WO2022254051A1

WO2022254051A1 - Autonomous solar panel cleaning device and cleaning system

Info

Publication number: WO2022254051A1
Application number: PCT/ES2021/070402
Authority: WO
Inventors: Emilio José GARCÍA RODRIGUEZ; Juan José LOZANO
Original assignee: Pv Hardware Solutions S.L.; Demaq Galicia Slu
Priority date: 2021-06-03
Filing date: 2021-06-03
Publication date: 2022-12-08

Abstract

The present invention relates to an autonomous solar panel cleaning device or robot and to a system, said device comprising a swiveling system for cleaning means, preferably a brush, and a drive system with wheels, preferably associated by a transmission belt, and being capable of cleaning the surface of a plurality of solar panels by following the profile of each solar panel and overcoming both the horizontal separation and the vertical separation which may exist between the panels, in such a way that it works autonomously. The invention also relates to the system formed by said autonomous device and at least two solar panels separated from one another by a distance which can be a horizontal distance and/or a vertical distance.

Description

AUTONOMOUS SOLAR PANEL CLEANING DEVICE AND SYSTEM

CLEANING

OBJECT OF THE INVENTION

The present invention, autonomous solar panel cleaning device or robot, refers to a device or robot that comprises a tilting system of cleaning means, preferably a brush, and a traction system with wheels, preferably associated by a belt transmission, is capable of cleaning the surface of a plurality of solar panels, monitoring the profile of each solar panel and bridging the gap, both horizontally and vertically, that may exist between panels, so that it works autonomously . The invention also refers to the system formed by said autonomous device and at least two solar panels separated from each other by a distance that can be horizontal and/or vertical.

The field of application of the present invention falls within the sector of the industry dedicated to the manufacture, installation and maintenance of solar panels, encompassing the manufacture of autonomous cleaning devices and machines.

BACKGROUND OF THE INVENTION

As is known, the effectiveness of solar energy collection panels depends, to a large extent, on keeping their surface as clean as possible, since the less dirt accumulated, the greater the effectiveness of the collection and, in Consequently, the installation is optimized.

The problem is that this type of installation, due to the dimensions of the panels and the location they usually have, usually in rows with the panels raised from the ground, is not usually easy, making it necessary to hire specialized personnel.

In the state of the art there are different ways of proceeding to clean the panels:

Manual cleaning, which requires a lot of labor and is difficult to perform in places that are difficult to access.

Cleaning with arms on a tractor, which is used with wet cleaning, being expensive and with very low performance.

Autonomous devices, used in the same alignment of the solar tracker and require manpower to move them from one tracker to another since they do not have means to move from one separate tracker to another both in the horizontal and vertical levels. As an alternative to the previous means, there is the option of not proceeding to clean the tracker panels, so that the capture effectiveness of the module is greatly reduced.

The objective of the present invention is, therefore, the development of an autonomous system to carry out said task with the capacity to pass from one follower to others even if they are separated.

EXPLANATION OF THE INVENTION

The present invention has as its first object an autonomous device, or robot, for cleaning solar panels according to claim 1. Therefore, the present invention refers to a robot designed with the purpose of cleaning the surface of a plurality of of solar panels autonomously, specifically one or more aligned panels that can be separated from each other, vertically or horizontally. The device comprises:

- At least two contiguous wheels on one side and facing two other wheels on the opposite side, the axes of rotation of the facing wheels being separated from each other by a first distance that determines the width of the device and the axes of rotation of the wheels contiguous separated from each other by a second distance that determines the useful length of the device,

A traction system associated with at least two of the wheels for their displacement on the edges of the frame of a solar panel, Cleaning means, with two ends and a length similar to the first distance, with an associated tilting system to both ends of the cleaning means to force contact between them and the surface of the panel, and A control module.

In this way, the cleaning means with a tilting system, preferably a rolling and/or rotating brush, are moved by a traction system that causes the rotation of at least two of the wheels so that the device moves, resting the wheels on the edges of two opposite sides of the panel and the cleaning means moving over the surface of the panel cleaning the same. In this way, the wheels do not come into contact with the surface of the panel, since they could damage it, and their movement on the edges of said panel is limited, preferably on its frame. The device is controlled by a control module, mainly responsible for receiving and transmitting signals related to the start or stop of the motor turning the wheels, for their translation, and/or the cleaning means, in one direction or another, between other possible functions.

