Waterless cleaning system and method for solar trackers using an autonomous robot

专利摘要:
A solar tracker waterless cleaning system for cleaning solar panels of a solar tracker being able to be positioned at a pre-determined angle, including a docking station and an autonomous robotic cleaner (ARC), the docking station coupled with an edge of the solar tracker, the ARC including at least one rechargeable power source, at least one cleaning cylinder and a controller, the cleaning cylinder including a plurality of fins which rotates for generating a directional air flow for pushing dirt off of the surface of the solar tracker without water, the controller including a motion sensor for determining an angle of the solar tracker and a heading of the ARC, the docking station including at least one electrical connector for recharging the rechargeable power source, the controller for controlling a cleaning process of the ARC and for transmitting and receiving signals to and from the ARC.
公开号:ES2727008A2
申请号:ES201990063
申请日:2018-01-25
公开日:2019-10-11
发明作者:Moshe Meller；Eran Meller
申请人:EVERMORE UNITED S A；
IPC主号:

专利说明:

[0001]
[0002] SYSTEM AND WATER CLEANING METHOD FOR SOLAR FOLLOWERS
[0003]
[0004] CROSS REFERENCE TO RELATED APPLICATIONS
[0005]
[0006] The present international patent application claims priority and the benefit of each of the following two provisional US patent applications. UU. and also each of the following two non-provisional US patent applications. US: provisional US patent application UU. serial number 62 / 450,584 filed on January 26, 2017; provisional US patent application UU. serial number 62 / 470,342 filed on March 13, 2017; non-provisional US patent application UU. Serial number 15 / 727,055 filed on October 6, 2017; and non-provisional US patent application. UU. Serial number 15 / 826,976 filed on November 30, 2017. Each of these four U.S. patent applications. UU. is fully incorporated into this international patent application.
[0007]
[0008] FIELD OF THE DISCLOSED TECHNIQUE
[0009]
[0010] The disclosed technique refers to the cleaning of solar trackers, in general, and to methods and systems for cleaning solar trackers without water using an autonomous robot, also in various wind conditions, in particular.
[0011]
[0012] BACKGROUND OF THE DISCLOSED TECHNIQUE
[0013]
[0014] The challenges of global climate change and the needs of energy circuits made the development of renewable energy alternatives vital for the future of humanity. The use of direct solar radiation on solar panels can potentially produce more than enough energy to meet the energy needs of the entire planet. As the price of solar energy decreases and the pollution caused by conventional fuels increases, the solar business was introduced into a new era of global growth.
[0015]
[0016] To bring technologies to exploit solar energy more to match conventional fuels, the efficiency rate of solar systems must to get better. The efficiency of solar panels depends among other things on the cleanliness of its surface. Energy losses caused by dust and dirt can reach more than 40%. In desert areas, where several solar parks are located, the problem of dust and dirt is considerable.
[0017]
[0018] One type of fast-growing solar park is the solar tracker park. Solar trackers have the ability to track the position of the sun continuously from morning to afternoon by changing its angle of inclination from east (in the morning) to west (in the afternoon) to increase efficiency. Automatic cleaning solutions for solar trackers generally involve high volumes of water and / or the installation of special networks in the solar tracker park to move automatic cleaners from solar tracker to solar tracker. Such solutions are not cost effective and require extra work for installation.
[0019]
[0020] Systems for cleaning solar panels are known in the art. U.S. Patent Application Publication UU. No. 2015/0272413 A1 for Miyake et al., called "Autonomous-Travel Cleaning Robot" refers to a self-propelled cleaning robot that can efficiently clean a flat surface even if a step is formed. The cleaning robot can self-scroll on a structure to clean a flat surface of the structure, where the structure is installed in an exterior location. The robot includes a robot main body where a self-propelled mobile means is provided, a cleaning unit that is provided in a front and / or rear portion of the robot main body, and a controller that controls the activation of the mobile medium. The controller includes an attitude controller that detects an attitude of the main robot body. The attitude controller includes a flotation detection sensor that detects flotation in one of the front portion and the rear portion of the main robot body. The controller controls the activation of the mobile medium so that the cleaning unit passes through a place where flotation is detected after flotation is removed. Similar structures are disclosed in the US patent application publication. UU. No. 2015/0236640 A1 and 2015/0229265 A1.
[0021]
[0022] Several solar trackers of the prior art are covered with an anti-glare coating to increase the efficiency of solar energy production. The use of robotic cleaners that move on such solar trackers can ruin and destroy the anti-reflective coating in a period of a few months. This is It is due to the weight of the robotic cleaner that travels over the surface of the solar panels and the force with which the cleaning brushes of the robotic cleaner impact and press on the surface of the solar panels as the brushes clean the surface. The owners of solar track parks can then increase the efficiency of solar energy production by reapplying the anti-reflective coating, thus increasing the maintenance costs of the solar track park, or without using an anti-reflective coating, thus not maximizing the production of solar energy.
[0023]
[0024] Solar trackers are used throughout the world and are located in places that can have different wind conditions. A concern of solar tracker park owners who use a cleaning robot is the safety and durability of the cleaning robot in various wind conditions. A heavier robotic cleaner, as mentioned above, can prevent the robotic cleaner from rising from the surface of a solar tracker in strong wind conditions, however the heavier weight can ruin and destroy the anti-reflective coating used to increase production efficiency. of solar energy. Therefore, there is a need for systems and methods to clean solar trackers using a cleaning robot where the weight of the robot will not ruin any anti-glare coating on the solar trackers and where the safety of the cleaning robot is not compromised in strong wind conditions .
[0025]
[0026] SUMMARY OF THE DISCLOSED TECHNIQUE
[0027]
[0028] It is an object of the disclosed technique to provide a novel method and system for a waterless cleaning system of solar trackers to clean solar panels of a solar tracker. The solar tracker is able to be located at a predetermined angle. The waterless solar tracker cleaning system includes a docking station and an autonomous robotic cleaner (ARC). The connection station is coupled with an edge of the solar tracker. The ARC includes at least one rechargeable power source, at least one cleaning cylinder and one controller. The cleaning cylinder is for cleaning the dirt from a surface of the solar tracker without water and the controller is for controlling an ARC cleaning process and for transmitting and receiving signals to and from the ARC. The controller includes a motion sensor. The cleaning cylinder also includes multiple fins. The motion sensor is to determine an angle of the solar tracker and an ARC header and the fins rotate to generate an air flow directional to remove dirt from the surface of the solar tracker. The connection station includes at least one electrical connector to recharge the rechargeable power source. The ARC can anchor the connection station and the ARC cleans the solar tracker when the solar tracker is at a predetermined angle. The default angle is between -10 and 10 degrees from a horizontal angle of zero degrees. The motion sensor is used to travel the ARC over the surface of the solar tracker. The fins touch the surface of the solar tracker when they rotate and the ARC cleans the solar tracker by directional air flow and the contact of the fins that remove dirt from the surface of the solar tracker.
[0029]
[0030] According to another aspect of the disclosed technique, therefore, a method is provided for cleaning without water a solar tracker that includes at least one autonomous robotic cleaner (ARC) that cleans without water. The ARC includes a motion sensor for travel and the solar tracker is able to be located at a predetermined angle. The method includes the procedures of locating the solar tracker at a predetermined angle during the night hours, calibrating the motion sensor to a local north of the solar tracker, providing an initial cleaning signal to the ARC to clean a surface of the solar tracker and Clean the solar tracker using a directional air flow to remove dirt from the surface of the solar tracker. The default angle is between -10 and 10 degrees from a horizontal angle of zero degrees and the ARC travels the surface of the solar tracker using the motion sensor.
[0031]
[0032] According to an additional aspect of the disclosed technique, therefore, a waterless cleaning system of fixed angle solar panels for cleaning solar panels of a solar panel is provided. The solar panel is set at a predetermined angle. The waterless solar panel cleaning system includes a docking station and an autonomous robotic cleaner (ARC). The connection station is coupled with an edge of the solar panel. The ARC includes at least one rechargeable power source, at least one cleaning cylinder and one controller. The cleaning cylinder is for cleaning the dirt from a surface of the solar panel without water and the controller is for controlling an ARC cleaning process and for transmitting and receiving signals to and from the ARC. The controller includes a motion sensor to determine an ARC header and the cleaning cylinder also includes multiple rotating fins to generate a directional air flow to remove dirt from the surface of the solar panel. The connection station includes at least one electrical connector to recharge the rechargeable power source. The ARC can be anchored at the connection station. The angle Default is between -10 and 10 degrees from a horizontal angle of zero degrees. The motion sensor is used to travel the ARC on the surface of the solar panel. The fins touch the surface of the solar panel when they rotate and the ARC cleans the solar panel by the directional air flow and the contact of the fins that remove dirt from the surface of the solar panel.
[0033]
[0034] BRIEF DESCRIPTION OF THE FIGURES
[0035]
[0036] The disclosed technique will be more fully understood and appreciated from the following detailed description taken together with the figures where:
[0037] Figure 1 is a side view of multiple solar trackers in a park of solar trackers, constructed and operating in accordance with an embodiment of the disclosed technique;
[0038] Figure 2 is a side view of a solar tracker at various times of the day, constructed and operating in accordance with another embodiment of the disclosed technique; Figure 3 is a top view of two nearby solar trackers that include robotic cleaners, constructed and operating in accordance with a further embodiment of the disclosed technique;
[0039] Figure 4 is a detailed top transparent view of a first robotic cleaner and a first connection station, constructed and operating in accordance with another embodiment of the disclosed technique;
[0040] Figure 5 is a cross-sectional view of the robotic cleaner of Figure 4 along a line A-A, constructed and operating in accordance with a further embodiment of the disclosed technique;
[0041] Figure 6 is a top view of a second connection station, constructed and operating in accordance with another embodiment of the disclosed technique;
[0042] Figure 7 is a side view of the second connection station of Figure 6, along a line C-C of Figure 6, constructed and operating in accordance with a further embodiment of the disclosed technique;
[0043] Figure 8 is another side view of the second connection station of Figure 6, along a D-D line of Figure 7, constructed and operating in accordance with another embodiment of the disclosed technique;
[0044] Figure 9 is a side view of a solar tracker, positioned to allow cleaning by a robotic cleaner under strong wind conditions, constructed and operating in accordance with a further embodiment of the disclosed technique;
[0045] Figure 10 is a top view of a solar tracker, showing a station of connection as well as cleaning patterns for use in various wind conditions, constructed and operating in accordance with another embodiment of the disclosed technique;
[0046] Figure 11 is an enlarged top view of the connection station of Figure 10, constructed and operating in accordance with a further embodiment of the disclosed technique; Y
[0047] Figure 12 is a side view of the connection station of Figure 10, constructed and operating in accordance with another embodiment of the disclosed technique.
[0048]
[0049] DETAILED DESCRIPTION OF THE EMBODIMENTS
[0050]
[0051] The disclosed technique overcomes the disadvantages of the prior art by providing a system and method of cleaning solar trackers without using water by using autonomous robotic cleaners (in this abbreviated ARC) that are light and exert very little pressure on the surface of the solar panels of the solar tracker, thus preserving any anti-glare coating used on the surface of the solar panels. Each solar tracker (also called a solar tracker board) in a solar tracker park is equipped with a connection station and an ARC that can clean the surface of a solar tracker autonomously. The robotic cleaner can return to the docking station by itself. The disclosed technique provides a novel travel system for the ARC using a 6-axis motion sensor, which includes an accelerometer and an electronic gyroscope, which is calibrated from a local north of the solar tracker at the beginning of each cleaning cycle. Also, the connection station includes a locking mechanism that prevents the ARC from rising from the surface of the solar tracker and falling from the solar tracker regardless of wind direction, even in extreme wind conditions.
[0052]
[0053] A solar tracker park includes multiple solar tracker boards. Each solar tracker is constructed from a frame that can change its angle of inclination from the east in the morning and to the west in the afternoon. The solar tracker panels are located horizontally in a north-south direction. Each frame includes multiple solar panels as well as an electromechanical mechanism to change the inclination angle of the solar tracker board.
[0054]
[0055] The inclination angle of the solar tracker panels is controlled centrally The system and method of the disclosed technique includes multiple ARCs, where each solar tracker has its own individual ARC and a dedicated connection station. Each ARC is equipped with a rechargeable power source. When it is not in the process of cleaning a solar tracker board, the ARC is connected to the connection station where the rechargeable power source can be recharged, thus not interrupting the electricity production of the solar tracker board while it is also recharging. The connection station can be located on the north or south side of the solar tracker board (the north side for the northern hemisphere, the south side for the southern hemisphere), to avoid casting a shadow on the solar panels during daylight hours. The connection station also allows ARCs to be anchored during inclement weather, thus avoiding the problem of ARCs falling off the solar tracker panels in bad weather or possibly damaging the solar panels of the solar tracker. The inclination angle of the solar trackers can be controlled to compensate for strong winds, thus allowing the ARC to clean the surface of a solar tracker even in strong wind conditions. Also, according to the disclosed technique, a novel cleaning pattern can be used by an ARC to remove dust, dirt and debris from the surface of a solar tracker in the presence of wind conditions, thus using the wind to increase the efficiency of surface cleaning. According to the disclosed technique, the central controller of solar tracker panels may include a climate center that includes instruments for measuring wind speed (anemometer), pressure (barometer), humidity (hygrometer) and other weather indicators. The central controller can also be coupled with a climate information center through a network. The central controller can add climate information together with the inclination angle of the solar tracker panels for several periods of time to improve the predictive maintenance of the solar tracker boards and also to allow automatic learning of the maintenance cycle of the solar panel boards. solar trackers
[0056]
[0057] According to the system and method of the disclosed technique, at night time (that is, without sun) when electricity is not produced, the solar tracker panels of the solar tracker park are placed, through an electromechanical mechanism centrally controlled, in a horizontal position, where the angle of inclination (that is, the east-west angle) is substantially zero. The cleaning of solar tracker panels while they are substantially horizontal (that is, near a few degrees of zero degrees, for example ± 10 degrees of horizontal) simplifies the cleaning process as well as making ARCs profitable because ARCs do not need powerful motors and brake systems to ascend to or descend from an inclined solar tracker. ARCs can be designed in the image of autonomous floor cleaning robots, however, unlike such autonomous robots, the ARC of the disclosed technique does not require a bin, dust bin or filter and can simply remove dust and debris from the surface of a solar tracker board. Once the solar tracker panels are horizontal, the ARC of each solar tracker board is ejected from its connection station and cleans the horizontal surface of the solar tracker board. The ARC can move on the horizontal surface of the solar tracker board in a zigzag path, a scanning path, a scanning path or other paths to clean the surface of the solar tracker board. The specific pattern that the ARC uses to clean the surface of the solar tracker board can be determined according to the current wind and weather patterns determined by the climate center coupled to the solar trackers. The ARC is equipped with at least one edge sensor to prevent it from falling off the solar tracker board. Such edge sensors can be used to travel the ARC along the edges of the solar tracker board. Virtual magnetic walls can also be added to the solar tracker boards as well as the installation of a low physical barrier at the edges of the solar tracker boards as additional measures to prevent the ARC from falling off the solar tracker boards. Many solar trackers have two sections. According to the disclosed technique, the two sections are coupled together through a bridge, so that once the ARC of a solar tracker finishes cleaning a first section, it can then cross the bridge to the second section and Also clean it. Once the second section is cleaned, the ARC can cross the bridge again and return to the connection station where it can be anchored to a load mount. The charging mount keeps the ARC firmly supported while not in use while also allowing it to mate with charging elements and charge its rechargeable power source, such as a rechargeable battery. A blocking mechanism is also provided thus preventing the ARC from rising from the surface of the connection station and possibly falling from the surface of the solar tracker.
[0058]
[0059] Also, according to the disclosed technique, the ARC is equipped with fins and a cleaning cylinder that create a directional air flow to remove dirt, dust and debris from the surface of the solar tracker. The fins and cleaning cylinder are located in the ARC so that they make minimal contact with the solar panels, exerting a pressure on the surface of the solar panels of less than 0.1 grams per square centimeter (g / cm2), thus preserving the anti-glare coating on the solar panels .
[0060]
[0061] Next, reference is made to Figure 1 which is a side view of multiple solar trackers in a park of solar trackers, which are generally referred to with 100, constructed and operating in accordance with an embodiment of the disclosed technique. Figure 1 shows solar trackers 102, which support the poles 104 for the solar trackers, mechanical arms 106 that control the inclination angle of each solar tracker and a mechanical bar 108 that connects the mechanical arms 106 of a number of solar trackers. with an electromechanical controller 110. The electromechanical controller 110 includes a mechanical arm 114 that controls the angle of inclination of the solar trackers through the movement of the mechanical bar 108 and mechanical arms 106. The floor level 112 of the installation is also shown. of solar followers. The east (E) and west (W) cardinal directions are also shown.
[0062]
[0063] Reference is now made to Figure 2, which is a side view of a solar tracker at various times of the day, which is generally referred to as 130, constructed and operating in accordance with another embodiment of the disclosed technique. From top to bottom in Figure 2, a solar tracker is shown in the morning hours as the sun rises from the east, in the middle of the afternoon where the solar tracker is substantially flat and in the afternoon hours to As the sun sets in the west. Reference numbers identical to Figure 1 are used in Figure 2.
[0064]
