SOLAR PANEL CLEANING ROBOT

• US 20180241343A1
• Filed: 01/26/2017
• Published: 08/23/2018
• Est. Priority Date: 09/21/2016
• Status: Active Grant

• Current Assignee: Suzhou Radiant Photovoltaic Technology Co., Ltd.
• Original Assignee: Suzhou Radiant Photovoltaic Technology Co., Ltd.
• Inventors: JIANG, Changsheng, JIANG, Jiayong, XU, Jianrong
• Granted Patent: US 10,511,256 B2
• Time in Patent Office: Days
• CPC Class Codes: B08B 1/12 Brushes
• CPC Class Codes: B08B 1/32 using rotary cleaning members
• CPC Class Codes: B08B 13/00 Accessories or details of general applicability for machines or apparatus for cleaning
• CPC Class Codes: B08B 2203/0211 Case coverings
• CPC Class Codes: B08B 3/02 Cleaning by the force of jets or sprays
• CPC Class Codes: B08B 3/024 Cleaning by means of spray elements moving over the surface to be cleaned
• CPC Class Codes: B25J 5/005 mounted on endless tracks or belts
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F24S 40/20 Cleaning; Removing snow
• CPC Class Codes: G05B 2219/45098 Vacuum cleaning robot
• CPC Class Codes: G05D 1/243 Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249
• CPC Class Codes: G05D 1/648 Performing a task within a working area or space, e.g. cleaning
• CPC Class Codes: G05D 2105/10 for cleaning, vacuuming or polishing
• CPC Class Codes: G05D 2107/75 Electric power generation plants
• CPC Class Codes: G05D 2109/10 Land vehicles
• CPC Class Codes: G05D 2111/10 Optical signals
• CPC Class Codes: H02S 40/10 Cleaning arrangements
• CPC Class Codes: H04N 23/00 Cameras or camera modules comprising electronic image sensors; Control thereof
• CPC Class Codes: H04N 23/57 Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
• CPC Class Codes: Y02E 10/40 : Solar thermal energy, e.g. solar towers
• CPC Class Codes: Y02E 10/50 : Photovoltaic [PV] energy
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

A solar panel cleaning robot is provided and has a robot body. The robot body can move on at least one solar panel. A cleaning device, a power system, a control system and an electric power system are disposed on an internal or an external of the robot body.

Claims

1. A solar panel cleaning robot, comprising:

a robot body configured to move or stop on at least one solar panel, and the robot body comprising;

a cleaning device disposed on an internal or an external of the robot body, and configured to clean solar panel;

a power system disposed on the internal or the external of the robot body, and configured to adjust a moving direction and a moving speed of the robot body on the solar panel;

a control system disposed on the internal or the external of the robot body, and connected to the power system and the cleaning device; and

an electric power system disposed on the internal or the external of the robot body, connected to the power system, the cleaning device and the control system, and configured to provide the power system, the cleaning device and the control system with electricity;

wherein the control system comprises;

a data acquisition system configured to acquire at least one working parameter during moving of the robot body;

a processor connected to the data acquisition system, and configured to transmit at least one moving-control instruction to the power system, and to transmit at least one cleaning control instruction to the cleaning device, wherein the power system controls the robot body to move or stop according to the moving-control instruction, and the cleaning device cleans or stops cleaning the solar panel according to the cleaning-control instruction; and

at least one storage unit connected to the processor, and configured to store the working parameter during the moving of the robot body;

wherein the data acquisition system comprises at least one image sensor or camera connected to the processor, disposed on a front end of the robot body, and configured to acquire images in front of the robot body during the moving of the robot body.

2. The solar panel cleaning robot as claimed in claim 1, wherein the cleaning device comprises:

a cleaning motor comprising a cleaning motor shaft;

a roller brush having a roller brush driven shaft disposed on a center of the roller bush; and

a transmission mechanism simultaneously connected to the cleaning motor shaft and the roller brush driven shaft, the cleaning motor shaft driving the roller brush driven shaft to rotate through the transmission mechanism.

3. The solar panel cleaning robot as claimed in claim 2, wherein the transmission mechanism comprises:

a drive gear disposed on the cleaning motor shaft;

a driven gear disposed on the roller brush driven shaft; and

a double gear comprising

a large gear ring engaged with the drive gear; and

a small gear ring engaged with the driven gear.

4. The solar panel cleaning robot as claimed in claim 2, wherein the cleaning device further comprises:

a liquid dispensing container being a detachable sealing container and having a drainage outlet disposed on a bottom of the liquid dispensing container;

at least one nozzle head disposed above the roller brush or on a side of the roller brush;

each nozzle head comprising a nozzle, and the nozzle facing the roller brush;

a forked pipe comprising a main pipe and at least one branch pipe communicating with each other, the main pipe communicating with the drainage outlet, and each branch pipe communicating with a nozzle head; and

a water pump disposed on the main pipe.