The wheels on each side are preferably linked together by means of a transmission belt, preferably rubber or similar. Each pair of wheels can be associated with a motor that provides movement to each pair of wheels for translation of the device. Alternatively, each pair of wheels connected by a transmission belt is linked by means of parallel axes to the opposite wheel, so that a single motor associated with one of the four wheels provides movement to the system. Another alternative to this second construction is not to incorporate a transmission belt between the wheels on the same side and to include a motor on each of the two axles.

Although only reference is made to the arrangement of four wheels and two axles, it would be possible to include more than two wheels per side depending on the dimensions of the device and the panel to be cleaned.

Depending on the arrangement of the wheels, a frame may be necessary to reinforce and support the assembly. In the example with opposite wheels linked by an axle and with neighboring wheels linked by a drive belt, such a frame might not be necessary, but if neighboring wheels are only linked by a drive belt or opposite wheels are only linked by the axes, if it is necessary to use a frame that supports the assembly.

The cleaning means can be any element that, moving over the surface of the panel, can clean it without damaging it. Preferably it will be a cylindrical brush, incorporated in parallel between the wheels on the same side, although it could also be an element with a non-circular section or even an element with loose fibers. Said element can rotate or not, for which, if the cleaning means rotates, a second motor will be provided to provide said rotation movement. Said rotational movement could also be provided by means of a belt system that connects the axis of the cleaning means with the translation motor of the device, in charge of moving the device over the panels.

Said cleaning means have a tilting system associated with them to ensure that contact between the cleaning means and the surface of the panel exists while the device moves over the panels. Said tilting system can be associated with a pair of facing wheels or with the frame itself. The tilting system preferably comprises at least one spring that works under compression perpendicular to the surface of the panel on which the robot moves to keep the cleaning means in a certain position and ensure contact with the solar panels. An alternative to the previous tilting system uses an arm that is attached to the frame at one end, or to the axis of rotation of the wheels of the device, and at the opposite end is attached to the cleaning means. The weight of the arm itself can keep the cleaning media in contact with the surface of the panels to be cleaned, although it is also possible use a torsion spring between the arm and the frame or between the arm and the axis of rotation of the wheels. Likewise, other tilting systems can use a vertical guide of any type or an articulated guide from any point of the structure. Likewise, the springs can be of different types, such as gas springs, springs formed by Belleville-type washers or the like. The tilting system can also include counterweights or even be a gravity system to ensure contact of the cleaning media on the panel.

Depending on the construction and application needs of the cleaning device, such as the dimensions of the panels, characteristics of the cleaning means (weight, rigidity of the cleaning bristles in the case of a brush), the power of the cleaning motor, translation of the device, of the power of the turning motor of the cleaning means, among others, the tilting system will be defined.

As an alternative to the aforementioned cylindrical brush or roller, it can be used as cleaning means, for example, scraping lips, air curtain, vertical brushes, oblique brushes, fixed brush strips, devices for wet cleaning with water jet and/or brush, vibration mop, wet or not, among others. Depending on the type of cleaning means, it may require auxiliary elements for its operation, such as access to a source of liquid and means of distributing it, such as, for example, for wet cleaning means.

Additionally, the robot can comprise four rods located at the ends of the frame and which extend the useful length of the device at its front and rear. These rods are aligned with the respective pairs of wheels on one side and have small wheels or castors at their free ends, opposite the ends where the rods join the frame. Preferably, the rods in which these free-turning casters are incorporated will be fixed to the respective support side panels that are part of the frame and that provide robustness to the assembly, serving as an anchor for the electric motors used, for example, for traction and brush rotation, as well as for the function control module, battery or power supply and drive switch.

In this way, the devices that present a transmission belt between two of its adjacent wheels that monitor the profile or frame of each panel through which the cleaning means pass to clean its surface allow the gap to be bridged, both in direction horizontal and vertical, which exists between panels. Likewise, those devices that do not have said straps will use the aforementioned extension rods of the useful length of the device to facilitate jumping between panels.

In addition, the four drive wheels have "valonas" or guides that are used of the module frame to fit into the edge of the module, making the robot run on it in a channeled way between panel and panel.

