Method and apparatus for controlling a solar panel cleaning robot

Abstract

A method and apparatus for controlling a solar panel cleaning robot are disclosed. The present invention relates to a method and control apparatus (DV1) for a cleaning robot (DV2) used on a solar panel (12). The method includes: a) acquiring environmental data (DT) via a sensor (CP), the environmental data (DT) including temperature data (DT1) representing ambient air temperature (T1), humidity data (DT2) representing relative humidity (RH), and wind data (DT3) representing wind intensity (F); b) checking conditions indicating the presence of water condensation on the surface (12a), including: checking that the temperature (T1) and relative humidity (RH) satisfy a first condition indicating that the dew point has been reached; and as a second condition, checking that the wind intensity (F) is less than or equal to a threshold; and activating a cleaning function (F1) of the cleaning robot when the first and second conditions are detected to be met.

Description

Technical Field

[0001] This invention relates to the field of solar panel cleaning, and more particularly to the control of cleaning robots designed to clean solar panels. Specifically, the invention relates to an apparatus and method for controlling such a cleaning robot. Background Technology

[0002] The emergence of renewable energy, particularly photovoltaic solar panels, represents a major turning point in combating climate change and reducing our carbon footprint. These technologies play a vital role in the global energy transition through their ability to convert solar energy into green electricity. However, to maximize their efficiency, solar panels must be cleaned to remove dust and other debris that naturally accumulates on their surfaces.

[0003] Emerging around 2010-2011, photovoltaic (PV) cleaning has proven essential for ensuring power generation and a long installation lifespan. Initially small-scale operations, this activity has evolved alongside the rise of renewable energy. Conventional PV cleaning technologies primarily involve cleaning using brushes, rotary brushes, and more recently, remotely controlled robots. However, each of these methods presents significant technical challenges.

[0004] For example, brush cleaning raises safety and health concerns for operators, results in inconsistent cleaning quality, and requires significant water consumption as well as high personnel and economic costs. Meanwhile, while rotary brush cleaning improves cleaning efficiency, it continues to present challenges in terms of safety and high cost, without addressing the issue of excessive water consumption. Finally, while using remote-controlled robots reduces physical exertion, it also raises safety concerns, incurs substantial costs, and does not significantly reduce water consumption.

[0005] In general, excessive water consumption associated with traditional cleaning methods is therefore one of the challenges that needs to be addressed. This water consumption not only violates the principles of sustainability and environmental friendliness inherent in solar energy, but also contributes to a larger environmental footprint, especially in regions where water is a scarce and precious resource. Summary of the Invention

[0006] The purpose of this invention is to overcome at least one of the shortcomings of the prior art.

[0007] Another object of the present invention is to provide an environmentally friendly solution that enables the effective maintenance of solar panels.

[0008] Another object of the present invention is, in particular, to ensure the efficient cleaning of solar panels with limited environmental impact, in order to improve the efficiency of the panels, with respect to water consumption.

[0009] Therefore, according to a first aspect, the present invention relates to a method implemented by a control device for controlling a cleaning robot designed to clean the surface of a solar panel, the method comprising: a) Environmental data is obtained by means of at least one sensor, including temperature data representing the temperature of the air surrounding the solar panel, humidity data representing the relative humidity of the air surrounding the panel, and wind data representing the wind intensity in the air surrounding the panel. b) Inspect conditions indicating the presence of water condensation on the surface of the solar panel, including: ● Based on temperature and humidity data, check that the temperature and relative humidity meet the first condition indicating that the dew point has been reached; and ● As a second condition, based on wind data, check if the wind intensity is less than or equal to a second threshold; and c) When at least the first and second conditions are detected, activate the cleaning function of the cleaning robot to initiate cleaning of the surface of the solar panel.

[0010] The method according to the invention may include other features that can be taken separately or in combination, particularly from the following embodiments, which are presented for illustrative purposes only and may be combined or associated unless otherwise stated.

[0011] In a specific example, the first condition indicates that the dew point has been reached or is about to be reached.

[0012] In a specific example, step b) includes: - Determine the dew point temperature of the surrounding air based on humidity data; and - As a first condition, based on temperature data, check whether the ambient air temperature is less than or equal to a first threshold that depends on the dew point temperature.

[0013] In a specific example, checking b) includes: - As a first condition, based on temperature data, check that the ambient air temperature is less than or equal to the dew point.

[0014] In a specific example, the environmental data includes precipitation data representing the level of water in the surrounding air. The method includes, as a third condition, checking that the precipitation level is at least equal to a third threshold based on precipitation data. If the third condition is met, then the cleaning function is activated in c), regardless of whether the first and second conditions are met.

[0015] In a specific example, precipitation data includes at least one of the following data that define precipitation levels: - Volume data representing the volume of precipitation; - Intensity data representing the intensity of precipitation; and - Frequency data representing the frequency of precipitation.

[0016] In a specific example, the control methods include: - Obtain time data indicating the current time; and - During the inspection period in b), the inspection time data meets the time condition; If the first and second conditions, as well as the time condition, are met, then the cleaning function is activated in c).

[0017] In this particular example, the control device is separate from the cleaning robot.

[0018] According to a specific example, the activation of the cleaning function is performed by sending an activation command to the cleaning robot via a communication link (c).

[0019] According to a second aspect, the present invention relates to a computer program comprising instructions adapted to perform steps of the method according to the first aspect of the invention, particularly when the computer program is executed by at least one processor.

[0020] Such computer programs can use any programming language and can take the form of source code, object code, or intermediate code between source code and object code, such as in a partially compiled form, or in any other desired form.

