Robot for cleaning solar panels with attachable and replaceable brush assembly

Abstract

Robot for cleaning solar panels, with at least one adjustment unit with at least one brush assembly that can be attached to and replaced on the robot, preferably with at least one feed device via which a liquid medium and / or energy can be supplied to the brush assembly, characterized in that at least one brush assembly can be attached replaceably to both the front and the back of the robot.

Description

[0001] The invention relates to a robot for cleaning surfaces and a replaceable brush device that can be attached thereto. The invention is particularly directed at cleaning panels of photovoltaic systems, but application to solar thermal systems is also conceivable.

[0002] The applicant reserves the right to also claim protection for a robot for cleaning panels of solar thermal systems.

[0003] Solar energy (also known as photovoltaics, or PV for short) is being used more and more frequently to generate energy through renewable sources. The advantage is that this form of energy generation does not emit greenhouse gases.

[0004] Sunlight is converted directly into electrical current. Individual solar cells consist of a semiconductor material, usually silicon, with a p- and n-doped layer. When photons from sunlight hit the semiconductors, their energy excites the electrons in the silicon, causing an electrical current to flow. This creates a direct current (DC). The output power is directly dependent on the light intensity received by the solar cell.

[0005] By connecting and encapsulating individual solar cells in series, the current flow is increased, creating solar modules. These are called panels.

[0006] Today, many buildings have solar panels installed on their roofs to generate electricity. So-called solar parks are also being built on open spaces in a wide variety of sizes. Applications ranging from a few square meters to several thousand square meters of contiguous solar panel area are known.

[0007] The solar panels are exposed to the elements, which is precisely what is desired in the case of sunlight to generate electricity. However, wind, rain, dew, and, in combination with dust and pollen, wet and / or contaminate the solar panel's surface, which absorbs solar radiation, and the power output is reduced. Contamination from bird droppings and feathers also occurs, obscuring parts of the solar panels. Sahara sand, snow, and similar substances also completely cover the surface, preventing any electricity production.

[0008] Furthermore, contaminated areas on solar panels can even cause hot spot effects. This hot spot effect can permanently reduce the efficiency and performance of a solar panel, accelerate panel aging, and even lead to physical damage to the panel, such as cracks, melting, and the like.

[0009] This is the worst possible scenario for the solar system owner. The otherwise profitable solar system is no longer functional and is generating no output.

[0010] Different cleaning methods are known for different types of contaminants. However, cleaning with pure water jets or high-pressure cleaners, for example, is not suitable for snow or temperatures below or near freezing.

[0011] The present invention is therefore based on the object of using a robot with interchangeable brush devices to adequately clean the contaminated surfaces of solar modules for all applications and thus to obtain the best possible yield from the incoming solar energy.

[0012] This is achieved according to the invention by the subject matter of the independent claims. Advantageous embodiments and further developments are the subject matter of the dependent claims.

[0013] A robot according to the invention for cleaning surfaces and in particular solar panels has at least one adjustment unit, at least one brush device that can be attached to the robot and replaced, and at least one supply device via which a liquid medium and / or energy can be supplied to the brush device, wherein at least one brush device can be attached to both the front and the rear of the robot in an exchangeable manner.

[0014] The robot is preferably designed so that it can move without causing damage to the solar surfaces. For example, the robot's wheels can be made of a material that won't scratch the surface being cleaned.

[0015] The robot is preferably designed to move over inclined (slanted) surfaces. Sufficient adhesion to the solar panel is achieved, preferably through its own weight and the wheels / tracks.

[0016] The robot is also suitable for use on inclined surfaces due to a low center of gravity and / or the appropriate arrangement of the wheels / caterpillars, which are suitable for crossing the gaps and steps that arise when the solar panels are arranged at an incline, without the robot suffering damage or falling over or getting stuck.

[0017] This ensures that the robot works as efficiently as possible without the need for human assistance.

[0018] The robot is preferably manually controlled, preferably remotely controlled, preferably pre-programmed and particularly preferably fully autonomously controllable.

[0019] Preferably, at least one fastening element for attaching a brush device is arranged on the front and rear sides of the robot. The brush device, and in particular the connecting element of the brush device, can be arranged accordingly on this fastening element.

[0020] The fastening element is preferably understood as part of the tool-free connection. It is designed to enable a tool-free connection.

[0021] Particularly preferably, at least two fastening elements are provided on the robot to enable attachment of a brush device, or the connecting element of the brush device, to both the front and rear of the robot. The robot is thus arranged between the two brush devices.

[0022] The robot as a whole, including possible attachments and devices such as the brush device, a tank, etc., has dimensions that are preferably not larger than 1500x700x250mm, preferably not larger than 1250x600x220mm and particularly preferably not larger than or equal to 1200x490x185mm.