5. The solar panel cleaning robot as claimed in claim 2, wherein the liquid dispensing container comprises:

a column-shaped portion;

a taper portion having a bottom surface connected to a lower bottom surface of the column-shaped portion; and

a drainage outlet, disposed on a top point of the taper portion;

wherein the liquid dispensing container is disposed on a sloping plane;

an included angle between a aide surface of the taper portion and the bottom surface of the taper portion is greater than or equal to an included angle between the sloping plane and a level surface.

6. The solar panel cleaning robot as claimed in claim 5, wherein the liquid dispensing container further comprises:

a container cover securely installed on an upper bottom surface of the column-shaped portion;

a fill inlet extending through the container cover;

a fill inlet lid detachably installed on the fill inlet; and

a bidirectional pressure relief valve installed through the fill inlet lid.

7. The solar panel cleaning robot as claimed in claim 1, wherein the power system comprises:

a left-front wheel installed on a left side of a front portion of a bottom surface of the robot body, and comprising a left-front wheel hub; and

a left-front wheel axis disposed on a center of the left-front wheel hub;

a right-front wheel installed on a right side of the front portion of the bottom surface of the robot body, and comprising a right-front wheel hub; and

a right-front wheel axis disposed on a center of the right-front wheel hub;

a left-drive motor installed on a bottom portion of the robot body, and comprising a left-drive shaft connected to the left-front wheel axis and configured to control a rotating speed and a rotational direction of the left-front wheel; and

a right-drive motor installed on the bottom portion of the robot body, and comprising a right-drive shaft connected to the right-front wheel axis and configured to control a rotating speed and a rotational direction of the right-front wheel.

8. The solar panel cleaning robot as claimed in claim 7, wherein the power system further comprises:

a left-rear wheel installed on a left side of a rear portion of the bottom surface of the robot body, and comprising;

a left-rear wheel hub disposed on a same straight line with the left-front wheel hub and a left-rear wheel axis disposed on a center of the left-rear wheel hub;

a right-rear wheel installed on a right side of the rear portion of the bottom surface of the robot body and comprising a right-rear wheel hub disposed on a same straight line with the right-front wheel hub and a right-rear wheel axis disposed on a center of the right-rear wheel hub; and

,

two tracks, each of the tracks being a flexible link loop, wherein one of the tracks covers an outer portion of an annular sidewall of the left-front wheel hub and an outer portion of an annular sidewall of the left-rear wheel hub;

the other track covers an outer portion of an annular sidewall of the right-front wheel hub and an outer portion of an annular sidewall of the right-rear wheel hub.

9. The solar panel cleaning robot as claimed in claim 8, wherein the power system further comprises:

at least one hub gear evenly disposed on surfaces of the outer portions of the annular sidewalls of the left-front wheel hub, the left-rear wheel hub, the right-front wheel hub and the right-rear wheel hub;

at least one track inner tooth evenly disposed on a surface of an inner sidewall of each track, the track inner tooth engaged with the hub gear; and

at least one skid-proof block protruding from an outer sidewall of each track;

or, at least one skid-proof pattern recessed in the outer sidewall of each track.

10. The solar panel cleaning robot as claimed in claim 8, wherein the power system further comprises at least one track tension device;

each track tension device comprising;

an upper transmission belt being an upper portion of the track, and at least one track inner tooth disposed on a lower surface of the upper transmission belt;

a lower transmission belt being a lower portion of the track, at least one track inner tooth disposed on an upper surface of the lower transmission belt;

an upper tension portion having an upper end disposed tangentially to or engaged with the lower surface of the upper transmission belt, and configured to tension the upper transmission belt;

a lower compression portion having a lower end disposed tangentially to the upper surface of the lower transmission belt, and configured to tension the lower transmission belt; and

a resilient support portion having an end connected to the upper tension portion and another end connected to the lower compression portion, and configured to support the upper tension portion and the lower compression portion.

11. The solar panel cleaning robot as claimed in claim 10, wherein the track tension device further comprises:

one or two track side plates disposed on a side or two sides of the track;

at least one longitudinal slot perpendicularly disposed in an upper portion of the track side plate;

at least one installing shaft, an end of each installing shaft up-and-down-slidably disposed in one longitudinal slot;

or, two ends of each installing shaft up-and-down-slidably disposed respectively in opposite two of the longitudinal slots, and the opposite two of the longitudinal slots located respectively on the two track side plates.