[0021] Therefore, the method of the present invention can be implemented by means of a non-volatile memory storing computer program instructions and by means of a processor executing those instructions.

[0022] According to a third aspect, the present invention relates to a computer-readable recording medium (or information carrier) on which a computer program is recorded, the computer program including instructions for performing steps of the method according to the first aspect of the invention.

[0023] On the one hand, the recording medium can be any entity or device capable of storing programs. For example, the medium can include storage devices such as ROM, RAM, CD-ROM or microelectronic circuit type ROM, or magnetic recording media or hard disk.

[0024] On the other hand, the recording medium can also be a transmissible medium, such as electrical or optical signals, capable of being transmitted via electrical or optical lines, through conventional radio or wireless transmission, through guided laser beams, or by other means. The computer program according to the invention can be downloaded, in particular, from an Internet-type network.

[0025] Alternatively, the recording medium may be an integrated circuit in which a computer program is incorporated, the integrated circuit being adapted to perform the method in question or being used in performing the method in question.

[0026] According to a fourth aspect, the present invention relates to a control device configured to implement a method according to a first aspect of the invention. In particular, the invention provides a control device configured to control a cleaning robot intended to clean the surface of a solar panel, the control device including a memory associated with at least one processor configured to perform steps of the method according to the first aspect of the invention.

[0027] In the example, the control device includes: - The acquisition module is configured to acquire environmental data by means of at least one sensor, including temperature data representing the temperature of the air surrounding the solar panel, humidity data representing the relative humidity of the air surrounding the panel, and wind data representing the wind intensity in the air surrounding the panel. - An inspection module, configured to inspect conditions indicating the presence of water condensation on the surface of a solar panel, is configured to: ● Based on temperature and humidity data, check that the temperature and relative humidity meet the first condition indicating that the dew point has been reached; and ● As a second condition, based on wind data, check if the wind intensity is less than or equal to a second threshold; and - The control module is configured to activate the cleaning function of the cleaning robot to induce cleaning of the surface of the solar panel when at least a first condition and a second condition are detected.

[0028] It should be noted that the various embodiments and associated advantages mentioned above (and described below) related to the control method of the present invention are similarly applicable to the control device of the present invention.

[0029] For each step of the control method, the control device of the present invention may include a corresponding module configured to perform the step.

[0030] In embodiments, the invention is implemented using software and / or hardware components. In this context, the term "module" in this document may refer to a software component, a hardware component, or a combination of both.

[0031] A software component corresponds to one or more computer programs, one or more subroutines of a program, or more generally any element of a program or software capable of implementing the functions or sets of functions described below for the modules or steps involved. Such a software component may be executed by a data processor of a physical entity (terminal, server, computer device, etc.) and has the ability to access the hardware resources of that physical entity (memory, storage medium, communication bus, input / output circuit board, user interface, etc.).

[0032] Similarly, a hardware component corresponds to any element of a hardware assembly capable of performing the functions or sets of functions described below for the relevant modules or steps. This can be a programmable hardware component or a component with an integrated processor for executing software, such as an integrated circuit, a smart card, a memory card, an electronic card for executing firmware, etc.

[0033] According to a fifth aspect, the present invention relates to a system (or control system) comprising: - Cleaning robots designed to clean the surfaces of solar panels; and - A control device according to a fourth aspect of the invention, the device being configured to control a cleaning robot.

[0034] This invention advantageously provides an environmentally friendly solution that enables efficient maintenance of solar panels. In particular, it ensures efficient cleaning of solar panels with limited environmental impact, especially in terms of water consumption, thereby improving the efficiency of the panels. Therefore, it is possible to reduce the amount of water required to clean the solar panels, or even to perform cleaning without requiring water supply from the manager responsible for the maintenance of the solar panels. Attached Figure Description

[0035] Refer to the accompanying documents. Figures 1 to 5 Further features and advantages of the invention will become apparent from the following description of specific, non-limiting embodiments of the invention, set forth in the accompanying drawings: [ Figure 1 The diagram schematically illustrates a control device, and more generally, a control system, configured to control a cleaning robot according to at least one specific embodiment. [ Figure 2 The illustration schematically depicts an embodiment according to at least one specific method. Figure 1 The control equipment and cleaning robots (the cleaning robots are located within their stations); [ Figure 3 The illustration schematically depicts an embodiment according to at least one specific method. Figure 1 The control equipment and cleaning robots (the cleaning robots operate outside their stations); [ Figure 4The schematic illustration depicts a structure according to at least one specific embodiment. Figure 1 The control device implements the module; and [ Figure 5 The schematic illustration depicts a structure according to at least one specific embodiment. Figure 1 The control equipment implements the steps of a control method for controlling a cleaning robot. Detailed Implementation

[0036] Now refer to the following Figures 1 to 5 Examples of embodiments of the present invention are described below. Unless otherwise stated, several common or similar elements in the figures carry the same reference numerals and have the same or similar characteristics, and therefore, for the sake of simplicity, these common elements are generally not described again.

[0037] The terms “first,” “second,” etc., are used in this document in accordance with any convention to identify and distinguish different elements (such as operations, modules, etc.) implemented in the embodiments described below.

[0038] The present invention relates in particular to a method and control device for controlling a cleaning robot designed to clean the surface of a solar panel.

[0039] Therefore, according to various embodiments, the present invention proposes controlling a cleaning robot by means of a control device. Based on environmental data, the control device checks whether conditions indicating the presence of water condensation (or dew) on the surface of the solar panel are met. If met, the control device initiates cleaning of the solar panel surface by activating the cleaning function of the cleaning robot.