[0023] To move the robot to its intended location, handles are attached (particularly on the narrower side to be grasped) to make it easy to handle. The handles are preferably centered around the center of gravity to prevent the operator from having to compensate for any additional tipping moment.

[0024] The word cleaning here also includes the removal of snow, ice, dew, dust, sand, foreign objects, leaves, soil and any other contaminants that may impair the received light intensity of the solar panels or cause hot spot effects.

[0025] The adjustment unit is preferably mounted on the robot in such a way that the brush device can preferably be moved in its entirety. This means that the brush device is preferably adjusted with the at least one brush, preferably with the at least one drive, and preferably with the feed device.

[0026] In a preferred embodiment, the adjustment is characterized in that the at least one adjustment unit can increase or decrease a contact pressure of the at least one brush device on the solar panels and / or can tilt the brush device.

[0027] This means that at least one inclination of the brush device is preferably possible. The inclination should be adjustable by at least 2°, preferably at least 5°, preferably at least 15°, preferably at least 30°, starting from the starting position rotated 90° around the z-axis to the main direction of movement.

[0028] This means that at least one raising or lowering of the brush device is preferably possible. This is preferably driven by a drive of the robot, preferably a dedicated drive. The drive is preferably selected from a group of drives that includes pneumatic, hydraulic, combustion, solar, and preferably electric drives.

[0029] The movement of the drive can then be carried out via additional drive means, such as chain drives, belt drives, power take-off shafts and gearboxes, in order to achieve a transmission or to transport the drive power to the point of action.

[0030] If the brush device is now lifted from the robot on a solar panel, the brushes move away from the panel surface and the contact pressure of the brush device against the panel surface is reduced.

[0031] Conversely, lowering the brush unit, i.e., reducing the distance between the brush unit and the panel surface, increases the contact pressure. This allows for a range of stubborn contaminants to be addressed. For heavily adherent contaminants, the contact pressure and thus the abrasion performance can be increased, while for lighter contaminants, a light contact pressure is sufficient. It is also possible, for example, to reduce the robot's movement speed in this case. This allows for a tailored response to different types of contamination.

[0032] In a further preferred embodiment, the robot has an inspection device for inspecting the surface to be cleaned. This inspection device preferably has an image recording device, such as a camera. This makes it possible to inspect a surface of the solar panels to be cleaned before or during the cleaning process, in particular to adapt the cleaning process accordingly.

[0033] Additionally or alternatively, it would also be possible to inspect a surface cleaned by the robot, particularly to verify the success of the cleaning process. If, for example, it is determined that the cleaning has not been completed completely or has only been inadequate, the cleaning process can be repeated.

[0034] An adjustment unit is particularly helpful for the replaceable brush device, as it allows the attachment of replaceable brush devices that do not have the same outer diameter of the brushes, provided that rotationally symmetrical brushes are used.

[0035] Raising the brush unit also makes changing brushes easier. Accessibility is improved, and the working position can be adjusted to suit the user.

[0036] Furthermore, the adjustment unit is preferably also suitable for an inclined position of the brush device. This can be imagined like the inclined position of a snow plow's blade. Firstly, an inclined position that forms a possible triangle is conceivable, i.e., an inclined position of two separate brush device parts, each at a positive and a negative angle, as seen from the main direction of movement of the robot.

[0037] Secondly, the entire brush device can be tilted at a positive or negative angle from the main direction of movement of the robot.

[0038] The adjustment unit (for raising and lowering, as well as tilting) can be operated mechanically. Preferably, the adjustment unit is implemented by a drive, which can be designed as described above.

[0039] The adjustment unit can be designed to be manually controlled, preferably remotely controlled, preferably pre-programmed and particularly preferably completely autonomously controllable.

[0040] The adjustment unit is preferably further adapted and intended to change at least one parameter characteristic of the cleaning of the solar panels by the robot. The adjustment unit is preferably further adapted to adjust the liquid supply and, in particular, the amount of liquid supplied.

[0041] The term "liquid medium" can describe any conceivable medium useful for cleaning. This group of liquid media includes, in particular, water, solutions, cleaning agents, soaps, chemical cleaners, antifreeze agents, de-icers, alkalis, brines, and the like. Mixtures of these components can also be used.

[0042] The liquid medium can also be viscous, especially highly viscous.

[0043] The front of the robot describes the front side, i.e., the side of the robot's main direction of movement. If a right-handed (x, y, z-KOS) coordinate system is placed at the robot's three-dimensional center, with the positive z-direction facing away from the solar panel and the positive y-direction perpendicular to the robot, the main direction of movement is the positive x-direction. The arrangement of the coordinate system can be seen in the figures.

[0044] The back side is the opposite direction of the front side in the negative y-direction. The top side of the robot is the side in the positive z-direction.

[0045] The bottom surface, opposite the top surface, is the plane in the negative z-direction.