12. The solar panel cleaning robot as claimed in claim 11, wherein

the installing shaft comprising at least one gear installation shaft and at least one transmission-wheel installation shaft;

the upper tension portion comprises;

at least one tension gear, each tension gear installed on one gear installation shaft through a roller bearing, and an upper end of the tension gear engaged with the lower surface of the upper transmission belt;

at least one tension transmission wheel, each tension transmission wheel installed on a transmission-wheel installation shaft through a roller bearing, and disposed tangentially to or engaged with the tension gear; and

a V-shaped bracket, two transmission-wheel installation shafts disposed respectively on two ends of an upper portion of the V-shaped bracket, and a gear installation shaft disposed above the V-shaped bracket;

wherein the gear installation shaft and the transmission-wheel installation shafts parallel one another, the gear installation shaft is located above a middle place between the two transmission-wheel installation shafts.

13. The solar panel cleaning robot as claimed in claim 10, wherein

the lower compression portion comprises at least one tension compression plate disposed tangentially to the lower transmission belt;

the resilient support portion comprises a reverse V-shaped resilient element, a corner of an upper portion of the reverse V-shaped resilient element connected to a lower end of the upper tension portion, and two ends of a lower portion of the reverse V-shaped resilient element connected respectively to two tension compression plates.

15. The solar panel cleaning robot as claimed in claim 1, wherein the data acquisition system comprises at least one accelerometer sensor connected to the processor, and configured to acquire at least one acceleration data of the robot body in real-time;

the processor determines whether the robot body moves linearly according to the acceleration data of the robot body;

if the robot body is deflected, the processor transmits at least one direction-adjusting instruction to the power system according to the acceleration data.

16. The solar panel cleaning robot as claimed in claim 1, wherein the data acquisition system comprises a magnetic sensor connected to the processor and configured to acquire the robot body at least one moving direction data in real-time;

the processor determines whether the robot body moves linearly according to the moving direction data of the robot body;

if the robot body is deflected, the processor transmits at least one direction-adjusting instruction to the power system according to the moving direction data.

17. The solar panel cleaning robot as claimed in claim 1, wherein the data acquisition system comprises at least one distance sensor disposed on an outer edge of the robot body and connected to the processor;

the distance sensor is configured to acquire at least one distance data of the distance sensor and the solar panel in real-time;

the processor determines whether the robot body is located on an edge or a corner of the solar panel according to the distance data.

18. The solar panel cleaning robot as claimed in claim 1, wherein the data acquisition system comprises a liquid level sensor disposed in a liquid dispensing container, the liquid level sensor is connected to the processor, and the liquid level sensor is configured to acquire liquid level data in the liquid dispensing container in real-time.

20. The solar panel cleaning robot as claimed in claim 1, wherein the control system further comprises at least one wireless communication system wirelessly connected to a server and configured to build communication between the solar panel cleaning robot and the server.

21. The solar panel cleaning robot as claimed in claim 1 further comprising at least one wireless charging system comprising

a rechargeable battery disposed on the internal of the robot body and configured to provide power;

at least one wireless power transmitting device disposed on the external of the robot body;

each wireless power transmitting device comprising a transmitting coil, and the transmitting coil connected to a power source; and

a wireless power receiving device disposed on the external or an outer surface of the robot body;

the wireless power receiving device comprising a receiving coil, and the receiving coil connected to the rechargeable battery;

wherein when the receiving coil is located above the transmitting coil, the receiving coil and the transmitting coil implement electromagnetic induction coupling or magnetic resonance coupling such that the transmitting coil transmits wireless electric power to the receiving coil.

22. The solar panel cleaning robot as claimed in claim 21, wherein the transmitting coil is disposed on a lower surface of one solar panel, or, disposed under or in a gap on a connection portion of adjacent two solar panels;

the receiving coil is disposed on a bottom layer in the solar panel cleaning robot, or, disposed on a lower surface of a bottom portion of the solar panel cleaning robot.

23. The solar panel cleaning robot as claimed in claim 21, wherein

the wireless charging system further comprises

at least one charging panel, each charging panel embedded in one solar panel or disposed an edge of one solar panel;

an upper surface of the charging panel and an upper surface of the solar panel are in a same plane;

wherein the transmitting coil is disposed in one charging panel, or, disposed on an upper surface or a lower surface of one charging panel;

the receiving coil is disposed on a bottom layer in the cleaning robot, or, disposed on a lower surface of a bottom portion of the cleaning robot.

24. The solar panel cleaning robot as claimed in claim 21, wherein when the receiving coil is coupled to the transmitting coil, a distance between the transmitting coil and the receiving coil is 1 mm to 40 mm;

medium between the transmitting coil and the receiving coil is non-metallic.

14. (canceled)

19. (canceled)