[0040] In a specific example, the methods include: a) Environmental data is obtained by means of at least one sensor, including temperature data representing the temperature of the air surrounding the solar panel, humidity data representing the relative humidity of the air surrounding the panel, and wind data representing the wind intensity in the air surrounding the panel. b) Inspect conditions indicating the presence of water condensation on the surface of the solar panel, including: ● Based on temperature and humidity data, check that the temperature and relative humidity meet the first condition indicating that the dew point has been reached; and ● As a second condition, based on wind data, the wind intensity is checked to be less than or equal to a second threshold; and when at least the first and second conditions are detected, the cleaning function of the cleaning robot is activated to induce cleaning of the surface of the solar panel.

[0041] Further aspects and advantages of the invention will become apparent from the embodiments described below with reference to the foregoing accompanying drawings. In particular, the invention also relates to corresponding control devices and corresponding computer programs for performing the steps of the control method.

[0042] In this document, the terms "solar panel," "photovoltaic panel," "photovoltaic solar panel," or "photovoltaic module" may be used interchangeably. As is well known, a solar panel is a device configured to convert solar energy into electrical energy.

[0043] As indicated below and described in the embodiments set forth below, the control device and corresponding method are specifically based on checking whether the dew point in the air surrounding the solar panel has been reached. Depending on the circumstances under discussion, reaching the dew point can correspond to the fact that it has been reached or is about to be reached. In other words, this can involve detecting whether the dew point has been reached at the current moment, or is about to be reached (or will be reached in the future), as the case may suggest.

[0044] As those skilled in the art will understand, the dew point (also known as the dew point temperature) is the temperature at which moist air becomes saturated with water vapor and begins to condense. At and below this temperature, the water vapor contained in the air condenses on surfaces due to saturation, thus forming "dew." This water vapor has a partial pressure equal to the saturation pressure and a relative humidity of 100% RH.

[0045] It has been observed that estimating the dew point in a given location (e.g., in the air surrounding a solar panel) can be complex, particularly due to the variability of environmental conditions. Factors such as ambient temperature and relative humidity play a crucial role in determining the dew point. These variables are not only likely to change rapidly in a localized area, but their interactions also affect the air's ability to retain moisture. Therefore, accurately predicting when the dew point will be reached in a localized region is difficult. As described below, the present invention therefore relies on monitoring environmental conditions to determine whether the dew point has been reached or is about to be reached in the air surrounding one or more solar panels.

[0046] Figure 1 The diagram schematically illustrates a control device DV1 configured to control a cleaning robot DV2 according to at least one specific embodiment, and more broadly, a control system SY1.

[0047] like Figure 1 As shown, the control device DV1 is capable of cooperating with the cleaning robot DV2 to enable the cleaning of the surface 12a of the solar panel 12. For this purpose, the control device DV1 is configured to control the cleaning robot DV2 to specifically activate the robot's cleaning function F1, thereby causing the surface 12a of the solar panel 12 to be cleaned.

[0048] Next, we consider this by way of example: the control device DV1 and the cleaning robot DV2 are distinct (or separate), and they are capable of interacting with each other to enable the cleaning of the solar panel 12. Alternatively, the control device DV1 can be integrated into the cleaning robot DV2 (forming part of it). In other words, the cleaning robot DV2 can alternatively incorporate the control device DV1.

[0049] A solar panel (or photovoltaic panel) 12 is a device configured to convert solar energy into electrical energy. For this purpose, it includes a plurality of photovoltaic cells configured to generate electrical energy from sunlight via the photovoltaic effect. Thus, when these cells are exposed to sunlight, incident photons induce the generation of an electron flow, thereby creating an electric current. For the sake of simplicity in describing the invention, the characteristics and operation of the solar panel 12 will not be described in detail in this disclosure.

[0050] As illustrated, the solar panel 12 includes a surface 12a, through which sunlight passes in this example to reach the upper surface of the photovoltaic unit. A DV2 cleaning robot is configured to clean surface 12a by moving across said surface according to cleaning function F1.

[0051] The cleaning robot DV2 can take various forms and configurations as appropriate. In this example, the robot DV2 includes a mobile device (or unit) 22, a cleaning device (or unit) 24, and a communication interface 26.

[0052] The mobile devices 22 are configured to allow the cleaning robot DV2 to move across surface 12a, specifically to perform cleaning according to the F1 cleaning function. For example, these mobile devices 22 may include wheels or tracks, enabling the robot to move on inclined surfaces where appropriate. Other types of mobile devices based on cables or overhead rails are possible. The mobile devices 22 may also incorporate a navigation system, including position detectors (such as GPS) and, possibly, sensors (proximity sensors, cameras, etc.), to enable the cleaning robot DV2 to move along a predetermined path, or even allow for automatic route adjustments during cleaning.

[0053] The cleaning device 24 is configured to enable the DV2 cleaning robot to clean the surface 12a of the solar panel 12 according to the cleaning function F1. For example, the cleaning device 24 may include a brush (not shown) or any other suitable cleaning mechanism to remove dirt, dust and / or debris without damaging the surface 12a of the photovoltaic unit. For example, a rotating brush may be actuated to clean the solar panel 12.

[0054] The cleaning robot DV2 can be autonomous or partially autonomous, capable of cleaning the surface 12a of the solar panel 12 with a certain degree of autonomy once the control device DV1 has instructed it to activate cleaning function F1. The degree of autonomy with which the cleaning robot DV2 performs cleaning can vary depending on the situation. For example, once function F1 has been activated, the cleaning robot DV2 can perform cleaning function F1 without further instructions from the control device DV1, or alternatively, the robot DV2 can exchange data or signals with the control device DV1 during the execution of function F1.