[0046] A brush device can be interchangeably attached to the robot. This means that no brush device needs to be attached to the robot. Since it can be attached in the main direction of movement of the robot, i.e., in front of the robot, or against the main direction of movement, i.e., behind the robot, this designates the brush device as attachable.

[0047] The brush assembly is replaceable, meaning it can be replaced as a whole or as a unit. For example, if one of the brushes malfunctions, the entire assembly can be replaced with a new one, saving valuable working time at solar panel sites that are often difficult to access.

[0048] The brush assembly is also replaceable, making it easier to maintain both the brush assembly and the robot itself. The replaceable brush assembly makes the robot more manageable and lighter, making it easier for individual maintenance personnel to handle.

[0049] Mounting the brush unit in front of, behind, or in front of and behind the robot provides maximum flexibility. The best mounting position for the brush unit can be selected depending on the application. Mounting the brush unit on the side is also advantageous.

[0050] If solar panels are contaminated by leaves, it is conceivable to install the brush device in front of the robot in order to achieve safe contact for movement on the solar panels and not have to move on the slippery leaves as a base.

[0051] On the other hand, if there is contamination from pollen, it may be advisable to clean behind the robot using the brush device, as this will avoid leaving tracks or similar streaks on the solar panels.

[0052] In a preferred embodiment of the robot, at least one ventilation device, preferably several ventilation devices, is attached in particular to the underside of the robot.

[0053] Ventilation systems are designed to prevent the robot from slipping off the surface, even when the surface is tilted. A ventilation system can create a vacuum on the side facing the surface to be cleaned (underside), which increases the robot's adhesion to the surface. The generated suction force can be transported via hoses from the ventilation system to the application site on the robot, or it can be attached directly to the underside of the robot (side facing the surface to be cleaned; side in the negative z-direction).

[0054] The ventilation device is preferably designed as a vacuum cleaner motor, particularly preferably as a suction fan.

[0055] In a further preferred embodiment, the robot has a fan for exposing the surface to be cleaned to a gaseous medium, in particular air. This can, for example, dry the surface. This can be particularly advantageous in winter when it is important to prevent liquid from settling on the surface to be cleaned.

[0056] Preferably, the robot also has a heating device which is suitable and intended to heat air with which the surface is exposed.

[0057] In a preferred embodiment, the blower and / or the heating device can also be mounted on or removed from the robot.

[0058] In a further preferred embodiment, the robot has a position detection device that is suitable and intended to detect the position of the robot relative to the surface to be cleaned. This can be, for example, a GPS unit (Global Positioning System) or a beacon-based system. In this way, a user can quickly determine the position of the robot for larger areas to be cleaned.

[0059] The ventilation device can also be designed as a vacuum generation device. The suction force results from a vacuum, which further bonds the robot to the surface. The ventilation device could thus be designed as a vacuum pump, particularly a rotary vane pump, diaphragm pump, or turbo piston pump. The pumps for generating the vacuum can also be connected in series (multi-stage) to achieve a high vacuum. The additional force improves the robot's safety against slipping, falling, and accidents.

[0060] The total opening cross-section of the ventilation devices on the underside of the robot is not larger than three-quarters of the total robot surface on the underside, including the surface occupied by the means of locomotion, such as wheels, chains, or crawler tracks. The total opening cross-section of the ventilation device on the underside of the robot is preferably not larger than two-thirds of the total robot surface on the underside, preferably not larger than half, preferably not larger than one-third, and preferably not larger than one-quarter.

[0061] The opening cross-section of the ventilation device on the underside of the robot can be designed in any desired geometry. It is preferably rectangular, preferably round, and particularly preferably in a free-form shape that adapts to the given space conditions.

[0062] The additional force with which the robot is held on the surface is determined by the pressure applied to an area of ​​the opening cross-section of the ventilation device. The pressure to be generated is at least 3000 Pa, preferably at least 4000 Pa, preferably at least 5000 Pa, preferably at least 6000 Pa, and particularly preferably at least 7000 Pa.

[0063] In a preferred embodiment, the at least one replaceable brush device can be attached to the robot by at least one tool-free connection.

[0064] The connection of the entire brush assembly to the robot is preferably designed to be replaceable and tool-free. This allows for quick and easy replacement of various brush assembly components, even for non-professionals.

[0065] In a preferred embodiment, a plurality of different brush devices can be exchanged, in particular via exchangeable adapter elements, and preferably - in particular without tools - can be attached to the robot.

[0066] These can, for example, be brushes from different manufacturers. They can also be brushes for different applications, such as removing fine dirt, dust, or ice. For example, the different brush elements can have bristles of different thicknesses.

[0067] The brush devices can also have different dimensions, such as different lengths or different diameters.

[0068] Different adapter elements are preferably used to assemble these different brush devices.

[0069] This means that the adapter elements themselves are preferably replaceable, as are the brush devices themselves.