In those cases with a transmission belt, the four traction wheels serve as physical support for the robot on the profile of the panel and act as a return for the traction of the belt which, in turn, remains in contact with the surface of the panel. The belt is preferably of the "V" type or V section and is made of polyester and rubber compound. In a preferred implementation option, it incorporates a PVC coating with studs to improve traction in contact with the panels.

In one example, the brush has two support wheels at its ends that lack traction, being simply a support for the brush to track correctly. For this, preferably the support wheels have a grooved configuration that serves as a guide to fit into the belt.

Preferably, the device or robot is designed for solar panels with a width of 1040 mm. with a unit length of 2100 mm, although these dimensions may vary depending on the panel to be cleaned, for example, with widths of up to 1300 mm. The main requirements of the robot are, among others, the jump of preferably up to 600 mm. horizontally and up to 150 mm. vertically that may exist between panels. In any case, these dimensions can be altered depending on the dimensions of the robot, modulating them to the dimensions and layout of the panels, for example, to 3L or 2P configurations, and adapting the robot to the distances between said panels, both vertical and horizontal. Said jump can do it both in an ascending and a descending sense.

A second object of the invention is a solar panel cleaning system according to claim 13. Specifically, said system comprises:

An autonomous solar panel cleaning device according to the first object of the invention described above,

- At least two solar panels with a frame on their edges, with a width and a length each, and at least a third vertical (v) and/or horizontal (h) distance, separating them, so that: the first distance of the device is equal to or greater than the width of a solar panel, moving the adjacent wheels along the frame of the panel, the useful length of the device is greater than or equal to the third horizontal distance between both panels, and

- the radius of the wheel is greater than or equal to the third vertical distance. DESCRIPTION OF THE DRAWINGS

To complete the description of the present invention and to facilitate the understanding of its characteristics, a set of figures is included in the present specification, as an integral part thereof.

Figure number 1 shows a perspective view of the main elements comprising the autonomous solar panel cleaning robot object of the invention, appreciating their configuration and arrangement in an example of embodiment.

Figures numbers 2-A, 2-B and 2-C show respective schematic views, in side elevation, of the successive advance phases of the robot of the invention in operation to bridge the gap between panels.

Figure number 3 shows a plan view of the example of the autonomous solar panel cleaning robot of the invention shown in figure 1, in this case represented in its most complete set including auxiliary wheels that facilitate the operation of jumping between panels, appreciating the disposition of the same in respective lateral support panels.

Figures 4 and 5 show perspective views, taken from opposite sides, of the example of the robot of the invention shown in figure 3, appreciating its general configuration.

Figure number 6 shows a side elevation view of the robot, according to the example shown in the preceding figures.

PREFERRED EMBODIMENT OF THE INVENTION

In view of the aforementioned figures, an embodiment example of the autonomous solar panel cleaning device or robot of the invention is described below. Thus, as can be seen in said figures, the robot (1) of the invention comprises: a traction system with synthetic belts (4) and guide traction wheels (2) with which it tracks the profile of the panel (P) through which it passes, and with which it bridges the gap, both horizontally (h) and vertically (v), which may exist between panels (P); and a tilting system of a rolling brush (6) that cleans the surface of the panel (P) through which it is passing.

In the preferred embodiment, said traction system is made up of four guide traction wheels (2) that are joined in pairs to respective parallel axes (3) and linked, both on each side, by a belt (4) of rubber that acts as a caterpillar to ensure the displacement of the assembly on the surface of the panel (P) to be cleaned, existing associated to one of said wheels a first motor (5), preferably an electric motor, which provides the forward movement to the system, both in one direction and in the opposite,

For its part, the tilting brush system comprises a cylindrical brush (6), incorporated in parallel between the axes (3) of the guide traction wheels (2), at whose respective ends it incorporates support wheels (7) that rest on the belts (4) of the traction system, being further associated at one end with a second motor (8), preferably also an electric motor, which provides rotational movement to the brush (6) as well as a tilting system. The tilting system comprises at least one arm (9) which on one side is associated with each end of the brush (6) and on the opposite end is associated with one of the drive wheels (2). The weight of the arm itself forces the cleaning means, the brush in this case, to keep in contact with the surface of the solar tracker panels. Alternatively, a torsion spring can be arranged between the arm (9) and the drive wheels or frame, thus forcing the position of the arm (9). In another construction, a spring can be arranged that works under compression perpendicular to the surface of the panel (P) on which the robot (1) moves, said spring being arranged between the frame and the cleaning means or brush (6 )..