[0055] Communication interface 26 is configured to enable the cleaning robot DV2 to communicate with the control device DV1, and more specifically with another communication interface of the control device DV1 provided for this purpose.

[0056] like Figure 1 As shown in the diagram, the cleaning robot DV2 may also include at least one processor 28, which is configured to control the robot's components, including the moving device 22, the cleaning device 24, and the communication interface 26, for example, by executing a computer program (not shown) provided for this purpose. Specifically, the processor 28 may be configured to perform cleaning function F1 using the devices 22 and 24 under the control of the control device DV1.

[0057] like Figure 1 As shown in the figure, the control device DV1 in this example includes at least one processor 2, a communication interface 4, and at least one memory 6.

[0058] The memory 6 may include various types of memory, particularly volatile and non-volatile memory (of type RAM). Non-volatile memory may include read-only memory (of type ROM) and / or rewritable non-volatile memory. In particular, the memory 6 may include an operating system 10 executable by the processor 2 to operate the control device DV1.

[0059] The memory 6 constitutes a storage medium (or information carrier) readable by the control device DV1 according to a particular embodiment, and storing thereon a computer program PG1 according to various particular embodiments. The computer program PG1 includes instructions for performing the steps of the control method of the present invention according to a particular embodiment. In the following description... Figure 5 The steps of the method are illustrated in a specific embodiment.

[0060] Therefore, processor 2 is configured to execute instructions of computer program PG1 to perform the steps of the control method of the present invention according to a particular embodiment. For this purpose, processor 2 may include integrated memory, input / output interfaces, and various circuits known to those skilled in the art. In particular, processor 2 may use volatile memory within control device DV1 (which may form part of memory 6 or be a separate memory) to perform various operations and functions necessary for operating control device DV1 (including executing computer program PG1 during the implementation of the control method of the present invention).

[0061] like Figure 1 As shown, memory 6 is capable of storing various types of data that can be used during the execution of the control method. Therefore, memory 6 can store environmental data DT, including temperature data DT1 and humidity data DT2. Environmental data DT can also include other data, such as wind data DT3, or even precipitation data DT4 and / or pressure data DT5. In one example, memory 6 also allows the storage of time data TM1.

[0062] The environmental data DT defines the state of the air surrounding the solar panel 12 (i.e., the air (or atmosphere) surrounding the surface 12a to be cleaned). Specifically, temperature data DT1 represents the temperature T1 of the surrounding air at a given moment or over time. Humidity data DT2 represents the relative humidity HR of the surrounding air at a given moment or over time. Wind data DT3 represents the wind intensity (or speed) F in the surrounding air at a given moment or over time. These data DT thus allow characterization of the thermodynamic state of the air surrounding the solar panel 12 at a given moment or over time.

[0063] Furthermore, precipitation data DT4 characterizes precipitation in the surrounding air at a given moment or over time. These DT4 data may include at least one (or any combination of two) of the following: - Volumetric data representing precipitation volume DT4a; - Intensity data DT4b representing precipitation intensity; and - Frequency data DT4c representing the frequency of precipitation.

[0064] Where applicable, the time data TM1 used by the control device DV1 indicates the current time, i.e., the current point in time. This data thus enables the control device DV1 to determine the current time, such as the current date and / or time.

[0065] The nature and use of the various types of data mentioned above will be described in more detail later in specific examples.

[0066] The control device DV1 can take various forms depending on the circumstances, and in particular can be a computer, server, smartphone, tablet, remote control, or more generally a device that includes means configured to perform the steps of the control method of the present invention.

[0067] As in Figure 2 and Figure 3 As illustrated by way of example, the control device DV1 here takes the form of all or part of a docking station provided on or near the solar panel 12. This can be a fixed station including a cavity or shell designed to accommodate the cleaning robot DV2 when it is in standby or stationary. The DV2 robot can, for example, position itself in or on this station during the initial phase of the control method of the invention. However, other implementations of the control device DV1 are possible. In one example, the control device DV1 is positioned at a distance from the solar panel 12 and thus interacts remotely with the cleaning robot DV2.

[0068] like Figure 1 As illustrated in the diagram, the control device DV1 is configured to acquire the aforementioned environmental data DT using at least one sensor CP. This or these sensors CP are configured to capture local environmental data, i.e., data characterizing the air surrounding the solar panel 12. For this purpose, the sensor CP can be arranged on, within, or near the solar panel 12. For example, the sensor CP may be located within the control device DV1 and / or on the solar panel 12.

[0069] By way of example, assume that temperature data DT1 and humidity data DT2 are received from temperature sensor CP1 and humidity sensor CP2, respectively. These sensors CP1 and CP2 may optionally form part of a single thermo-hygrometer sensor (or probe) capable of measuring the temperature T1 and relative humidity HR of the air surrounding the solar panel 12.

[0070] Where applicable, the control device DV1 can also receive: - Wind data DT3 from sensor CP3 (e.g., anemometer); - Precipitation data DT4 from sensor CP4 (e.g., rain gauge); and / or - Pressure data DT5 from pressure sensor CP5 (e.g., barometer).

[0071] The type and number of sensors used can be adapted as appropriate based on the intended purpose and operating conditions. One or more corresponding sensors can be used to collect each type of data.

[0072] By way of example, assume that sensor CP is separate from control device DV1 and is therefore located outside of it. Control device DV1 is thus configured to collect data DT1 and DT2 acquired by sensors CP1 and CP2 respectively, and may also collect data DT3, DT4 and / or DT5 acquired by sensors CP3, CP4 and / or CP5 respectively.