[0065] As shown, a solar tracker park includes multiple solar trackers. Each solar tracker can be a single large solar panel or multiple solar panels located adjacent to each other. Each solar tracker is constructed from a construction frame that can change its angle of inclination from the east in the morning and to the west in the afternoon, as shown in Figure 2. In a solar tracker park, the solar trackers They are located horizontally north to south. Multiple solar panels join the construction framework. And as shown in Figure 1, an electromechanical mechanism, as through mechanical bar 108, is used to change the angle of inclination of the solar tracker.
[0066] Next, reference is made to Figure 3 which is a top view of two nearby solar trackers that include robotic cleaners, which are generally referred to with 150, constructed and operating in accordance with a further embodiment of the disclosed technique. As shown are two solar track panels 152A and 152B. The solar tracker panels 152A and 152B are substantially similar to the solar tracker 102 (Figure 1) and are located in a north-south direction (as shown) so that they can lean from east to west (also shown) during the course of the day Many solar tracker panels include two sections, as shown in Figure 3. Each of the solar tracker panels 152A and 152B are formed by multiple solar panels 154. The multiple solar panels 154 can be covered with an anti-glare coating (not sample) to increase the efficiency of solar energy production. According to the disclosed technique, the two sections of each solar tracker are coupled together through a bridge 158. The bridge 158 may be equipped with a solar panel 162 to generate electricity to charge the ARC rechargeable power source of the technique. disclosed, as explained below. Solar panel 162 is different from the multiple solar panels 154 that make up each solar tracker as the electricity generated from the multiple solar panels 154 is used by the solar tracker to store electricity that can be sold to customers where electricity generated from solar panel 162 is used to recharge and feed the ARC of the disclosed technique. Also, one of the sections of solar tracker panels 152A and 152B can be equipped with a connection station 160. The connection station 160 can be located on the north side or on the south side of the solar tracker panel depending on which hemisphere the board is installed in. of solar trackers of the disclosed technique. Connection station 160 includes multiple anchoring elements 164 and a load assembly (not shown in Figure 3) to house an ARC 166, which is merely shown schematically in Figure 3. Details of ARC 166 are provided later in Figures 4 and 5. Multiple anchoring elements 164 allow the ARC 166 to be anchored to the connection station 160 during periods of inclement weather. Multiple anchoring elements 164 can be part of the load assembly (not shown) so that the ARC 166 can be anchored and recharged simultaneously. Details of connection station 160 are shown later in Figure 4. Details of another embodiment of connection station 160 are shown later in Figure 6-8. As an autonomous robot, the ARC 166 can move in a variety of patterns and paths on the surface of a solar tracker, for example, in a zigzag path (not shown), to clean all the surface of solar trackers 152A and 152B.
[0067]
[0068] It should be noted that when solar tracker panels 152A and 152B are installed, they are preferably located in a north-south direction, however the actual direction of solar tracker panels 152A and 152B depends on the instruments and calibration used when installed. For example, solar tracker panels 152A and 152B can be installed with the connection station 160 towards magnetic north, real north or a deviation from one of such directions, depending on the instruments used during the installation of the solar tracker and how they were calibrated ( or uncalibrated). As described below, according to the disclosed technique, regardless of the actual direction in which a solar tracker is located, the ARC of the disclosed technique is calibrated only to a local north of the solar tracker board itself, thereby increasing the accuracy ARC route.
[0069]
[0070] Next, reference is made to Figure 4 which is a detailed top transparent view of a first robotic cleaner and a first connection station, to which reference is generally made with 200, constructed and operating in accordance with another embodiment of the disclosed technique. Figure 4 shows a first connection station 202 and an ARC 204, which are substantially similar to connection station 160 and ARC 166 (Figure 3) respectively is shown in more detail. The ARC 204 may have a plastic body or may be of other materials (not shown). The ARC 204 includes a left drive wheel 206A, a right drive wheel 206B, a direct current drive motor (abbreviated in this DC) left 208A and a right DC drive motor 208B. The left drive wheel 206A includes a left wheel encoder 248A and the right drive wheel 206B includes a right wheel encoder 248B. A left drive belt 210A couples the left drive wheel 206A to the left DC drive motor 208A so that the left DC drive motor 208A can drive the left drive wheel 206A. A right drive belt 210B couples the right drive wheel 206B to the right DC drive motor 208B so that the right DC drive motor 208B can drive the right drive wheel 206B. The left and right wheel encoders 248A and 248B can be embodied as proximity sensors and can read the revolutions of each left drive wheel 206A and right drive wheel 206B respectively. For example, wheel encoders Left and right wheel 248A and 248B can count the number of links or ribs on any of the drive wheels or drive belts. In one example, the drive wheels can have 6 pulses per revolution, 12 pulses per revolution, or any number of pulses per revolution, where each pulse can be counted and read by the left wheel and right wheel encoders 248A and 248B. Thus, the left wheel and right wheel encoders 248A and 248B can be used to determine the angular positions of the left drive wheel 206A and right drive wheel 206B. Together with a control unit 220 (explained below), the wheel controllers allow rotation control, as well as the linear movement of the ARC 204 on the surface of a solar tracker. The ARC 204 further includes a cleaning cylinder 212. Multiple fins, for example, multiple microfiber fins 214 are coupled with the cleaning cylinder 212 to clean the surface of a solar tracker board. Multiple microfiber fins 214 are used to remove dirt from the surface of a solar tracker board by creating a directional air flow or current over the surface of the solar tracker board solar panels. The directional air flow allows the pressure that the multiple microfiber fins 214 exert on the surface of the solar panels to be less than 0.1 g / cm2, which should not damage the anti-glare coating on the surface of the solar panels. As noted above, according to the disclosed technique, the ARC 204 does not include or require a vacuum container to collect debris and dirt or a filter. The ARC 204 also includes a cleaning cylinder DC drive motor 216 and a cleaning cylinder drive belt 218 to couple the cleaning cylinder DC drive motor 216 with the cleaning cylinder 212 to drive it. The ARC 208 further includes a control unit 220 (which may also be referred to simply as a controller). The control unit 220 includes a motion sensor of at least 6 axes 246, a rotating wheel 226 and a rechargeable power source 228. A motion sensor of at least 6 axes 246 includes an electronic gyroscope 222 and an accelerometer 224. A At least 6 axis motion sensor 246 can also be realized as a 9 axis sensor where magnetometer operation is not used. The motion sensor of at least 6 axes 246 can be realized as a motion sensor that detects more than six axes of motion. It is emphasized that the rotating wheel 226 can be replaced by any support structure such as a brush, a plastic part, a rubber part and the like, to support the rear end of the ARC 204. The support structure does not need to move or have moving parts. but it should be Smooth enough not to cause any damage to the surface of the solar tracker as the ARC moves over its surface. The control unit 220 may also include a processor (not shown) and a wireless transceiver (not shown). The control unit 220 controls the operation of the ARC 204, which includes receiving orders and transmitting information from the ARC (for example, via the wireless transceiver) to a central controller (not shown). The accelerometer 224 can identify the position of the inclination, as well as the movement of the ARC 204. The electronic gyroscope 222 can identify the header of the ARC 204 while it is stationary or while it is moving. The motion sensor of at least 6 axes 246 is used by the control unit 220 to travel the ARC 204 on the surface of a solar tracker board. It should be noted that the motion sensor of at least 6 axes 246 can also be realized as a 9-axis motion sensor, which also includes a magnetometer (not shown). The at least 6-axis motion sensor 246 can be realized using any known motion sensor that combines at least one accelerometer with an electronic gyroscope, for example, the Hillcrest Labs ™ 9-axis SiNO BNO080 and other similar motion sensors. The rotating wheel 226 supports the rear portion of the ARC 204 while allowing its complete maneuverability. As mentioned above, the rotating wheel 226 can be embodied as a support structure that does not involve a wheel and can simply be a piece of rubber or plastic. The rechargeable power source 228 can be a rechargeable battery, such as a 12-volt Ni-MH (nickel-metal hydride) battery but can also be materialized as other types of rechargeable batteries such as lead acid, lithium ion, LiFeP04, NiCad and the like. The ARC 204 also includes multiple recharge connectors 232, as explained below.
[0071]
[0072] Also, the ARC 204 includes at least one edge sensor, such as a proximity sensor, to identify and determine an edge of a solar tracker board. In one example, as shown in Figure 4, the ARC 204 includes five proximity sensors 230A-230E, however, this is merely an example and any number of proximity sensors can be used. Due to the general dusty conditions in which solar tracker panels are used, the edge sensor or proximity sensor can preferably be materialized as an ultrasonic proximity sensor however other types of sensors can be used, such as IR sensors, sensors capacitance and the like. As mentioned above, proximity sensors are used with control unit 220 to prevent the ARC 204 falls off the side of the solar tracker board and also to allow the ARC 204 to move precisely along the edges of the solar tracker board. A cross-sectional view of the ARC 204 along the line AA is shown below and explained in Figure 5.
[0073]