Additionally, as can be seen in figures 3 to 6, the robot (1) can also comprise four auxiliary help wheels (10) that are incorporated into the distal end of rods (11) that extend along the front and back. of the robot (1), aligned with the respective pairs of guide traction wheels (2), facilitating the jump between panels (P) which, as can be seen in figures 2-A, 2-B, 2-C, are separated from each other. yes by an intermediate space both horizontally (h) and vertically (v).

Preferably, the rods (11) in which these auxiliary wheels (10) are incorporated, which are free to rotate, are fixed in respective support side panels (12) that are joined together by means of respective bars (15), forming the frame. of the robot or device, and provide robustness to the assembly, serving as an anchor for the two electric motors for traction (5) and rotation (8) of the brush (6), as well as for a control module (13) for operation, in which incorporates a battery or power supply and drive switch (14).

Preferably, the guide drive wheels (2) are made of injected plastic.

In any case, preferably, each one of the four drive wheels (2) has a "valona" or external perimeter guide with which they adjust to the frame of the panel (P) to fit on the edge thereof, making the robot run on it is channeled between panel and panel (P).

Likewise, preferably, the belt (4) has a V-shaped section and is made of polyester and rubber compound, being able to incorporate, optionally, a PVC coating with studs to improve traction in contact with the panels (P).

The two support wheels (7) of the brush (6), which lack traction and are simply a support for the brush (6) to follow correctly, have a grooved configuration that serves as a guide to fit into the strap (4). And, preferably, the brush (6) is associated with two springs (9), one at each end thereof.

Claims

1. Autonomous device for cleaning solar panel surfaces, characterized in that it comprises:

- At least two wheels (2) contiguous on one side and facing another two wheels (2) on the opposite side, with the axes of rotation of the two wheels (2) facing each other, separated from each other by a first distance that determines the width of the device, and the axes of rotation of the adjacent wheels (2), separated from each other by a second distance that determines the useful length of the device,

A traction system associated with at least two of the wheels (2) for their displacement on the edges of the frame of a solar panel (P), Cleaning means (6), with two ends and a length similar to the first distance, with a tilting system (9) associated with both ends of the cleaning means (6) to force contact between them and the surface of the panel (P), and a control module (13).

2. Device according to claim 1, characterized in that each of the two wheels (2) on the same side are linked together by means of a transmission belt (4).

Device according to any of the preceding claims, characterized in that each wheel (2) on one side (12) is connected to the wheel (2) on the opposite side (12) by means of an axis, both axes being mutually parallel.

4. Device according to any of the preceding claims, characterized in that it comprises a frame formed by two support panels (12) each arranged on one side with adjacent wheels (2) and perpendicular rods (15) to said panels that connect both panels. (12) with each other.

Device according to claim 4, characterized in that the tilting system is associated with the frame (12, 15) of the device.

Device according to any of claims 1 to 3, characterized in that the tilting system is associated with two of the facing wheels (2).

Device according to any of the preceding claims, characterized in that the tilting system (9) comprises at least one spring to keep the cleaning means (6) in a determined position.

8. Device according to claim 4, characterized in that it comprises a rod (11) at each end of each panel (12) of the frame that extends the useful length of the device.

9. Device according to claim 8, characterized in that the rods (11) present in its free end small auxiliary wheels (10).

Device according to any of the preceding claims, characterized in that the traction system comprises at least one motor (5) for the rotation of at least two wheels (2) connected to the control module (13).

Device according to any of the preceding claims, characterized in that the cleaning means (6) comprise an associated motor (8) for rotating said cleaning means (6).

12. Device according to any of the preceding claims, characterized in that the wheels (2) include flanges to guide them along the edge of the solar panel (P).

13. Solar panel cleaning system, characterized in that it comprises:

An autonomous device according to claim 1,

- At least two solar panels with a frame on their edges, with a width and a length for each one of the panels, and at least a third vertical (v) and/or horizontal (h) distance, of separation between them, in such a way that that: the first distance of the device is equal to or greater than the width of a solar panel, moving the adjacent wheels (2) along the frame of the panel (P), the useful length of the device is greater than or equal to the third horizontal distance between both panels, and the radius of the wheel (2) is greater than or equal to the third vertical distance.

14. System according to claim 13, characterized in that it comprises an autonomous device according to any of claims 2 to 12.