[0073] As indicated, the rain gauge can be used in particular to measure rainfall in the surrounding air around the solar panel 12. Such a rain gauge can therefore include, for example, an open collector in the shape of a funnel, which directs precipitation (especially rainwater) toward the container. The measuring device can then be used to automatically measure the rainfall level at a given time or over time.

[0074] Control device DV1 may be capable of acquiring time data TM1 in various ways depending on the situation, where appropriate. Control device DV1 may, for example, implement a clock function (not shown) to determine the current date and / or time. Figure 1 As illustrated in the diagram, in a particular example, the control device DV1 can receive time data TM1 from an external source (e.g., from an external server DV3 to which the control device DV1 is capable of communicating).

[0075] As already indicated, according to an embodiment of the control method of the invention, the control device DV1 is capable of controlling the cleaning robot DV2 to activate the cleaning function F1 in particular. For this purpose, the control device DV1 can send one or more commands (or instructions) CMD1 to the cleaning robot DV2 to activate the cleaning function F1, thereby causing the surface 12a of the solar panel 12 to be cleaned.

[0076] Therefore, control device DV1 can use its communication interface 4 to communicate with cleaning robot DV2 via communication interface 26. Thus, a communication link L1 can be established between control device DV1 and cleaning robot DV2 via their respective communication interfaces 4 and 26. Figure 1 The link L1 can be wired or wireless, as appropriate. In one example, the link L1 is provided via complementary connections on the control device DV1 and the cleaning robot DV2, for example, when the cleaning robot DV2 is in its docking station or in its docking position on the docking station, these connections are capable of coupling together. In one example, the communication link L1 is a short-range wireless link of type Wi-Fi®, Bluetooth®, or BLE® (for "Bluetooth Low Energy"). It is possible to use other types of links, such as Z-Wave® or ZigBee®.

[0077] The communication link L1 can be established between the control device DV1 and the cleaning robot DV2 before or during the execution of the control method, so as to enable the transmission of at least one instruction CMD1 that triggers the activation of the cleaning function F1 on the cleaning robot DV2. In one example, the communication link L1 is maintained while the cleaning robot DV2 is performing cleaning, which allows the exchange of data or commands useful for the operation of the cleaning robot DV2 and / or the collection of information, statistics, etc. In particular, the control device DV1 can collect data sent by the cleaning robot DV2 during cleaning to monitor the execution of the cleaning function F1, or even adapt its execution according to operating conditions when necessary.

[0078] It is understood that specific elements that may be present in the control device DV1 and the cleaning robot DV2 have been intentionally omitted, as they are not essential for understanding the invention. Furthermore, the control device DV1, and more generally, the system SY1, constitutes a non-limiting example of an embodiment of the invention. Therefore, specific elements are described to facilitate understanding of the invention, but other implementations are possible.

[0079] like Figure 4 As shown in a particular embodiment, by computer program PG1 ( Figure 1 The processor 2, which is controlled by the processor, implements multiple modules, namely: acquisition module MD2, inspection module MD4 and control module MD6.

[0080] More specifically, the acquisition module MD2 can be configured to acquire environmental data DT by means of at least one sensor CP. The environmental data DT includes temperature data DT1 representing the temperature T1 of the surrounding air around the solar panel 12, humidity data DT2 representing the relative humidity HR of the surrounding air, and wind data DT3 representing the intensity (or speed) F of the wind in the surrounding air.

[0081] The inspection module (or processing module) MD4 can be configured to check the condition CD indicating the presence of water condensation on the surface 12a of the solar panel 12. Specifically, the inspection module MD4 can be configured to perform the following checks: - Based on temperature data DT1 and humidity data DT2, check that temperature T1 and relative humidity HR meet the first condition CD1 indicating that the dew point has been reached (i.e., the dew point has been reached or is about to be reached); and - As a second condition CD2, based on wind data DT3, check if the wind intensity F is less than or equal to the threshold TH2, which is known as the second threshold.

[0082] The control module MD6 is configured to activate the cleaning function F1 of the cleaning robot DV2 when at least the first condition CD1 and the second condition CD2 are detected, so as to cause cleaning of the surface 12a of the solar panel 12.

[0083] like Figure 5 As illustrated in at least one specific embodiment, the following is now described as previously referenced. Figures 1 to 4 The control device DV1 described herein implements the steps of the control method of the present invention. To this end, the control device DV1 executes instructions from the computer program PG1 to implement the control method including steps S2-S6.

[0084] During the acquisition step S2, the control device DV1 acquires environmental data DT by means of at least one sensor CP. The environmental data DT includes temperature data DT1, representing the temperature T1 of the air surrounding the solar panel 12; humidity data DT2, representing the relative humidity HR of the air surrounding the surrounding air; and wind data DT3, representing the intensity (or speed) F of the wind in the surrounding air.

[0085] By way of example, assume that data DT1, DT2 and DT3 are sensor data received by device DV1 from sensors CP1, CP2 and CP3 respectively (S2).

[0086] It has been observed that, reasonably assumed, during the dark period, at least when sunlight does not reach the solar panel 12, the ambient air temperature T1 is equivalent to the temperature of the surface 12a of the solar panel 12. Therefore, at night, the ambient air temperature T1 can be used to estimate the temperature of the surface 12a to be cleaned. It has been found that measuring the ambient air temperature T1 to estimate the temperature of the surface 12a is more efficient than directly measuring the temperature of the surface 12a. By monitoring the ambient air temperature T1 instead of the temperature of the surface 12a to be cleaned, it is therefore possible to reliably and efficiently assess local temperature conditions.

[0087] Environmental data DT can be acquired at a single point in time or multiple times over time. The device DV1 can therefore assess local environmental conditions at a given moment or monitor changes in local environmental conditions over time based on the acquired data DT1.