[0074] Figure 4 also shows the components of the first connection station 202, which includes multiple anchoring elements 238 and a physical barrier 244. The physical barrier 244 can be located specifically on the north side of the first connection station 202 (in an installation of the Northern Hemisphere) for use in the calibration of the electronic gyroscope 222 at the beginning of a cleaning process, as described below. In a facility in the southern hemisphere, the physical barrier can be located on the south side of the connection station. Multiple anchoring elements 238 are substantially similar to the multiple anchoring elements 164 (Figure 3). The anchoring elements are used to anchor and recharge the rechargeable power source 228 of the ARC 204. Each of the multiple anchoring elements 238 includes a conductive bar 242, which can be of a conductive metal such as 316 stainless steel alloy or others. alloys, as well as multiple support elements 240 coupled to the ends of each conductive bar. The conductive bar 242 is used to anchor and load the ARC from the east or west side of the first connection station 202. In one embodiment of the disclosed technique, the first connection station 202 may include multiple anchoring elements both on the side East as the west side of the connection station. The support elements 240 are flexible and each support element 240 which includes a spring (not shown) to ensure adequate conductivity to recharge the rechargeable power source 228. As mentioned above, the ARC 204 includes multiple recharge connectors 232 for coupling the ARC 204 to the conductive bar 242. The multiple recharge connectors 232 are coupled with the rechargeable power source 228. As also mentioned above, the first connection station 202 may include a physical barrier 244, which may materialize as a vertical wall, to stop the ARC 204 while moving towards the first connection station 202. The physical barrier 244 can also be used in the process of calibrating the motion sensor of at least 6 axes 246, in particular in the calibration of the electronic gyroscope 222
[0075]
[0076] Reference is now made to Figure 5 which is a cross-sectional view of the robotic cleaner of Figure 4 along the line AA, which is generally referred to with 260, constructed and operating in accordance with a further embodiment. of the disclosed technique. All the elements and parts in Figure 5 are shown and explained above in Figure 4 except for a few. Therefore, identical reference numbers are used in Figure 5 for identical elements shown in Figure 4. Figure 5 additionally shows a spring 264 supporting the support element 240, which allows elasticity and flexibility in the support element 240 and the conductive bar 242. Additionally an angular flat element 262 located adjacent to the cleaning cylinder 212 is shown to improve the cleaning process by increasing the resistance of the directional air flow generated by multiple microfiber fins 214. The angular flat element 262 improves the cleaning process by directing the air flow generated by multiple microfiber fins 214 forward and therefore absorbs some of the dust particles that can fly backward while the cleaning cylinder 212 rotates the multiple microfiber fins 214. The element 262 angular plane makes directional airflow of the multiple fins of microfiber 214 powerful and resist entity and thus reduce the impact and pressure on the anti-glare coating of the solar panels.
[0077]
[0078] Reference is now made to Figure 6, which is a top view of a second connection station, to which reference is generally made to 300, constructed and operating in accordance with another embodiment of the disclosed technique. Similar to the first connection station 202 (Figure 4), the second connection station 300 is located at the north end of a solar tracker 152A (Figure 3) in the northern hemisphere (and at the southern end in the southern hemisphere ). The second connection station 300 includes a connection surface 302, multiple support elements 340, multiple conductive bars 342 and a protective wall 344. Multiple support elements 340 couple multiple conductive bars 342 to the connection surface 302. Multiple support elements 340 can be of any non-conductive material, such as polycarbonate, and are electrical insulating elements. Each support element provides mechanical support and sufficient rigidity to a conductive bar and is used to locate a conductive bar at the appropriate height and leveling relative to the connection surface 302 so that an ARC (not shown) can be recharged into the connection station Multiple conductive bars 342 can be of any conductive material, such as a conductive alloy, of type 316 stainless steel and the like. The multiple conductive bars 342 are coupled with solar panel 162 (Figure 3) or any other source of energy to recharge the ARC. The electrical coupling can be through a conductor cable (not shown). Multiple conductor bars 342 are similar to conductor bars 242 (Figure 4) and are located at a height and distance so that the charging connectors 232 (Figure 4) of an ARC can be coupled to begin a charging process. As shown, multiple conductive bars 342 are located on an east and west side of the connection surface 302, as shown by the letters "E" and "W" in Figure 6.
[0079]
[0080] Reference is now made to Figure 7 which is a side view of the second connection station of Figure 6, along a CC line of Figure 6, which is generally referred to as 310, constructed and functioning. according to a further embodiment of the disclosed technique. Reference numbers identical to Figure 6 are used in Figure 7 to show the same elements as shown in Figure 6. Figure 7 shows that each of the multiple support elements 340 is coupled with the connection surface 302 with multiple screws 330 and is long enough to be located at a height 346 where each of the multiple support elements 340 is coupled with one of the multiple conductive bars 342. The multiple screws 330 can be materialized as any type of fastener or rivet. Likewise, a protective wall 344 is shown that is substantially the same height as the multiple conductive bars 342 and is used to prevent an ARC from falling off the connecting surface 302 and also in the procedure of calibrating the ARC electronic gyroscope.
[0081]
[0082] Reference is now made to Figure 8 which is another side view of the second connection station of Figure 6, along a line DD of Figure 7, which is generally referred to as 320, constructed and functioning. according to another embodiment of the disclosed technique. Identical elements in Figure 8 already described in Figures 6 and 7 are shown using identical reference numbers. It is visible in Figure 8 the coupling of a support member 340 to the connection surface 302 and to the busbar 342 using multiple screws 330.
[0083]
[0084] Referring again to Figure 6, an ARC (not shown) is recharged at connection station 300 as follows. As the connection station 300 is coupled with the solar tracker 152A, the connection station 300 tilts with the solar tracker 152A. During the morning hours, until around noon, the solar tracker 152A is oriented to the east. The ARC is located so that its recharge connectors also face east. Due to the inclination angle of the solar tracker during most of the morning hours, sufficient gravity pressure is exerted on the ARC recharge connectors to be electrically coupled with multiple conductive bars 342, thus allowing the ARC rechargeable batteries to recharge. Around noon, the solar tracker 152A is substantially horizontal and towards the afternoon, it begins to lean westward. Once the ARC's at least 6 axis motion sensor detects that the solar tracker tilted westward enough, control unit 220 (Figure 4) can order the ARC to make a 180 turn ° so that the recharge connectors are now oriented westward towards the conductive bars. Again, due to gravity, the ARC will exert sufficient pressure on the conductive bars at the west end of the connection surface 302 to couple the recharge connectors so that the ARC can continue recharging as the solar tracker tilts West during the afternoon hours. The ARC can remain in that position until the production of electricity from solar trackers ceases once the sun goes down. As described below, the solar tracker panels are then placed horizontally, at which point the ARC begins a cleaning cycle. In another embodiment of the disclosed technique, the front end of the ARC, opposite the end of the charging connectors 232 (Figure 4), can also be equipped with additional charging connectors (not shown) so that when the solar tracker board 152A begins to lean westward, the ARC can be given an order to advance and engage with the conductive bars on the other side of the connecting surface and can continue its recharge cycle if necessary.
[0085]
[0086] As noted, because the multiple conductive bars 342 are solid, they are precisely located in relation to the connection surface 302 and the solar tracker 152A. Therefore, before starting a cleaning cycle, the ARC can use the conductive bars on the west side to calibrate the ARC electronic gyroscope in the local northbound direction. Alternatively, before starting a cleaning cycle, the ARC can rotate towards the protective wall 344, which is located in the north direction, to calibrate the ARC electronic gyroscope in the local north direction. The east side conductive bars can also be used to calibrate the ARC electronic gyroscope. It is further noted that the main difference between the first connection station 202 (Figure 4) and the second connection station 300 is that the first connection station 202 uses springs to mount the conductive bars at the height of the ARC recharge connectors while the second connection station 300 uses support elements that are rigid.
[0087] With reference again to Figure 3, the ARC of the disclosed technique can also be equipped with brushes, microfibers and additional cleaning elements to clean the surface of a solar tracker. In other embodiments, the connection stations of the disclosed technique (any of the connection stations 160, 202 or 300) do not need to include a structure for emptying a bin since the ARC can simply remove dust and debris from the surface of a solar tracker and therefore the ARC is not equipped with a dust tank, as shown previously in ARC 204 (Figure 4). As shown above and as described, the ARC 204 is a waterless cleaner and cleans the surface of a solar tracker either by removing dirt and debris from the surface or using air suction. According to the disclosed technique, when locating the solar trackers of a park of solar trackers in a horizontal position, an autonomous robot, such as that known from the vacuum cleaning industry, can be used to clean the surface of the solar trackers autonomously . In a horizontal position, an autonomous robot does not have to solve gravity force problems either by ascending an inclined solar tracker or by braking when descending from such a solar tracker board. As is known in the vacuum cleaning industry, several algorithms can be used to ensure that the ARC 204 covers the entire surface of a solar tracker board and therefore cleans the entire solar tracker board. In some embodiments of the disclosed technique, the ARC 204 may also include cameras and sensors (not shown) to detect defects in the surface of a solar panel. The ARC 204 may include at least one of a light source, a visible light camera, an infrared light source and an infrared camera, to detect defects in the surface of a solar tracker.
[0088]