[0070] The multitude of different brush devices can be offered by different manufacturers, who often use different connection technologies. The different brush devices can then be interchangeably attached to the robot via adapter elements, particularly without the need for tools. An adapter element connects the brush device from any manufacturer to the robot.

[0071] The adapter element itself is preferably interchangeable so that any conceivable connection can be made between the fixed connection technology of the robot and the connection technology that varies depending on the manufacturer.

[0072] The connection of the adapter element to the robot and the connection of the adapter element to the brush device is preferably designed to be tool-free.

[0073] If the favorable situation arises that the connection technology of the robot and the brush device coincide, no additional adapter element is necessary to connect the two.

[0074] The tool-free connections are preferably selected from a group of connections which include plug-in connections, magnetic connections, dovetail connections, screw connections, snap connections, clamp connections, magnetic connections and in particular bayonet closures.

[0075] Likewise, the supply lines should be able to be changed without tools. Preferably, at least supply lines for energy and liquid medium are provided. Additional lines may also be provided. Preferably, a plurality of supply lines for liquid medium is provided so that individually different liquid media can be supplied to the brush device without the media mixing in the same supply lines.

[0076] Particularly preferably, the connection of the entire brush device is coupled to the supply lines, so that only a tool-free, replaceable connection is provided for fixing the brush device and the supply lines for supplying energy and liquid medium to the robot.

[0077] In a preferred embodiment, the tool-free connection is designed as a bayonet lock and can be connected with just a quarter turn. A safety screw is then preferably screwed into a recess to prevent twisting during use. Compared to a clamp connection, a bayonet lock can transmit higher forces.

[0078] In a preferred embodiment, a supply device is provided which supplies energy and / or a liquid medium, in particular from the robot to the brush device, wherein this supply device can preferably be attached to the robot without tools and / or in an exchangeable manner.

[0079] In a preferred embodiment, the at least one adjusting unit is capable of increasing or decreasing a contact pressure of the at least one brush device on the solar panels and / or of tilting the brush device. Details can be found in the description above.

[0080] In a preferred embodiment, at least one control unit is provided for controlling the robot and / or the at least one adjustment unit and / or the at least one brush device.

[0081] A control unit is preferably suitable for controlling the robot itself.

[0082] A control unit is preferably suitable for controlling the adjustment unit.

[0083] A control unit is preferably suitable for controlling the brush device.

[0084] A separate control unit can also be provided for each brush of the brushing device and / or for each drive of the robot.

[0085] The control unit of the robot itself controls, for example, the drives of the means of locomotion, such as wheels, chain drives or crawler tracks, the speed of the individual drives, and much more.

[0086] The control unit of the adjustment unit, for example, controls the adjustment unit as a whole, i.e., how far it should be raised or lowered to vary the contact pressure. The inclination is also adjusted to the desired angle.

[0087] The control unit also controls the brushing device as a whole, i.e., whether a liquid medium is supplied, how much liquid medium is supplied, and to which points it is supplied. It is possible to supply the liquid medium only to individual sections of the brushing device, particularly through individually controllable nozzles.

[0088] Additionally, individual brushes can be controlled. The individual brushes of the brushing system can rotate at different speeds, thus achieving energy-efficient cleaning results. The brushes can also rotate in different directions. This allows for excellent cleaning results even in uneven areas, such as grooved panel transitions.

[0089] The control of each individual control unit can be designed to be manual, preferably remote-controlled, preferably pre-programmed and particularly preferably completely autonomously controllable.

[0090] With a pre-programmed control system, which can sometimes be fully autonomous, the robot follows a zigzag pattern with the brush device. This can be better described as meandering. For example, with a rectangular area, the robot travels along one side of the rectangle, turns along the next side at the first corner, and then travels along this side. Once it has reached the second corner, the robot turns 180 degrees offset from its working width (or the set width if, for example, double processing is desired), and travels back along the second side until it reaches the first side that has already been processed. There it turns 180 degrees again and travels to the opposite side offset from the second side. This process is repeated until the entire area has been cleaned.

[0091] Similarly, a meander structure is also optimized for other geometries.

[0092] Using infrared technology or other methods (ultrasound, radar, etc.), the robot can detect where contamination is present. This allows the robot to increase its abrasion performance specifically in these areas by increasing the speed, applying pressure, applying the amount of cleaning agent, or similar measures.

[0093] The robot preferably also has an environmental monitoring device. With this device, the robot can detect obstacles that pose a potential hazard. Such obstacles can be high edges or overhanging or protruding objects on which the robot could damage its brush device, a tank, or a media supply line, for example. Edges of objects on which the robot could fall can also pose a hazard. The environmental monitoring device detects these hazards through an environmental scan. This can be carried out by sensors, preferably radar sensors, preferably ultrasonic sensors, preferably lidar sensors, preferably cameras, and particularly preferably infrared sensors. For this purpose, at least one sensor is attached to the robot or one of its devices, such as the brush device, the tank, etc.Preferably, a large number of sensors are installed in order to be able to record the environment precisely.