[0088] In checking step S4 ( Figure 5 During this period, control device DV1 checks the conditions CD indicating the presence of water condensation on surface 12a of solar panel 12. In other words, it checks whether conditions CD are met, which indicate the presence of water condensation on the surface of solar panel 12. These conditions CD are checked in S4 based on environmental data DT obtained in S2. As described below, the conditions CD being checked therefore include at least conditions CD1 and CD2.

[0089] More specifically, during the inspection step S4, device DV1 checks whether the temperature T1 and relative humidity HR meet the first condition CD1, indicating that the dew point has been reached, based on the temperature data DT1 and humidity data DT2 obtained in S2. In other words, if the first condition CD1 is detected, it indicates that the dew point temperature, denoted as T2, has been reached or may be about to be reached.

[0090] In a specific example, during step S4, control device DV1 determines the dew point temperature T2 of the ambient air based on humidity data DT2. As a first condition CD1, device DV1 then checks whether the ambient air temperature T1 is less than or equal to a first threshold TH1, which is a function of the dew point temperature T2, based on the temperature data DT1. The way this threshold TH1 is set can vary depending on the circumstances.

[0091] In a specific example, during step S4, control device DV1 determines a first threshold TH1 based on dew point temperature T2. As a first condition CD1, device DV1 then checks whether the ambient air temperature T1 is equal to or lower than the first threshold TH1 based on temperature data DT1.

[0092] In a specific example, during step S4, as a first condition CD1, control device DV1 checks based on temperature data DT1 whether the ambient air temperature T1 is less than or equal to the dew point temperature T2. In other words, if T1 ≤ T2, condition CD1 is detected. In this case, the first threshold TH1 is therefore equal to the dew point temperature T2.

[0093] In a specific example, during step S4, as a first condition CD1, control device DV1 checks whether the ambient air temperature T1 is less than or equal to the dew point temperature T2 multiplied by a coefficient K based on temperature data DT1. In other words, if T1 ≤ K * T2, then condition CD1 is detected, where K is a coefficient that can be adjusted appropriately. For example, K can be set to 1.05, so that if temperature T1 reaches 105% of the dew point temperature T2, then condition CD1 is satisfied.

[0094] In the example, control device DV1 uses digitized charts to determine whether the dew point has been reached based on data DT1 and DT2.

[0095] While still checking step S4, as a second condition CD2, the DV1 device checks, based on the wind data DT3 obtained in S2, whether the wind intensity F is less than or equal to a second threshold TH2. This threshold TH2 may be adapted, particularly depending on the photovoltaic installation in question (tilted, oriented, panel type, etc.), on an appropriate basis. As indicated below, this second threshold TH2 indicates the limiting wind intensity, exceeding which it is estimated that dew can be cleared or may not form on the surface 12a of the solar panel 12.

[0096] In detection step S6 ( Figure 5 During this period, upon detecting that at least the first condition CD1 and the second condition CD2 are met, the control device DV1 activates the cleaning function F1 of the cleaning robot DV2 to induce cleaning of the surface 12a of the solar panel 12. For example, this is achieved via communication link L1 (… Figure 1 Send at least one command CMD1 to the cleaning robot DV2 to execute the activation.

[0097] In response to the command CMD1, the cleaning robot DV2 can initiate the cleaning function F1 to clean the surface 12a of the solar panel 12. To this end, the cleaning robot DV2 can perform the cleaning, for example, by using its cleaning device 24 and by using its moving device 22 to move along a given cleaning path on the surface 12a of the solar panel. The robot DV2 can, for example, autonomously perform the cleaning function F1 relative to the control device DV1 once it has received the command CMD1, or alternatively, perform the function F1 under the control of the control device DV1 or in cooperation with the control device DV1.

[0098] This invention offers the advantage of providing an environmentally friendly solution for the effective maintenance of solar panels. In particular, it ensures efficient cleaning of the solar panel 12 with limited environmental impact, especially in terms of water consumption, thereby improving the efficiency of the panel. Therefore, the amount of water required to clean the solar panel 12 can be reduced, or even cleaning can be performed without the need for water use by the manager responsible for the maintenance of the solar panel.

[0099] To achieve this, cleaning of the solar panel 12 is activated during the implementation of the control method when condition CD, which indicates the presence of water condensation on the surface of the solar panel 12, is met. The water condensation (dew) present on the surface 12a of the solar panel can be advantageously utilized to facilitate or improve the cleaning by the cleaning robot DV2. The presence of water in the form of dew facilitates the operation of the cleaning device 24 of the cleaning robot DV2, thereby enabling the effective removal of dust and other dirt that may be present on the surface of the solar panel.

[0100] It has been observed that, even in limited quantities, water present on the surface of the solar panel as dew significantly enhances the cleaning capabilities of the DV2 cleaning robot compared to dry cleaning. In some cases, cleaning at the dew point also helps to limit the impact of friction or abrasion on the cleaning device 24 of the maintenance robot.

[0101] It may be difficult to predict dew formation locally based on global meteorological data that is not specifically tailored to the area of ​​the solar panel in question. This invention uses analysis of environmental data generated by local sensors to estimate whether the dew point has been reached or is about to be reached in the air surrounding the solar panel 12. This allows for determining the most appropriate time to initiate cleaning of the solar panel 12 by the cleaning robot DV2.