[0089] The connection station 160 is shown with the ARC 166 in the parking position between multiple anchoring elements 164. In one embodiment, in a parking position, the ARC 166 can be coupled with electrical connectors (not shown) at the edges of the connection station 166 to recharge the ARC 166 rechargeable power source. Alternatively, as shown, the ARC 166 can be coupled with multiple anchoring elements 164 including conductive bars to simultaneously recharge the ARC 166 rechargeable energy source while it also anchors the ARC 166. As shown, bridge 158 is wide enough for the ARC 166 to pass on either side of the solar tracker. According to the disclosed technique, multiple ARCs are used so that each solar tracker has its own individual ARC. Each individual ARC is parked at the connection station of a given solar tracker while not It is in a cleaning process and thus does not interrupt the production of electricity from the given solar tracker. As shown, the connection station is external to the solar panels of a solar tracker to avoid casting shadow on the solar panels of the solar tracker during daylight hours.
[0090]
[0091] Because the angle of inclination of the solar trackers is controlled centrally, according to the system and method of the disclosed technique, in the afternoon hours when electricity is not being produced from solar energy, the solar trackers of the Park of solar trackers are placed horizontally. A horizontal position means that the angle of inclination east and west is substantially zero and substantially the position of a solar tracker at noon. According to the disclosed technique, the horizontal position can be anywhere between ± 10 ° of a horizontal inclination angle (ie, up to 10 ° inclined in the west direction or up to 10 ° inclined in the east direction). Once substantially horizontal, each ARC of each solar tracker is given a cleaning order to exit its respective connection station and to clean the horizontal surface of the solar tracker. As mentioned above, in one example, the zigzag path can be used to cover and clean the entire surface of a solar tracker. Other cleaning paths can also be used, as described below. Each ARC includes edge sensors or proximity sensors that prevent it from falling down the sides of a solar tracker. This is helped by placing the solar trackers specifically in a horizontal position for cleaning, thus avoiding the problems and additional complexities of cleaning a solar tracker board that is tilted. In some embodiments, additional physical and / or virtual structures can be added to a solar tracker board to prevent an ARC from falling over the edge, such as a virtual magnetic wall that the ARC can detect or even installing a low physical barrier in the perimeter edge of the solar tracker. As mentioned earlier, most solar trackers have two sections, so that the ARC can finish cleaning a first section and then move through bridge 158 to the other section. As explained above, when the cleaning is finished, the ARC can autonomously return to the connection station 160 by the bridge 158, securely anchor between the anchoring elements and engage with the electrical connectors for recharging.
[0092]
[0093] A control and communication system (not shown) that is part of the solar tracker park can be used to initiate the multiple cleaning process ARC as well as to ensure that ARCs have returned to their parking positions once the cleaning process is completed. Each ARC can also have a sensor that ensures that a cleaning process only starts when a solar tracker is level and in a horizontal position (or with an inclination angle of ± 10 degrees). For example, accelerometer 224 (Figure 4) can be used to ensure that a cleaning process only begins when a solar tracker is level. The control and communication system can also send a signal to stop cleaning in case of unfavorable weather conditions such as humidity, wind or rain. The control and communication system can be shaped as a short-range wireless network using protocols such as ZigBee or XBee. According to the disclosed technique, other wireless communication protocols can also be used. It should be noted that in case of inclement weather during the cleaning process, the control and communication system can order the ARCs to return to the connection station 160 and anchor to multiple anchoring elements 164 to prevent the ARCs from being fall from the solar tracker boards due to bad weather. Once the unfavorable weather subsides, as long as it has not yet dawned, ARCs can receive an order to continue cleaning to restart the cleaning cycle they had previously begun. Light sensors, wind sensors, pressure sensors, humidity sensors, rain sensors and other weather related sensors can be used to automatically determine if unfavorable weather conditions are present near the solar tracker park.
[0094]
[0095] Again with reference to Figures 4 and 5, in this embodiment of the ARCs, the surface cleaning of the solar tracker panels is done by at least one cleaning cylinder 212 equipped with multiple microfiber fins 214. According to the disclosed technique, one or more rotating cylinders can be used to clean the surface of the solar tracker board. In addition, multiple microfiber fins 214 may be made of other fabrics, fabrics or textile materials. In one embodiment of the disclosed technique, the width of the microfiber fins can be 100 millimeters (in the present mm) and the radial size of the microfiber fins can be between 200 and 240 mm. It should be noted that other dimensions can be used. The foregoing dimensions of the microfiber fins can ensure optimal generation of a directional air stream. The cleaning of the surface of the solar tracker board is achieved by the directional air flow generated together with an angular flat element 262 and also by the very soft contact and low pressure exerted less than 0.1 g / cm2 of the multiple fins of microfiber pushing dust and debris from the surface of the solar tracker board by the edge of the solar tracker board. According to the disclosed technique, the ARC cleans a solar tracker board while the solar tracker board is in a horizontal position but can also clean if the solar tracker board has a slight inclined angle of up to ± 10 degrees from its horizontal position.
[0096]
[0097] The movement and maneuvering of the ARC on the surface of a solar tracker board are controlled by a control unit 220 and its processor (not shown), using the left drive wheel 206A and the right drive wheel 206B that are driven by the left DC drive motor 208A and the right DC drive motor 208B respectively and also using the left wheel encoder 248A and the right wheel encoder 248B. The ARC 204 moves back and forth when the left drive wheel 206A and the right drive wheel 206B rotate in the same direction with the same speed. The ARC 204 will rotate when the left drive wheel 206A and the right drive wheel 206B rotate in opposite directions. The right or left maneuver of the ARC is performed by controlling the pulse width modulation of the left DC drive motor 208A and the right DC drive motor 208B which can be controlled by the processor. Therefore, the control unit 220 controls the cleaning process of the ARC. The amount of pulses of each drive motor can be measured using the left wheel encoder 248A and the right wheel encoder 248B, thereby accurately controlling the position of the ARC.
[0098]
[0099] As mentioned earlier, each ARC is equipped with a motion sensor of at least 6 axes, including an accelerometer and an electronic gyroscope, as well as (for example, in the embodiment shown in Figure 4) five proximity sensors that can detect the edges of the solar tracker board which together are controlled by the control unit 220. As mentioned above, each of the left DC drive motor 208A and the right DC drive motor 208B includes at least one encoder for counting the angular state of each drive motor that can be provided to the control unit 220 to determine the angular position of the rotation of each of the left drive wheel 206A and right drive wheel 206B.
[0100]
[0101] Using all or at least some of the accelerometer, electronic gyroscope, proximity sensors and encoders, control unit 220 can travel the ARC on the surface of the solar tracker board in any desired pattern. In particular, according to the disclosed technique, the ARC 204 can use an accelerometer and an electronic gyroscope to maneuver and travel the surface of a solar tracker board. As described below, the electronic gyroscope can be calibrated using the azimuth and the local north of the solar tracker board before beginning the cleaning cycle. The ARC 204 electronic gyroscope is calibrated when the ARC 204 pushes against the protective wall that is positioned on the north side of the connection station. This direction becomes the local north of the electronic gyroscope, thereby compensating for inaccuracies in the directional positioning of solar tracker boards in a north-south direction.
[0102]
[0103] Alternatively, the ARC can push against the conductive bars positioned on the west side or the east side to calibrate a local direction of the electronic gyroscope. Using the local north of the solar tracker board as part of the ARC calibration and navigation improves the cleaning process of the disclosed technique because the ARC will move over the solar tracker in a north-south (or east-west) direction depending on the actual position of the solar tracker. This is different from the prior art, where a solar tracker can be positioned north-south using magnetic north as the positioning direction while the prior art robotic cleaner that cleans the surface uses real north to determine its surface location. of the solar panel. It should also be noted that a motion sensor of at least 6 axes can be replaced by a 9-axis motion sensor that also includes a magnetometer. It should also be noted that advances in global positioning system navigation systems (hereinafter abbreviated as GPS) can provide GPS sensors with a resolution better than 1 degree. When such GPS navigation systems become available, a GPS sensor can be included in the ARC of the disclosed technique, and GPS navigation can be used to assist the motion sensor of at least 6 axes of the ARC, for example, to review and / or provide a validation control of the position of the ARC on the surface of the solar tracker board.
[0104]
