 308-1 of the first coupling unit 108-1 through the first gear assembly 306-1.
- the first drive motor 310 may be adapted to drive both the first surface wheel 302-1 and the first drive wheel 308-1.
- the first drive motor 310 may be coupled to the first shaft 406-1 of the first gear assembly 306-1 of the first coupling unit 108-1 to drive the first surface wheel 302-1 and the first drive wheel 308-1 of the first coupling unit 108-1.
- the second drive motor 312 may be coupled to the first shaft 406-1 of the first gear assembly 306-1 of the second coupling unit 108-2 to drive the first surface wheel 302-1 and the first drive wheel 308-1 of the second coupling unit 108-2.
- the first drive motor 310 and the second drive motor 312 may be connected to a power source 412 adapted to supply power to each of the first drive motor 310 and the second drive motor 312.
- the power source 412 may be mounted on the first end portion 106-1 of the frame of the cleaning device 100. Further, the power source 412 may also connected to components, such as the controlling unit 102, the at least one sensing unit 104, the first driving motor 116-1, and the second driving motor 116- 2, to supply power to the respective component.
- the power source 412 may be embodied as a battery. In another embodiment, the power source 412 may be embodied as solar cells, without departing from the scope of the present disclosure.
- Figure 5 illustrates a partial exploded view of the solar panel cleaning device, according to another embodiment of the present disclosure.
- the first drive motor 310 may be adapted to drive only the first drive wheel 308-1.
- the first surface wheel 302-1 may be coupled to the second shaft 406-2 through a bearing member 502 such that the second shaft 406-2 may freely rotate without rotating the first surface wheel 302-1.
- the second drive motor 312 may be adapted to drive only the first drive wheel 308-1 at the second end portion 106-3.
- the first surface wheel 302-1 at the second end portion 106-3 may be coupled to the second shaft 406-2 through the bearing member (not shown) such that the second shaft 406-2 may freely rotate without rotating the first surface wheel 302-1.
- the bearing 502 may be embodied as a ball bearing, without departing from the scope of the present disclosure.
- the first drive motor 310 may be adapted to drive only the first surface wheel 302-1.
- the first drive wheel 308-1 may be coupled to the first shaft 406-1 through a bearing member (not shown) such that the first shaft 406-1 may freely rotate without rotating the first drive wheel 308-1.
- the second drive motor 312 may be adapted to drive only the first surface wheel 302-2 at the second end portion 106-3.
- the first drive wheel 308-1 at the second end portion 106-3 may be coupled to the first shaft 406- 1 through a bearing member (not shown) such that the first shaft 406-1 may freely rotate without rotating the first drive wheel 308-1.
- FIG 6 illustrates a block diagram depicting operation of the solar panel cleaning device 100, according to an embodiment of the present disclosure.
- features of the cleaning device 100 that are already explained in detail in the description of Figure la, Figure lb, Figure lc, Figure 2a, Figure 2b, Figure 2c, Figure 3a, Figure 3b, Figure 3c, Figure 4a, Figure 4b, and Figure 5 are not explained in detail in the description of Figure 6.
- the cleaning device 100 may include the controlling unit 102 and the at least one sensing unit 104 in communication with the controlling unit 102.
- the controlling unit 102 may be configured to control the movement of the cleaning device 100 on the surface of the solar panel.
- the controlling unit 102 may be configured to control orientation of the cleaning device 100 on the solar panel, based on data received from the at least one sensing unit 104.
- the controlling unit 102 may be embodied as a Proportional Integral Derivative (PID) controller, without departing from the scope of the present disclosure.
- the at least one sensing unit 104 may be embodied as an Inertial Measurement Unit (IMU). Therefore, the at least one sensing unit 104 may interchangeably be referred to as the IMU 104, without departing from the scope of the present disclosure.
- IMU Inertial Measurement Unit
- the controlling unit 102 may include a processor, memory, modules, and data.
- the modules and the memory are coupled to the processor.
- the processor can be a single processing unit or a number of units, all of which could include multiple computing units.
- the processor may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuitries, and/or any devices that manipulate signals based on operational instructions.
- the processor is configured to fetch and execute computer-readable instructions and data stored in the memory.
- the memory may include any non-transitory computer-readable medium known in the art including, for example, volatile memory, such as static random access memory (SRAM) and dynamic random access memory (DRAM), and/or non-volatile memory, such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes.