[0102] However, it has been observed that the fact that the ambient temperature T1 reaches the dew point T2 does not always guarantee the presence of water condensation on the surface of the solar panel 12, which is also attributed to the wind, which affects whether dew forms on the surface 12a of the solar panel 12. If the wind intensity F in the surrounding air is too high, it risks clearing away dew or preventing its formation on the surface of the solar panel. Therefore, if the wind intensity F is finite (i.e., less than or equal to the threshold TH2), the control device DV1 is activated (S6, Figure 5 Cleaning function F1.

[0103] By simultaneously checking compliance with both conditions CD1 and CD2, it is possible to maximize the likelihood that dew will be present on the surface of the solar panel 12 when the cleaning robot DV2 initiates cleaning, thereby ensuring effective cleaning with limited environmental impact.

[0104] For example, if the dew point T2 is reached but excessive wind (wind intensity F>TH2) is detected, this means that the condition CD regarding dew formation on the surface 12a of the solar panel 12 is not met, and therefore the cleaning function F1 is not activated.

[0105] Depending on the region in question, dew may form more or less periodically on the surface of solar panel 12. If necessary, adjustments can be made at S4 ( Figure 5 The conditions to be checked in the ) are CD, especially the threshold TH2, to allow the cleaning function F1 to be activated at the appropriate time.

[0106] In a specific example, in S2 ( Figure 5 The environmental data DT obtained includes precipitation data DT4, representing the level of water in the surrounding air. During the inspection step S4, as a third condition CD3, device DV1 can then check that the precipitation level is at least equal to a third threshold TH3 based on the precipitation data DT4. If the third condition CD3 is met, then in S6 ( Figure 5 The cleaning function F1 is activated regardless of whether the first condition CD1 and the second condition CD2 are met. Even if conditions CD1 and CD2 are not met, the activation of the cleaning function F1 can be forced.

[0107] Therefore, in this specific example, the cleaning function F1 is activated if either of the following two criteria is met: - Meets the first condition CD1 and the second condition CD2; and - Meets the third condition CD3.

[0108] In this way, cleaning can be optimized by expanding the conditions that trigger the F1 cleaning function. Even if the conditions for dew (or water condensation) formation are not met, cleaning is activated if there is sufficient rainfall, provided that the surface 12a of the solar panel 12 is estimated to have a good chance of being wet. This promotes cleaning and thus improves the performance of the DV2 cleaning robot. This allows the number of cleaning robot operations to increase over a given period of time (e.g., a year), ensuring that most moisture is naturally present in the surrounding air and on the surface of the solar panel 12.

[0109] As mentioned earlier, precipitation data DT4 can be collected using the CP4 rain sensor. This allows for monitoring of precipitation exposed to the solar panel 12. Precipitation refers to all forms of water originating from the atmosphere, whether liquid or solid (water condensate, or atmospheric water in the form of ice crystals or droplets (e.g., rain / drizzle / snow / hail)).

[0110] The properties of precipitation data DT4 can vary depending on the circumstances. For example, S2 ( Figure 5 The precipitation data obtained in DT4 includes at least one of the following data items that define the precipitation level: - Volumetric data representing precipitation volume DT4a; - Intensity data DT4b representing precipitation intensity; and - Frequency data DT4c representing the frequency of precipitation.

[0111] Control device DV1 may consider any combination of at least two (or all three) of the data DT4a-DT4c mentioned above in order to determine whether the third condition CD3 is met.

[0112] According to an example, in checking step S4 ( Figure 5 During this period, control device DV1 performs at least one (or at least two, or all three) of the following: - Check that the precipitation volume is at least equal to the third threshold TH3; - Check that the precipitation intensity is at least equal to the third threshold TH3; and - Check that the precipitation frequency is at least equal to the third threshold TH3.

[0113] In a specific example, in the control method ( Figure 5 During this period, control device DV1 obtains time data TM1 indicating the current time t. Figure 1 These time data TM1, for example, specify the current date and / or current time. Control device DV1 then checks S4 (…). Figure 5 During S6, check if time data TM1 satisfies time condition CD4. If the first condition CD1 and the second condition CD2 are satisfied, and if time condition CD4 is also satisfied, then in S6... Figure 5 The cleaning function F1 can be activated in the context of the time condition CD4. For example, if conditions CD1 and CD2 are met but the time condition CD4 is not met, the activation of the cleaning function F1 can be prevented.

[0114] In this way, the current moment in which the control method is being executed can be advantageously considered when deciding whether to activate the cleaning function F1. A combination of environmental data DT and time data TM1 can therefore be considered to refine the control of the cleaning function F1 as a function of time. For example, cleaning can be activated only during a predetermined time window most conducive to dew formation (e.g., a time window of the theoretical sunrise time at the location containing the solar panel—particularly conducive to the formation of morning dew). This further improves the detection of conditions conducive to the presence of moisture on the surface of the solar panel, thereby improving cleaning quality while limiting the required amount of water.

[0115] Time data TM1 can be obtained in various ways: for example, it can be received from server DV3 or determined by device DV1 by implementing a clock function. Device DV1 can, for example, receive a timestamp within GPS data received from server DV3, which defines the location of cleaning robot DV2. This GPS data can also be transmitted by control device DV1 to cleaning robot DV2 to assist the latter in positioning itself on solar panel 12.

[0116] In a specific example, in the acquisition step S2 ( Figure 5 During this period, control device DV1 acquires pressure data DT5 representing the ambient air pressure P. In other words, the environmental data DT received in S2 includes pressure data DT5. If pressure P meets the fifth condition CD5, which indicates the risk of atmospheric disturbance, control device DV1 blocks or disables the cleaning function F1. If pressure P is greater than or equal to a pressure threshold, then, for example, the fifth condition CD5 is met.

[0117] In a specific example, the cleaning function F1 is activated if the first condition CD1 and the second condition CD2 are met and the fifth condition CD5 is not met.