[0105] An ARC cleaning pattern may be that the ARC moves from the connection station 202 to the southern edge of the southern section of the solar tracker without operating the cleaning cylinder. Then the ARC turns west and begins cleaning the surface of the solar tracker board in a western zigzag pattern east to west until the entire surface has been cleaned. In this pattern, cleaning is done from the extreme south to the solar tracker. A similar pattern can be made with the ARC going from north to south to north. When the ARC reaches bridge 158 (Figure 3), the ARC will cross the bridge while also cleaning the solar panel 162 (Figure 3) that is used to recharge the ARC's rechargeable power source. The ARC will continue its zigzag cleaning pattern to the north. When the ARC reaches the north edge of the second section of the solar tracker board, the ARC will return autonomously to connection station 202. The ARC enters connection station 202 and will park facing east while the charging connectors 232 press east on the busbars 242. In one embodiment, one of the connection stations 202 or 300 (Figure 6) may have anchoring elements on both its east and west sides, such that in this embodiment, in the next noon, the ARC can turn and look west and move until its charging connectors press against the conductive bars placed to the west (not shown). As mentioned earlier, the described pattern of cleaning and recharging is just an example and other cleaning patterns and recharging procedures are possible.
[0106]
[0107] When the ARC receives an order to start cleaning, the control unit 220 controls the tilt position of the solar tracker using an accelerometer 224. If the tilt position is horizontal (or as close to horizontal, which means within ± 10 degrees from horizontal), the ARC will turn north and press its recharge connectors to physical barrier 244 to calibrate electronic gyroscope 222. Therefore, the ARC calibrates electronic gyroscope 222 so that its north is in the north local solar tracker board. The electronic gyroscope 222 is calibrated using the azimuth of the solar tracker board as represented by the azimuth of the physical barrier 244 and a determination of the local north before beginning its cleaning process. After completing the calibration, the ARC can turn south to begin the cleaning process as described above.
[0108]
[0109] As part of the disclosed technique, the solar tracker park may include a climate center (not shown) that includes instruments and sensors such as at least one of a weather vane and an anemometer (none shown) to determine the wind direction and wind speed, as well as other instruments such as a thermometer, a hygrometer and the like, to determine various weather parameters present in the park of solar followers. In cases of weather conditions such as a strong west wind, the cleaning of the ARC can be done using a cleaning pattern that moves dust and debris from west to east, thus using the wind in favor to enhance the cleaning action. In this pattern, ARC movements from east to west will be inactive, without operating the cleaning cylinder. In case of a strong east wind, the cleaning pattern is reversed. Therefore, the climate center can transmit data to the ARC control unit to clean the solar tracker panels using specific cleaning patterns depending on the determined climate present in the solar tracker park.
[0110]
[0111] It should be noted that the disclosed technique was described in the context of a solar tracker that can be tilted from east to west during the course of a day. However, the disclosed technique can also be used on fixed angle solar panels provided that their angle of inclination is not greater than 10 ° in an eastward or westward direction. In such an embodiment, the ARC of the disclosed technique, as well as the connection station can be shaped in a manner similar to that disclosed above, however, because solar panels and panels cannot be tilted, a cleaning cycle order is simply It provides the ARC once the sun has set, without the need to provide an order to the solar panels and panels to lean a horizontal inclination angle of substantially 0 °.
[0112]
[0113] Reference is now made to Figure 9, which is a side view of a solar tracker, positioned to allow cleaning by a robotic cleaner in strong wind conditions, which is generally referred to as 360, constructed and operating in accordance with a further embodiment of the disclosed technique. Similar elements between Figures 1 and 2 and Figure 9 are labeled using identical reference numbers, such as solar tracker 102, support pole 104 and ground level 112. Figure 9 also shows an ARC 362 shown schematically with a cover ( unlabeled) and therefore the interior parts of the ARC 362 are not visible. As mentioned earlier, the ARC of the disclosed technique can clean a solar tracker board with any inclination between -10 ° and 10 °, as measured from a horizontal inclination angle of substantially 0 °. In one embodiment of the disclosed technique, the ARC 362 cleans the surface of a solar tracker board when placed at a horizontal inclination angle of substantially 0 °. Also as mentioned above, the ARC of the disclosed technique is lightweight to prevent the weight of the ARC from damaging the surface of the solar tracker boards, especially any anti-glare coating that can be placed on the surface of solar trackers. Due to the relatively light weight of the ARC (about 10 kilograms) and its general shape, a strong enough wind can create a sufficient lifting force to lift the ARC 362 from the surface of the solar tracker 102. Therefore, certain wind conditions can cause the ARC 362 to turn over or fall from the surface of the solar tracker 102.
[0114]
[0115] As illustrated in Figure 9, a wind blows through the surface of the solar tracker 102, shown by multiple arrows 364. Depending on the Beaufort scale of windstorms, assuming that wind 364 has an average wind speed of 29 kilometers per hour (in this abbreviated Km / h), wind 364 will exert a wind pressure of around 4.0 kilograms per square meter (in this abbreviated Kg / m2) along the surface of the solar tracker 102. Assuming that the ARC 362 has an average surface area of 0.4 m2, the wind pressure acting on the ARC 362 due to wind 364 will be 1.6 Kg / m2. The wind pressure exerted on the ARC 362 can be compensated by tilting the solar tracker 102 an angle 366 from a horizontal line 368 as measured from the pivot (unlabeled) that controls the angle of the solar tracker 102. A gravity vector 370 shows the downward force exerted by gravity on the ARC 362 while a normal force vector 374 shows the normal force exerted by the solar tracker 102 on the ARC 362. The component of the gravity vector 370 that is parallel to the surface of the solar tracker 102 , shown as a surface vector 372 can be determined by the following formula:
[0116]
[0117] Surface Vector = M g sin a ( 1)
[0118]
[0119] where Surface Vector is the force of surface vector 372 in Newtons, M is the mass of ARC 362 in kilograms is already angle 366. Given the preceding example, if angle 366 is around 9 °, surface vector 372 It should exert enough force to compensate for the wind pressure exerted by the wind 364. As mentioned earlier, because the ARC 362 can clean the surface of the solar tracker 102 up to an inclination angle of about 10 °, pressures can be exerted of wind up to approximately 1.7 Kg / m2 on the ARC 362 that can be compensated by the inclination angle of the solar tracker 102. Such wind pressure on the ARC 362 is equivalent to an average wind speed of approximately 30 Km / h according to the Beaufort scale (at whose end lower is referred to descriptively as "fresh breeze" on the Beaufort scale). Therefore, according to the disclosed technique, the ARC 362 can be used to clean the surface of the solar tracker 102 up to measured wind speeds of approximately 30 km / h. At wind speeds greater than that, the ARC 362 should remain at its connection station until wind speeds are reduced to less than 30 km / h.
[0120]
[0121] According to the disclosed technique, the master controller (not shown) that controls the inclination angle of the solar tracker 102, can determine the wind pressure exerted on the ARC 362 before the ARC 362 leaves its connection station in function of climate information. Climate information can be provided by a network connection to a climate service, as well as climate instruments (not shown) coupled with the master controller, to determine the weather locally in the solar tracker park. Climate instruments may include at least one of an anemometer, a hygrometer, a barometer, a thermometer and the like to measure and determine various characteristics of the local climate. If the master controller determines that there is wind present on the surface of the solar tracker 102 and that the average wind speed is less than the upper limit of approximately 30 km / h, the master controller can determine at which angle of inclination the follower should be positioned. solar 102, as a function of Equation 1 above, so that the angle of inclination compensates for the force of the wind. It should be noted that Equation 1 is useful for winds that generally blow in a direction according to angle 366. As illustrated in Figure 9, wind 364 blows from east (E) to west (W), therefore, the Angle 366 can be used to compensate for wind pressure by a wind that comes predominantly from the east or west. If the wind in Figure 9 blew predominantly in a north or south direction (not shown), the inclination of the solar tracker 102 from east to west will not compensate for such wind pressures. In such a case, the master controller may set a lower average wind speed limit to order the ARC 362 to leave its connection station and clean the surface of the solar tracker 102. It should also be noted that each solar tracker board in a Solar track park can be equipped with climatic instruments and the master controller can determine a different inclination angle per solar tracker depending on the average wind speed measured on each solar tracker.
[0122]
[0123] Reference is now made to Figure 10, which is a top view of a follower. solar, which shows a connection station, as well as cleaning patterns for use in various wind conditions, which is generally referred to as 390, constructed and operating in accordance with another embodiment of the disclosed technique. Similar elements between Figures 3 and Figure 10 are labeled using identical reference numbers, such as solar tracker 152A, bridge 158, connection station 160, solar panel 162, anchoring elements 164 and ARC 166. The left side of the Figure 10 shows that the connection station 160 now includes blocking bars 392. The blocking bars 392 are shown as two bars extending along the length of the connection station 160 and are shown in greater detail below in Figures 11 and 12. Locking bars 392 substantially create a cage for ARC 166, forming an upper awning or roof under which ARC 166 can park and engage with anchoring elements 164. As illustrated in Figure 10, if a wind from the east or from the west strong or even extreme blows on solar trackers 152A and 152B, with enough force to raise the ARC 166 from the surface of the solar tracker, when the ARC 166 e When stationed at connection station 160, the upper side of the cover (not shown) of the ARC 166 will come into contact with the locking bars 392, which will prevent the ARC 166 from flying from the connection station 160. Therefore, According to the disclosed technique, the blocking bars 392 allow the ARC 166 to remain in the connection station 160 even in extreme wind conditions (where extreme reaches and includes hurricane conditions). The locking bars can be made of any resistant and durable material such as metal, hard plastic, fiberglass and the like.