- volatile memory such as static random access memory (SRAM) and dynamic random access memory (DRAM)
- DRAM dynamic random access memory
- non-volatile memory such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes.
- the modules include routines, programs, objects, components, data structures, etc., which perform particular tasks or implement data types.
- the modules may also be implemented as, signal processor(s), state machine(s), logic circuitries, and/or any other device or component that manipulate signals based on operational instructions.
- the modules can be implemented in hardware, instructions executed by a processing unit, or by a combination thereof.
- the processing unit can comprise a computer, a processor, such as the processor, a state machine, a logic array or any other suitable devices capable of processing instructions.
- the processing unit can be a general-purpose processor which executes instructions to cause the general-purpose processor to perform the required tasks or, the processing unit can be dedicated to perform the required functions.
- the modules may be machine-readable instructions (software) which, when executed by a processor/processing unit, perform any of the described functionalities.
- the IMU 104 may be configured to generate data indicative of orientation of the cleaning device 100 on the solar panel.
- the IMU 104 may generate real-time data indicative of at least one Degree-of-Freedom (DOF) of the cleaning device 100 moving on the solar panel.
- DOF Degree-of-Freedom
- the IMU 104 may be configured to determine a value of current orientation, interchangeably be referred to as the value of orientation, of the cleaning device 100.
- IMU 104 may be configured to transmit the value of current orientation to the controlling unit 102. Subsequently, upon determination of the value of current orientation, the controlling unit 102 may be configured to control operation of at least one of the first coupling unit 108-1 and the second coupling unit 108-2 based on the value of orientation of the cleaning device 100 to move the cleaning device 100 over the solar panel.
- the controlling unit 102 may control angular velocity of the pair of surface wheels 302 and the pair of drive wheels 304-1 disposed on each of the first coupling unit 108-1 and the second coupling unit 108-2.
- the pair of surface wheels 302 and the pair of drive wheels 304-1 of the first coupling unit 108-1 may collectively be referred to as first set of driving wheels.
- the pair of surface wheels 302 and the pair of drive wheels 304-1 of the second coupling unit 108-2 may collectively be referred to as second set of driving wheels.
- the controlling unit 102 may be configured to compare the determined value of orientation with a pre-defined value of reference orientation of the frame 106 with respect to the solar panel.
- the controlling unit 102 may be configured to control operation of at least one of the first coupling unit 108-1 and the second coupling unit 108-2 based on the comparison. Further, the controlling unit 102 may be configured to generate an output signal to control operation of one of the first drive motor 310 and the second drive motor 312 based on the comparison between the determined value and the pre defined value of reference orientation.
- the output signal may be indicative of one of increasing an angular velocity of the pair of surface wheels 302 and the plurality of side wheels 304, such as the pair of drive wheels 304-1, and decreasing an angular velocity of the pair surface wheel 302 and the plurality of side wheels, such as the pair of drive wheels 304-1.
- the controlling unit 102 may compare the value of current orientation with the pre-defined value of reference orientation of the cleaning device 100 on the solar panel. Subsequently, if the controlling unit 102 determines a difference between the value of current orientation and the pre-defined value of reference orientation, the controlling unit 102 may generate the output signal to eliminate difference between the value of current orientation and the pre-defined value of reference orientation.
- the output signal may be embodied as a Pulse Width Modulation (PWM) signal.
- PWM Pulse Width Modulation
- the controlling unit 102 generates the output signal to vary angular velocity of at least one of the first set of driving wheels and the second set of driving wheels of the cleaning device 100.
- the controlling unit 102 may generate the output signal to control operation of the first drive motor 310, and thereby controlling the angular velocity of the first set of driving wheels disposed at the first end portion 106-1 of the frame 106.
- the controlling unit 102 may generate the output signal to control operation of the second drive motor 312, and thereby controlling the angular velocity of the second set of driving wheels disposed at the second end portion 106-3 of the frame 106.
- the controlling unit 102 may generate output signals to control operation of each of the first drive motor 310 and the second drive motor 312, thereby controlling the angular velocities of the first set of driving wheels and the second set of driving wheels.
- Figures 7a and 7b illustrate schematic diagram depicting movement of the solar panel cleaning device 100 on a solar panel, according to an embodiment of the present disclosure.
- the cleaning device 100 may be adapted to move on a solar panel 600 along an axis A-A’ parallel to the surface of the solar panel 600.