[0118] In this way, if the ambient air pressure P is so high that it indicates a risk of atmospheric disturbance (such as the formation of a storm or similar event), the cleaning robot DV2 can be prevented from cleaning the solar panels. In this case, the conditions required for cleaning the solar panels are not met, and therefore function F1 is not activated. For example, if condition CD5 is detected while function F1 is already activated and still in progress, the control device DV1 sends a command to the cleaning robot DV2 to pause cleaning (stop function F1) and, if possible, return to the docking station.

[0119] As described above in a specific example of the control method of the present invention, in step S4 ( Figure 5 The condition CD being checked includes at least conditions CD1 and CD2. In a variant, the first condition CD1 is checked in S4, but the second condition CD2 is not checked. In other words, it checks whether the dew point has been reached without considering wind intensity F. Therefore, it is possible to predict the appropriate time when dew is likely to form on the surface of the solar panel without using wind data, thereby limiting the complexity and processing cost of the method.

[0120] Therefore, in a specific example, the present invention relates to a method for controlling a cleaning robot DV2 designed to clean the surface 12a of a solar panel 12, the method comprising: a) Obtain (S2) environmental data DT by means of at least one sensor CP, the environmental data DT including temperature data DT1 representing the temperature T1 of the air surrounding the solar panel and humidity data DT2 representing the relative humidity HR of the air surrounding the panel; b) Check (S4) the conditions CD indicating the presence of water condensation on the surface of the solar panel, including: ● Based on temperature and humidity data, check that the temperature and relative humidity meet the first condition CD1 indicating that the dew point has been reached; and c) When at least the first condition CD1 is detected, activate (S6) the cleaning function F1 of the cleaning robot DV2 to cause cleaning of the surface 12a of the solar panel 12.

[0121] As those skilled in the art will understand, all embodiments and variations described above (some of which have been intentionally simplified to facilitate explanation) constitute merely non-limiting examples of implementations of this disclosure. In particular, those skilled in the art can contemplate any adaptation or combination of the embodiments and variations described above to suit specific needs.

[0122] The present invention is therefore not limited to the embodiments described above, but is particularly extended to control methods that include secondary steps without departing from the scope of the invention. The same applies to control devices, or more generally, control systems, used to implement such methods.

Claims

1. A method implemented by a control device (DV1) for controlling a cleaning robot (DV2) designed to clean the surface (12a) of a solar panel (12), the method comprising: a) Obtain (S2) environmental data (DT) by means of at least one sensor (CP), the environmental data (DT) including temperature data (DT1) representing the temperature (T1) of the air surrounding the solar panel, humidity data (DT2) representing the relative humidity (RH) of the air surrounding the panel, and wind data (DT3) representing the wind intensity (F) in the air surrounding the panel. b) Check (S4) the conditions (CD) indicating the presence of water condensation on the surface of the solar panel, including: ● Based on temperature and humidity data, check that the temperature and relative humidity meet the first condition (CD1) indicating that the dew point has been reached. as well as ● As a second condition (CD2), based on wind data, check if the wind intensity is less than or equal to a second threshold (TH2); and c) When at least the first and second conditions are detected, activate (S6) the cleaning function (F1) of the cleaning robot to cause cleaning of the surface of the solar panel.

2. The method of claim 1, wherein the first condition (CD1) indicates that the dew point (T2) has been reached or is about to be reached.

3. The method of claim 1 or 2, wherein checking b) comprises: - Determine the dew point temperature (T2) of the surrounding air based on the humidity data (DT2); as well as - As a first condition (CD1), based on temperature data (DT1), check whether the temperature of the surrounding air (T1) is less than or equal to a first threshold (TH1) that depends on the dew point temperature.

4. The method as described in any of the preceding claims, wherein the inspection step b) comprises: - As a first condition (CD1), based on the temperature data (DT1), check whether the ambient air temperature (T1) is less than or equal to the dew point temperature (T2).

5. The method as described in any of the preceding claims, wherein the environmental data includes precipitation data (DT4) representing the level of water in the ambient air. The method comprises: As a third condition (CD3), based on precipitation data, the precipitation level is checked to be at least equal to the third threshold (TH3). If the third condition is met, then activate the cleaning function (F1) in c), regardless of whether the first and second conditions are met.

6. The method of claim 5, wherein the precipitation data (DT3) includes at least one of the following data items defining the precipitation level: - Volume data representing precipitation volume (DT3a); - Intensity data representing precipitation intensity (DT3b); and - Frequency data representing precipitation frequency (DT3c).

7. The method as described in any one of the preceding claims, wherein the method comprises: - Obtain time data (TM1) indicating the current time (t); as well as - During the inspection period in b), the inspection time data satisfies the time condition (CD4). If the first and second conditions, as well as the time condition, are met, then the cleaning function is activated in c).

8. The method as described in any of the preceding claims, wherein the control device (DV1) and the cleaning robot (DV2) are separate.

9. The method as claimed in any of the preceding claims, wherein activation of the cleaning function (F1) is performed by sending an activation command (CMD1) to the cleaning robot via a communication link (L1).

10. A computer program (PG1) comprising instructions for implementing the method as described in any of the preceding claims when executed by a processor (2).

11. A control device (DV1) configured to control a cleaning robot (DV2) designed to clean the surface (12a) of a solar panel (12), the control device including a memory (6) associated with at least one processor configured to perform the steps of the method as claimed in any one of claims 1 to 9.

12. A system (SY1) comprising: - Cleaning robot (DV2) for cleaning the surface of solar panels; and - The control device (DV1) as described in claim 11 is configured to control a cleaning robot.

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