[0124]
[0125] The right side of Figure 10 shows two different cleaning patterns as examples, according to the disclosed technique, of cleaning patterns that can be used to increase the cleaning efficiency of the ARC 166 under variable wind conditions. As mentioned earlier, the master controller (not shown) of solar tracker panels 152A and 152B can be coupled with a weather service or can include weather information equipment and instruments to determine the weather at the site of the solar tracker park. If a wind is detected, the master controller can instruct the ARC 166 to clean in a particular pattern so that the wind direction is used to help clean the surface of the solar tracker. In an example as illustrated, if a predominantly western wind, as illustrated by multiple arrows 394, is determined by the master controller, the ARC 166 may use a sweep pattern 396 where the ARC 166 travels in a direction perpendicular to the wind direction detected, moving forward each time in a perpendicular direction in the wind direction 394. Therefore, the ARC 166 travels from north to south and south to north over the solar tracker 152B blowing dust and debris from the surface of the solar tracker and, each time , the ARC 166 moves eastward, in the direction of the wind from the west 394. Thus, the ARC 166 moves dust, debris and dirt from the solar tracker 152B in the wind direction 394. Therefore, the ARC 166 moves dust, debris and dirt forward into areas that have not yet been cleaned from the surface of the solar tracker board, in the same general direction in which the wind 394 blows dust, debris and dirt onto the solar tracker board 152B . The wind force 394 can then be used together with the directional air stream (not shown) of the ARC 166 to increase the cleaning efficiency of the ARC 166. By way of another example, if a predominantly southern wind, as illustrated by Multiple arrows 398, determined by the master controller, the ARC 166 may use a sweep pattern 400 where the ARC 166 moves in a direction perpendicular to the direction of the detected wind, advancing each time in a direction perpendicular to the wind direction 398. Therefore, the ARC 166 travels from east to west and west to east on the solar tracker 152A, blowing dust and debris from the surface of the solar tracker and, each time, the ARC 166 moves northward in the South wind direction 398. Similar cleaning patterns are possible according to the disclosed technique for north and east winds (none shown). According to the disclosed technique, before the ARC 166 receives an order to clean the surface of solar tracker panels 152A and 152B, the master controller determines if there is strong enough wind present, which predominantly blows in one of the cardinal directions . If there is, the master controller can give the ARC 166 a specific order to clean in a sweep pattern as illustrated in Figure 10, where the determined wind direction is used to increase the efficiency of cleaning dust and debris out of the surface of the solar tracker boards by the ARC 166. According to another embodiment of the disclosed technique, the ARC 166 can be given an order to clean a surface of the solar tracker board using a scanning pattern regardless of the direction of the determined wind. In this embodiment, the ARC 166 can clean, removing dust and debris from the surface of the solar tracker board following a scanning pattern where the ARC 166 travels along the surface of the solar tracker in a direction perpendicular to the wind direction determined and, each time, moving in the direction of the wind. Therefore, the sweep patterns illustrated in Figure 10 can be shaped for any wind direction and are not limited to winds that only blow predominantly in the four cardinal directions.
[0126]
[0127] Reference is now made to Figure 11, which is an enlarged top view of the connection station of Figure 10, which is generally referred to with 410, constructed and operating in accordance with a further embodiment of the disclosed technique. A portion 412 of a solar tracker, a connection station 414, substantially similar to the connection station 160 (Figures 3 and 10), an ARC 416 and multiple anchoring and loading elements 418 are shown in Figure 11. shows the contour of the ARC 416 as a dotted line to delineate its position at the connection station 414. The connection station 414 includes locking bars 420, an end wall 424 and at least two entrance walls 422. The end wall 424 and the entrance walls 422 are the height of the ARC 416, where the end wall is extended by the length of the connection station 414 and the entrance walls 422 are separated enough for the ARC 416 to enter and exit. The end wall 424 and the entrance walls 422 act as physical barriers to prevent the ARC 416 from flying from the connection station 414. The entrance walls 422 can also be embodied as a single entrance wall (not shown), with longer than any of the entrance walls 422, as illustrated in Figure 11 and fulfilling the same function as a physical barrier to prevent the ARC 416 from flying from the connection station 414. The blocking bars 420, as illustrated , extend the length of the connection station 414, and are permanently attached to the connection station 414, forming a roof or partial awning protection under which the ARC 416 is coupled with multiple anchoring and loading elements 418 when the ARC 416 returns to connection station 414 to recharge and / or during inclement weather. The blocking bars 420, end wall 424 and entrance walls 422, together form a protective barrier to protect the ARC 416 so that it does not rise from the connection station 414 during extreme wind conditions, thereby protecting the ARC 416 even during hurricane winds. As explained above, the blocking bars 420 are separated by the connection station 414, so that if a sufficiently strong wind, either from an east or west direction, exerts a lifting force on the ARC 416, the upper part of the ARC 416 will be stopped by the blocking bars 420, which prevent the ARC 416 from flying from the connection station 414. If a strong south wind pushes against the ARC 416 northbound, with sufficient force to move the ARC 416 so that its wheels are pushed in a perpendicular direction, the end wall 424, which is at the height of the ARC 416, will prevent the ARC 416 from falling off the north side of the connection station 414. Similarly, if a strong north wind pushes against the ARC 416 southbound, with sufficient force to move the ARC 416 so that its wheels are pushed in a perpendicular direction, the walls of entrance 422, which are at the height of the ARC 416, will prevent the ARC 416 from moving laterally and falling from the connection station 414 and possibly falling from the solar tracker board 412.
[0128]
[0129] Reference is now made to Figure 12, which is a side view of the connection station of Figure 10, which is generally referred to as 440, constructed and operating in accordance with another embodiment of the disclosed technique. Similar elements between Figures 5 and Figure 12 are labeled using identical reference numbers, such as solar tracker 202, cleaning cylinder 212 and multiple microfiber fins 214. A cover 442 is shown in Figure 12, which covers the components interiors of the ARC 204, as well as a lock bar 446. As illustrated, one end of the lock bar 446 is coupled with one end of the connection station 202, as illustrated by an arrow 448. The lock bar 446 it is permanently attached to the connection station 202 and, therefore, acts as a type of cage to prevent the ARC 204 from rising from the connection station 202 in case of sufficient wind conditions. As illustrated by an arrow 450, sufficient wind conditions may cause the ARC 204 to rise in the direction of arrow 450. However, if that begins to happen, the presence of the lock bar 446 prevents the ARC 204 completely rises from connection station 202.
[0130]
[0131] As mentioned above, the disclosed technique also provides a method and system for a better way to share climate information during the operation and cleaning of a solar tracker park and to improve the predicted maintenance and machine learning of park maintenance. solar trackers According to the disclosed technique, a solar track park or farm can include a master controller for each solar tracker as well as a master controller for the entire solar tracker park. Each master controller can be coupled with any other master controller and / or with the master controller of the entire solar tracker park so that information can be exchanged between these components. The information may include climatic information as well as information on the current status of each solar tracker board. As explained above, the Exchange of climate information between the various master controllers is used for optimal and safe operation of the ARCs in the solar tracker farm. It should be noted that this exchange of information can be expanded to other aspects of the operation of a solar tracker park, such as the accuracy of the inclination of each solar tracker board, any breakage in the solar panels of a solar tracker board, cracks and microcracks. of the solar panel surface of a solar tracker board and the like.
[0132]
[0133] This information exchange can be introduced as part of a predictive maintenance algorithm to determine when different types of maintenance should be performed on the solar trackers of the solar tracker park. This information exchange can also be used for the maintenance and management of the solar tracker park. According to an embodiment of the disclosed technique, each solar tracker board may include at least one weather-related instrument, such as an anemometer, thermometer, hygrometer, barometer, and the like, such that the specific climatic conditions of a given solar tracker. This climatic information can be used to provide individual ARC with different cleaning instructions as well as tilt individual solar trackers at different cleaning angles depending on the wind conditions determined in different parts of the solar tracker farm. For example, if there is a strong east wind present, it may be that solar trackers on the east side of the solar tracker park receive instructions that their ARCs remain under the protection of the blocking bars of the connection stations while the ARC on the west side of the solar tracker park, where there may be less wind, will be instructed to clean their corresponding solar tracker boards with the solar tracker panels positioned at a specific cleaning angle. In addition, in this case, on the west side of the solar tracker park, different solar trackers can be positioned at different cleaning angles depending on the wind force measured on each solar tracker board.
[0134]
[0135] Those skilled in the art will note that the disclosed technique is not limited to what was shown and described in particular hereinbefore. On the contrary, the scope of the disclosed technique is defined only by the following claims.