[0094] The movement of the robot is carried out by wheels, preferably at least 2, preferably at least 3, preferably at least 4, preferably at least 6 and preferably at least 8 wheels.

[0095] In a particularly preferred embodiment, the robot's movement is performed by crawler tracks. The crawler track is at least 200 mm, preferably at least 300 mm, preferably at least 400 mm, preferably at least 500 mm, preferably at least 600 mm, preferably at least 700 mm, preferably at least 800 mm, preferably at least 900 mm long. The crawler track is preferably at most 1500 mm, preferably at most 1300 mm, preferably at most 1100 mm, preferably at most 900 mm, preferably at most 700 mm, preferably at most 600 mm, preferably at most 500 mm long.

[0096] In a preferred embodiment, the robot has a steering device. The steering device is designed such that at least one tire, preferably a pair of tires (i.e., a pair opposite each other in the main direction of movement), preferably several tires or pairs of tires, and particularly preferably all tires or pairs of tires, can be controlled. The at least one tire can initiate a rotational movement to change the direction of the robot through the control.

[0097] The robot preferably has at least one drive that enables the robot to move. The drive drives the wheels or the crawler track; preferably, each drive drives one wheel or one side of the crawler track.

[0098] The means of transport apply as little point load as possible to the surface to be cleaned in order to protect the surface.

[0099] Additionally, other auxiliary systems can be supplied with energy by means of a drive. The at least one drive is preferably selected from a group of drives that includes pneumatic, hydraulic, combustion, solar, and preferably electric drives.

[0100] Preferably, a drive is selected as an electric drive from a group of electric drives, which includes DC motors, brushless DC motors, synchronous motors, synchronous motors with permanent magnets, stepper motors, slip-ring motors, three-phase motors and others.

[0101] The wheels or tracks, especially their drives, are preferably individually controllable in order to achieve maximum maneuverability of the robot.

[0102] In a preferred embodiment, energy and / or liquid media are supplied to the robot from a media supply line from a periphery.

[0103] In a further preferred embodiment, the media supply line is pivotable, preferably rotation-independent (and / or rotative) and preferably a rotary boom is provided in order to achieve this pivotability.

[0104] A media supply line is provided to supply liquid media and / or energy to the robot. This liquid medium and / or energy can then be supplied from the robot via the supply device to the brush unit. The media supply line is not rigidly attached to the robot, as otherwise a durable connection cannot be established. Thus, the connection point of the media supply line to the robot is designed to be at least pivotable. This means that pivoting of the connection point by a certain number of degrees is provided. This is preferably at least +-90°, preferably at least +-70°, preferably at least +-40°, and preferably at least +-20°.

[0105] In a preferred embodiment, the media supply line is designed to be rotation-independent. This means that the connection point between the media supply line and the robot can be rotated 360°. The liquid media and the energy are routed through the rotation-independent connection point. This is preferably possible without leakage. No medium escapes from the media supply line.

[0106] In a preferred embodiment, the media supply line is provided as a rotating boom. A rotating boom is a device that allows media and / or energy to flow in a sealed manner from a rotating machine part to a stationary or oppositely rotating machine part. The rotating boom essentially corresponds to a rotary union. The interfaces between the machine parts can be axial or radial. If multiple media are routed through a rotating boom or rotary union, radial interfaces should be used as a priority.

[0107] The liquid media and / or energy are supplied to the robot via the media supply line from a peripheral device. The peripheral device can be a tank, a supply station, a power outlet, a generator, and the like. A supply unit containing all the required media and energy is also conceivable.

[0108] In a preferred embodiment, the supply device for the liquid medium and / or energy can be brought into flow connection with the brush device and / or at least one media supply line from the periphery or at least one tank.

[0109] In a preferred embodiment, at least one tank is attached to the robot, wherein this tank preferably serves to store a liquid medium.

[0110] At least one tank or energy storage unit can be attached to the robot. This provides a means of bridging short periods of supply interruptions in the media supply line. It also provides a fully autonomous cleaning option for the robot. It thus carries all the necessary items for its function on its own.

[0111] The tank is preferably mounted in such a way that it does not impair the functionality of any other equipment. This means that the tank should be mounted in such a way that the media supply line, the brush device, the adjustment device, etc., still have all degrees of freedom of movement.

[0112] In a further preferred embodiment, the at least one tank has at least one filling device and at least one emptying device.

[0113] To fill a tank, a filling device is provided. This can be designed as a simple opening, with a lid attached to it to close the filling device when not in use. Nozzles, preferably filler necks, are also conceivable as filling devices.

[0114] To empty the tank, at least one openable draining device is provided. This draining device is preferably mounted at a low point in the tank, particularly preferably at the lowest point of the tank. The openable draining device is preferably designed as a cock, such as a ball valve, a drain cock, or preferably as a valve, such as a diaphragm valve, flap valve, double flap valve, or slide valve.