- the cleaning device 100 may be oriented on the solar panel 600 along a reference axis B-B ⁇
- the reference axis B-B’ is perpendicular to direction of movement of the cleaning device 100, i.e., along the axis A-A’.
- the controlling unit 102 may control the angular velocities of the first set of driving wheels and the second set of driving wheels to eliminate fluctuation in orientation of the cleaning device 100 during cleaning operation.
- the controlling unit 102 may control the angular velocities of the first set of driving wheels and the second set of driving wheels to overcome such obstruction on the surface.
- the cleaning device 100 may undergo disorientation with respect the reference axis B-B ⁇ In such an embodiment, the cleaning device 100 may be oriented along the axis C-C’.
- the IMU 104 may determine the value of current orientation of the cleaning device 100 along the axis C-C’. Further, the IMU 104 may transmit the value of the current orientation to the controlling unit 102. Thereafter, the controlling unit 102 may determine the difference between the value of current orientation and the value of reference orientation. Further, based on the determined difference, the controlling unit 102 may increase the angular velocity of the first set of driving wheels, and reduce the angular velocity of the second set of driving wheels. Owing to such variation in the angular velocities, the cleaning device 100 may overcome the obstruction in vicinity of the first set of driving wheels on the first end portion 106-1 of the frame 106.
- the cleaning device 100 can efficiently overcome large obstacles/steps/obstructions, and thus reducing energy consumption of the cleaning device 100 during the cleaning operation. Therefore, the cleaning device 100 of the present disclosure is flexible in implementation, compact, robust, cost-effective, efficient, convenient, and has a wide range of applications.
- a length‘L’ of the cleaning device 100 can be varied based on dimensional characteristics of the solar panel, by making minor modification to the cleaning device 100.
- the length‘L’ of the cleaning device 100 may be increased for employing the cleaning device 100 on large solar panels.
- the length‘L’ of the cleaning device 100 may be reduced for employing the cleaning device 100 on smaller solar panels.
- the cleaning device 100 may include only one cleaning member and a corresponding motor for driving such cleaning member.
- the length‘L’ of the cleaning device 100 may be varied in a range of 4 meter to 6 meter, without departing from the scope of the present disclosure.
- the length‘L’ of the cleaning device 100 may be adjusted to 2 meter, without departing from the scope of the present disclosure.
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Abstract
Description
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IN201911011338 | 2019-03-23 | ||
IN201911011338 | 2019-03-23 |
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WO2020194345A1 true WO2020194345A1 (en) | 2020-10-01 |
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PCT/IN2020/050270 WO2020194345A1 (en) | 2019-03-23 | 2020-03-23 | Improved cleaning of solar panels |
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112452843A (en) * | 2021-01-12 | 2021-03-09 | 成都钟倾一笙科技有限公司 | Automatic cleaning equipment for photovoltaic solar panel |
WO2023062609A1 (en) * | 2021-10-15 | 2023-04-20 | Airtouch Solar Ltd. | Crossing gaps between panels table for robotic cleaning solution on pv panels. |
WO2023181015A1 (en) * | 2022-03-20 | 2023-09-28 | Evermore United S.A. | Waterless solar panel cleaning robot with helix shaped microfiber elements |
Citations (2)
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EP2437001B1 (en) * | 2010-10-01 | 2013-08-14 | Manu Systems AG | Service device for cleaning and maintenance of a solar panel arrangement |
KR101837176B1 (en) * | 2016-07-22 | 2018-03-12 | (주)에코브라이트코리아 | Robot apparatus for cleaning solar cell panel |
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2020
- 2020-03-23 WO PCT/IN2020/050270 patent/WO2020194345A1/en active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2437001B1 (en) * | 2010-10-01 | 2013-08-14 | Manu Systems AG | Service device for cleaning and maintenance of a solar panel arrangement |
KR101837176B1 (en) * | 2016-07-22 | 2018-03-12 | (주)에코브라이트코리아 | Robot apparatus for cleaning solar cell panel |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112452843A (en) * | 2021-01-12 | 2021-03-09 | 成都钟倾一笙科技有限公司 | Automatic cleaning equipment for photovoltaic solar panel |
WO2023062609A1 (en) * | 2021-10-15 | 2023-04-20 | Airtouch Solar Ltd. | Crossing gaps between panels table for robotic cleaning solution on pv panels. |
WO2023181015A1 (en) * | 2022-03-20 | 2023-09-28 | Evermore United S.A. | Waterless solar panel cleaning robot with helix shaped microfiber elements |
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