权利要求:
Claims (37)
[1]
1. A solar tracker waterless cleaning system for cleaning solar panels of a solar tracker, wherein said solar tracker can be positioned at a predetermined angle, said solar tracker waterless cleaning system comprises:
a connection station, coupled with an edge of said solar tracker; Y
an autonomous robotic cleaner (ARC),
where said ARC comprises:
at least one rechargeable energy source;
at least one cleaning cylinder, to clean the dirt from a surface of said solar tracker without water and
a controller, to control a cleaning process of said ARC and to transmit and receive signals to and from said ARC,
said controller comprises a motion sensor, to determine an angle of said solar tracker and a header of said ARC;
said at least one cleaning cylinder further comprises multiple fins that rotate to generate a directional air flow to remove said dirt from said surface of said solar tracker;
said connection station comprises at least one electrical connector for recharging said rechargeable energy source,
where said ARC can be anchored in said connection station; wherein said ARC cleans said solar tracker when said solar tracker is positioned at said predetermined angle;
where said predetermined angle is between -10 and 10 degrees from a horizontal angle of zero degrees;
wherein said motion sensor is used to control said ARC on said surface of said solar tracker;
wherein said multiple fins touch said surface of said solar tracker when said multiple fins rotate and
wherein said ARC cleans said solar tracker by said directional air flow and said contact of said multiple fins removes said dirt from said surface of said solar tracker while said motion sensor controls said ARC autonomously on said surface of said solar tracker.
[2]
2. The waterless solar tracker cleaning system according to claim 1, wherein said solar tracker comprises:
a first section of solar panels;
a second section of solar panels;
a bridge, to couple said first section with said second section; Y
a solar panel recharge section.
[3]
3. The waterless cleaning system of the solar tracker according to claim 2, wherein said connection station further comprises a conductive cable, for coupling said at least one electrical connector with said solar panel recharge section, where the electricity generated by said solar panel recharge section it is used to recharge said rechargeable energy source.
[4]
4. The waterless solar tracker cleaning system according to claim 1, wherein said motion sensor comprises at least one sensor that is selected from the list consisting of:
an accelerometer;
an electronic gyroscope and
a magnetometer
[5]
The waterless cleaning system of the solar tracker according to claim 1, wherein said connection station further comprises multiple anchoring elements, each of said multiple anchoring elements comprises:
multiple support elements;
at least one conductive bar, coupled between at least two of said multiple support elements; Y
a physical barrier, positioned on a north side of said connection station, to prevent said ARC from falling from said connection station, where said at least one conductive bar is said at least one electrical connector;
where said at least one conductive bar also anchors said ARC; wherein said multiple support elements are rigidly coupled with a connection surface of said connection station; and where at least one of said physical barrier and said at least one bar conductive is used to calibrate said motion sensor to a local north of said solar tracker.
[6]
6. The waterless solar tracker cleaning system according to claim 1, wherein said ARC further comprises:
at least two drive wheels;
at least two corresponding direct current (DC) drive motors, to drive each of said at least two drive wheels respectively;
at least two corresponding drive belts, for coupling each of said at least two drive wheels with said at least two corresponding DC drive motors;
a support structure, to support a rear section of said ARC;
at least one edge sensor, to determine an edge of said solar tracker; Y
at least two recharge connectors, coupled with said rechargeable energy source, to electrically couple said rechargeable energy source with said at least one electrical connector of said connection station,
wherein each of said at least two drive wheels comprises at least one corresponding encoder.
[7]
7. The waterless cleaning system of the solar tracker according to claim 1, wherein said ARC further comprises:
at least one direct current drive (DC) motor of cleaning cylinder, to drive said at least one cleaning cylinder;
a cleaning cylinder drive belt, for coupling said DC drive motor of at least one cleaning cylinder with said at least one cleaning cylinder; Y
an angular flat element,
wherein said angular plane element directs said directional air flow generated by said multiple fins forward.
[8]
8. The waterless solar tracker cleaning system according to claim 1, wherein said multiple fins are made of a material that is select from the list consisting of:
microfiber;
cloth;
tissue and
textile materials.
[9]
9. The solar tracker waterless cleaning system according to claim 1, wherein said rechargeable power source is a rechargeable battery that is selected from the list consisting of:
a Ni-MH battery;
a lead acid battery;
a lithium ion battery;
a LiFeP04 battery and
a NiCad battery
[10]
10. The waterless solar tracker cleaning system according to claim 1, said controller further comprises:
a processor and
A transceiver.
[11]
11. The solar tracker waterless cleaning system according to claim 1, wherein said predetermined angle is substantially zero degrees from said horizontal angle.
[12]
12. The waterless solar tracker cleaning system according to claim 6, wherein said at least one edge sensor is selected from the list consisting of:
a proximity sensor;
an ultrasonic proximity sensor;
an IR sensor; Y
a capacitance sensor
[13]
13. The waterless solar tracker cleaning system according to claim 1, wherein said ARC removes said dirt from said surface of said solar tracker using a predefined path.
[14]
14. The waterless cleaning method according to claim 13, wherein said predetermined path is selected from the list consisting of:
a zigzag trajectory;
a scan path and
a sweeping path
[15]
15. The solar tracker waterless cleaning system according to claim 1, wherein said motion sensor is calibrated to a local north along a physical barrier at said connection station before starting said cleaning process.
[16]
16. The waterless solar tracker cleaning system according to claim 1, wherein said directional air flow minimizes a pressure exerted on an anti-glare coating covering said solar panels.
[17]
17. The solar tracker waterless cleaning system according to claim 1, for cleaning said solar panels of said solar tracker in various wind conditions, wherein said solar tracker waterless cleaning system further comprises a master controller, for receiving and transmitting data to and from said solar tracker and said ARC, said connection station further comprises multiple blocking bars, coupled with said connection station, to protect said ARC during said variable wind conditions, where said master controller determines a speed average wind and provides a clean order to said ARC if said average wind speed is below a predetermined threshold.
[18]
18. The solar tracker waterless cleaning system according to claim 17, wherein said connection station further comprises:
multiple anchoring elements, each of said multiple anchoring elements comprises:
multiple support elements; Y
at least one conductive bar, coupled between at least two of said multiple support elements; Y
at least two physical barriers, a first of said at least two physical barriers is positioned on a north side of said connection station and a second of said at least two physical barriers is positioned on a south side of said connection station, to prevent said ARC from falling from said connection station,
where said at least one conductive bar is said at least one electrical connector;
where said at least one conductive bar also anchors said ARC; and wherein said multiple support elements are rigidly coupled with a connection surface of said connection station.
[19]
19. The solar tracker waterless cleaning system according to claim 17, wherein said multiple blocking bars are made of a material that is selected from the list consisting of:
metal;
hard plastic and
fiberglass.
[20]
20. The waterless solar tracker cleaning system according to claim 17, wherein said master controller is coupled to a climate information center via a network.
[21]
21. The solar tracker waterless cleaning system according to claim 17, wherein said master controller is coupled with at least one climatic instrument to locally determine the weather at a location of said solar tracker.
[22]
22. The solar tracker waterless cleaning system according to claim 21, wherein said at least one climate instrument is selected from the list consisting of:
a thermometer;
a hygrometer;
a barometer and
an anemometer
[23]
23. The waterless cleaning system of the solar tracker according to claim 17, wherein said master controller further determines a wind direction and wherein said master controller provides an order to said solar tracker to be positioned at an angle of inclination according to said average speed of determined wind and said determined wind direction, said tilt angle compensates for a wind force of said determined average wind speed and said determined wind direction.
[24]
24. The waterless solar tracker cleaning system according to claim 17, wherein said master controller further determines a wind direction, and wherein said master controller provides an order to said ARC to clean said solar panels in a sweep pattern perpendicular to said determined wind direction and advance in said determined wind direction.
[25]
25. The waterless cleaning system of the solar tracker according to claim 17, wherein said master controller receives climate information and aggregates said climatic information together with said data to improve the predictive maintenance of said solar tracker.
[26]
26. The solar tracker waterless cleaning system according to claim 17, wherein said aggregation allows machine learning of a maintenance cycle of said solar tracker.
[27]
27. Method for cleaning without water a solar tracker comprising at least one autonomous robotic cleaner (ARC) cleaning without water, where said ARC comprises a motion sensor for navigation, said solar tracker can be positioned at a predetermined angle, comprising the procedures of:
positioning said solar tracker at said predetermined angle during the night hours, where said predetermined angle is between -10 and + 10 degrees from a horizontal angle of zero degrees;
calibrate said motion sensor to a local north with respect to said solar tracker;
providing a signal to begin cleaning said ARC to clean a surface of said solar tracker and
cleaning said solar tracker by using a directional air flow to remove dirt from said surface of said solar tracker,
wherein said ARC autonomously traverses said surface of said solar tracker using said motion sensor.
[28]
28. The method for cleaning without water according to claim 27, wherein said predetermined angle is substantially zero degrees from said horizontal angle.
[29]
29. The method for cleaning without water according to claim 27, wherein said solar tracker further comprises a connection station with multiple anchoring elements, further comprising the method of providing a signal to return to the connection station to said ARC when an unfavorable climate is detected.
[30]
30. The method for cleaning without water according to claim 27, wherein said cleaning procedure of said solar tracker comprises the subprocedure of removing said dirt from said surface of said solar tracker using a predefined path.
[31]
31. The method for cleaning without water according to claim 30, wherein said predetermined path is selected from the list consisting of:
a zigzag trajectory;
a scan path and
a sweeping path
[32]
32. The method for cleaning without water according to claim 27, wherein said method of cleaning said solar tracker using said directional air flow minimizes a pressure exerted on an anti-glare coating covering the solar panels of said solar tracker.
[33]
33. The method for cleaning without water according to claim 27, wherein said solar tracker is in variable wind conditions, further comprising the method of determining an average wind speed and a wind direction on said solar tracker before said calibration procedure,
wherein said method of providing said cleaning start signal comprises the subprocedure of providing said cleaning start signal to said ARC if said determined average wind speed is below a predetermined wind threshold; Y
wherein said ARC cleans said surface using a scan pattern perpendicular to said determined wind direction and advancing in said determined wind direction.
[34]
34. The method for cleaning without water according to claim 33, which further It includes the procedures of:
determining a tilt angle of the solar tracker to compensate for a wind force of said determined average wind speed and said determined wind direction; Y
positioning said solar tracker at said compensation tilt angle before said subprocedure to provide said signal to begin cleaning.
[35]
35. The method for cleaning without water according to claim 33, further comprising the methods of:
adding climate information at a location of said solar tracker with data related to an operation of said ARC to improve the predictive maintenance of said solar tracker; Y
adding said climatic information and said data to allow machine learning of a maintenance cycle of said solar tracker.
[36]
36. A fixed angle solar panel waterless cleaning system for cleaning solar panels of a solar panel, wherein said solar panel is fixed at a predetermined angle, said solar panel waterless cleaning system comprises:
a connection station, coupled with an edge of said solar panel; Y
an autonomous robotic cleaner (ARC),
where said ARC comprises:
at least one rechargeable energy source;
at least one cleaning cylinder, to clean the dirt from a surface of said solar panel without water and
a controller, to control a cleaning process of said ARC and to transmit and receive signals to and from said ARC,
said controller comprises a motion sensor, to determine a header of said ARC;
said at least one cleaning cylinder further comprises multiple fins that rotate to generate a directional air flow to remove said dirt from said surface of said solar panel;
said connection station comprises at least one electrical connector to recharge the rechargeable power source,
where said ARC can be anchored in said connection station; where said predetermined angle is between -10 and 10 degrees from a horizontal angle of zero degrees;
wherein said motion sensor is used to control the course of said ARC autonomously on said surface of said solar panel; where said multiple fins touch said surface of said solar panel when said multiple fins rotate and
wherein said ARC cleans said solar panel by said directional air flow and said contact of said multiple fins removes dirt from said surface of said solar panel.
[37]
37. The waterless cleaning system of the solar tracker according to claim 1, wherein in said connection station, said at least one rechargeable power source remains coupled with said at least one electrical connector while said solar follower changes angle.

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同族专利:

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公开号 | 公开日

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ZA201905455B|2020-05-27|

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ES2727008R1|2020-01-22|

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AU2018211923B2|2021-02-18|

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MX2019008879A|2019-10-30|

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US10498288B2|2019-12-03|

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AU2018211923A1|2019-08-15|

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US20180212559A1|2018-07-26|

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ES2727008B2|2021-06-28|

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IL268297D0|2019-09-26|

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WO2018140595A1|2018-08-02|

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CL2019002097A1|2020-01-31|

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优先权:

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申请号 | 申请日 | 专利标题

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US201762450584P| true| 2017-01-26|2017-01-26|

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US201762470342P| true| 2017-03-13|2017-03-13|

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US15/826,976|US10498288B2|2017-01-26|2017-11-30|Waterless cleaning system and method for solar trackers using an autonomous robot|

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PCT/US2018/015221|WO2018140595A1|2017-01-26|2018-01-25|Waterless cleaning system and method for solar trackers using an autonomous robot|

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