[0115] The tank preferably also has a venting device to enable rapid drainage. The venting device is preferably mounted at a high point of the tank, preferably the highest point. A venting device is preferably combined with a filling device.

[0116] The tank should be able to drain a medium so that different factors can be taken into account during processing. For example, if the surface on which the robot is moving, such as a solar panel, is fragile, meaning it is more susceptible to pressure loads, the robot's weight can be reduced accordingly.

[0117] A conveying device is preferably provided to transport a liquid medium from a tank or a peripheral device to the brush device. The conveying device preferably consists of a pump and a piping system or comprises these elements. The piping system can be constructed from hose, channel, and line elements.

[0118] The present invention is further directed to a brush device, in particular a brush device which can be arranged on the above-mentioned robot.

[0119] According to the invention, the brush device has at least one brush which is arranged to be rotatable with respect to a predetermined axis of rotation.

[0120] In addition, at least one drive device is provided for rotating the brush, wherein this drive device is preferably selected from a group of drives which includes pneumatic, hydraulic, combustion, solar and preferably electric drives.

[0121] A brushing system describes the entire structure required for adequately cleaning surfaces using brushes. This means that the brushing system includes a supply of liquid media and, if the brushes are powered, power, as well as the drive device(s) and the mounting options for the components.

[0122] A brush device can therefore comprise a plurality of brushes, of which at least one, preferably several, and particularly preferably all, are rotatably mounted. Rotation about the predetermined axis of rotation is generated by a drive.

[0123] All types of brushes and rotation axes are conceivable. Preferably, at least one brush has a rotation axis parallel to the z-axis. The brush then performs a rotational movement on the surface to be cleaned.

[0124] Particularly preferably, there is at least one brush that rotates about an axis of rotation parallel to the y-axis.

[0125] In a preferred embodiment, a connecting element is provided which is suitable and intended to connect the brush device and the robot to one another.

[0126] A connecting element establishes the connection between the brushing device and the robot. This connection is designed to enable all desired movements of the brushing device. Special attention is paid to the functions of the adjustment unit.

[0127] In a preferred embodiment, the connecting element is preferably bent or kinked at least in sections.

[0128] In one embodiment, the connecting element and / or the connecting device is made of aluminum, carbon, titanium or plastics in order to achieve a robust but weight-saving connection.

[0129] The connecting device as part of the tool-free connection between the brush device and / or with its connecting element is designed in particular such that the tool-free connection can be attached to the robot.

[0130] In a preferred embodiment, the brush device can be attached and / or replaced without tools, wherein a connecting element by means of which the brush device can be attached to the robot is preferably selected from a group of connecting elements which includes plug connections, magnetic connections, dovetail connections, screw connections, snap connections, clamp connections, magnetic connections and in particular bayonet closures.

[0131] The tool-free connection is preferably selected from a group of connections which includes plug-in connections, magnetic connections, dovetail connections, screw connections, snap connections, clamp connections, magnetic connections and in particular bayonet closures.

[0132] A part of the tool-free connection is attached to the robot. This part forms the counterpart of the connection to the part of the brush device and / or the connecting element of the brush device.

[0133] The connection is designed in particular to be mechanical or magnetic.

[0134] In a further preferred embodiment, the supply device can be brought into flow connection with the robot / media supply line / tank without the use of tools by means of at least one connection for energy and / or liquid medium.

[0135] In a preferred embodiment, energy and / or a liquid medium can be supplied to at least one brush of this brush device via a supply device.

[0136] A feeding device can be understood as the feeding apparatus in the claims relating to the robot itself. From here on, the terms will be used synonymously.

[0137] The supply device supplies energy to at least one drive of the brushes and / or the adjustment unit.

[0138] In a further preferred embodiment, the supply device supplies the liquid medium via at least one application to the at least one brush.

[0139] The feed device preferably feeds liquid media close to at least one brush, i.e., into, in front of, or behind the brush. This ensures that sufficient liquid medium supports the cleaning of the surface. The liquid medium is applied at at least one point close to the brush. The liquid medium can also be applied to multiple points on a brush.

[0140] Preferably, the liquid medium supplied by the robot's feed device is divided according to the number of application points. This creates a branched system of feed devices on the brush device.

[0141] If multiple liquid media are used that are delivered separately to the at least one brush at at least one application site, the branched systems are preferably completely separated from each other to prevent the liquid media from mixing. This makes it possible, for example, to supply water in a different amount than the cleaning agent.

[0142] The applications are preferably specially designed. The applications can be designed simply as hose ends, but they are preferably configured as sprinklers, preferably as sprinklers, and particularly preferably as nozzles.

[0143] A nozzle is preferably selected from a group of nozzles which includes drip nozzles, spray nozzles, rotary nozzles, mist nozzles, sprinkler nozzles, rain nozzles, full jet nozzles, multi-jet nozzles and particularly preferably fan nozzles.

[0144] A nozzle preferably operates in a pressure range of at least 1 bar, preferably at least 2 bar and at most 15 bar, preferably at most 10 bar and particularly preferably at most 8 bar.

[0145] A fan nozzle preferably has a wide spray angle and can deliver large quantities of liquid media. A spray angle of over 20° is considered wide. This results in a fine and gentle atomization.

[0146] The brush device preferably has at least one nozzle, preferably at least three, preferably at least 4, preferably at least 6 and particularly preferably at least 7 nozzles.

[0147] For example, two nozzles can be installed in front of the brush and two behind the brush. This has the advantage of achieving optimal cleaning even on heavily soiled surfaces. If the feeder is equipped with two separate systems for liquid media, both systems can be used for the same medium to further increase the output.

[0148] A large amount of liquid medium is particularly important for non-coated surfaces, as otherwise the contaminants are more difficult to remove and / or streaks may appear on the surfaces after drying.

[0149] Likewise, a large amount of liquid medium can be important, especially for surfaces that are not coated, since the liquid medium quickly flows away from its application site, making it more difficult to remove contaminants and / or streaks may appear on the surfaces after drying.

[0150] The brushing device can be a completely separate component from the robot. This means that the brushing device could be supplied with its own power and media supply via the feeder, even without the robot. Tool-free connectors can also be used for this purpose. These connectors are then directly connected to an external media supply, allowing the brushing device to be manually guided and controlled (fluid amount, etc.).

[0151] This possibility demonstrates the diverse properties of this brush device. The interchangeable attachment creates new application possibilities. After a lengthy cleaning of the solar panels, the user can quickly and easily clean critical areas, possibly in places inaccessible to the robot, by hand in just a few simple steps. Previous applications do not offer these capabilities.

[0152] In a preferred embodiment, the brush device contains at least one drive device for rotating the brush, wherein this drive device is preferably selected from a group of drives which includes pneumatic, hydraulic, combustion, solar and more preferably electric drives.

[0153] The brushes of the brushing device are also driven by drives, preferably electric drives. The drives are preferably selected from a group of drives that includes pneumatic, hydraulic, combustion, solar, and preferably electric drives.

[0154] Preferably, a drive is selected as an electric drive from a group of electric drives which includes DC motors, brushless DC motors, synchronous motors, synchronous motors with permanent magnets, stepper motors, slip-ring motors, three-phase motors and others.

[0155] An electric drive for the brush device has a nominal voltage of at least 4V, preferably at least 12V, preferably at least 20V, and preferably at least 24V. The nominal voltage is a maximum of 48V, preferably a maximum of 36V, preferably a maximum of 28V, and preferably a maximum of 24V.

[0156] The motor delivers a power output of at least 20 watts, preferably at least 40 watts, preferably at least 100 watts, preferably at least 250 watts. The power output is preferably a maximum of 1000 watts, preferably a maximum of 800 watts, preferably a maximum of 500 watts, preferably a maximum of 250 watts, and particularly preferably a maximum of 180 watts.

[0157] The electric drive is preferably cooled, particularly air-cooled or, preferably, water-cooled. This allows for long operating times.

[0158] In a preferred embodiment, the brushes of the brush device can be made of different brush materials for various applications. Polyethylene (PE), polybutylene terephthalate, or nylon is preferably used as the brush material. This material is preferably additionally split.

[0159] The brushes preferably have a bristle thickness of at least 0.1 mm, preferably 0.3 mm, and particularly preferably 0.35 mm. The bristle thickness is a maximum of 1 mm, preferably a maximum of 0.8 mm, and particularly preferably a maximum of 0.6 mm.

[0160] The bristle length of a brush is at least 0.1 mm, preferably at least 9 mm, preferably at least 19 mm, and particularly preferably at least 29 mm. The bristle length is a maximum of 101 mm, preferably a maximum of 81 mm, preferably a maximum of 61 mm, and particularly preferably a maximum of 41 mm.

[0161] The width of the brush device, in particular of the at least one brush, is at least 20 cm, preferably at least 30 cm, and particularly preferably at least 35 cm. The width of the brush device is a maximum of 100 cm, preferably a maximum of 81 cm, and particularly preferably a maximum of 76 cm.

[0162] For a design with split brushes, the specifications must be halved accordingly.

[0163] It is preferable to take into account the additional structural dimensions that arise when attaching the drive devices.

[0164] In a preferred embodiment, the rotation is transmitted from the drive to a brush via a drive chain, particularly a duplex drive chain. This is very robust and low-maintenance. Maintenance requirements can be further reduced if the chain is enclosed. In a preferred embodiment, the drive chain is enclosed.

[0165] The additional width of this drive chain with housing should preferably be taken into account as the additional dimension just described.

[0166] The at least one brush preferably has rounded corners to allow for easy cleaning of even protruding edges. Preferably, at least one side of the brush is shaped like a hemisphere.

[0167] Preferably, an indicator bristle is attached to a specific location on the brush to indicate the wear status of the entire brush. The indicator bristle is preferably shorter than the cleaning bristles, so that it can be seen at a glance when the brush should be replaced. This is the case when the normal cleaning bristles are as worn as the indicator bristle. This indicator bristle is preferably a different color than the other bristles on the brush.

[0168] The at least one brush of the brush device rotates at at least 100 rpm, preferably at least 120 rpm, preferably at least 140 rpm, and particularly preferably at least 150 rpm to achieve good abrasion performance. The brush preferably rotates at a maximum of 600 rpm, preferably at a maximum of 300 rpm, preferably at a maximum of 220 rpm, and particularly preferably at a maximum of 200 rpm.

[0169] Preferably, the at least one brush is continuous, as this allows for seamless cleaning of the surface being traveled over. This makes cleaning very time-saving.

[0170] The robot can also be used for applications other than solar panel cleaning. For example, it can clean skylights, glass surfaces, roofs, and similar surfaces.

[0171] Further embodiments and developments can be found in the attached drawings:

[0172] Showing: Fig. 1 a robot for cleaning solar panels in a first embodiment; Fig. 2 a brush device for attachment to a robot for cleaning solar panels in a first embodiment; Fig. 3 a brush device for attachment to a robot for cleaning solar panels in a second embodiment.

[0173] Fig. Figure 1 shows a first embodiment of a robot 2 for cleaning solar panels 4. The body of the robot 2 can be seen, with the right-handed coordinate system located in the center. This also results in the main direction of movement 12 in the positive x-direction.

[0174] To transport the robot to its intended location, handles are attached to the narrower side of the frame for easy lifting. The handles are preferably centered on the center of gravity so that the operator does not have to compensate for any additional tipping moment. The adjustment unit 6 is designed to move the brush device 10 and the feed device 8 so that the brush device can clean the solar panel surface with the desired contact pressure.

[0175] The supply device 8 supplies liquid medium and / or energy to the brush at the brushing device. The robot and all attached devices and equipment are controlled by at least one control unit 16, which can be located at various locations in the robot body. To enable easy replacement of the brushing device for different applications or in the event of defects or wear, a tool-free connection is provided for attaching the brushing device to the robot. In order for the supply device to be able to supply liquid medium and / or energy to the brushing device in the first place, the robot itself must be supplied with liquid medium and / or energy.

[0176] This is done via the media supply line 18, through which liquid medium and / or energy is supplied to the robot from the periphery. Alternatively, the robot can also provide a sufficiently large energy storage unit and / or at least a tank for a liquid medium. This would eliminate the need for external power supply to the robot, thus promoting its autonomy.

[0177] Fig. Figure 2 shows a first embodiment of a brush device 10 for attachment to a robot for cleaning solar panels. It is attached to a connecting element 26, which can be exchangeably attached to the robot and thus connects the brush device and the robot. This connecting element 26 can be curved. A straight or bent design, as well as other geometric configurations, are also possible.

[0178] Additionally, a feed device 8 is shown, which transports liquid medium to the brush device 10, up to the actual rotatably mounted brush 20. There, the liquid medium is applied via applicators 28. These are preferably designed as nozzles. The present embodiment has five application points, two of which apply the liquid medium behind the brush and three in front of the brush. A drive device 24, in this case preferably an electric 24V DC (direct current) motor, drives the brush 20, which is rotatably mounted with respect to a rotational axis 22, via a chain drive. This causes the brush to rotate, whereby advantageous cleaning results can be achieved.

[0179] Fig.Figure 3 shows a second embodiment of a brush device 10 for attachment to a robot for cleaning solar panels. It is attached to a connecting element 26, which can be exchangeably attached to the robot and thus connects the brush device to the robot. This connecting element 26 is bent. Additionally, a feed device 8 is shown, which transports liquid medium to the brush device 10, all the way to the rotatably mounted brushes 20. There, the liquid medium is applied via applications 28.

[0180] These are preferably designed as nozzles. The present embodiment has two application points, with the two applications applying the liquid medium to the brush. Two drive devices 24, preferably an electric 12V DC motor in this case, drive the brush 20, each of which is rotatably mounted relative to a rotational axis 22, directly internally. The brush is thus set in rotation, which allows advantageous cleaning results to be achieved.

[0181] It should be noted that all features described with reference to the method are also disclosed correspondingly for the device, which means, in particular, that the corresponding device comprises devices suitable and intended for carrying out the respective methods. Furthermore, features described with reference to the device are also applicable accordingly to the method(s). This means that the methods are carried out using the corresponding device features.

[0182] The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided they are novel, individually or in combination, over the prior art. It is further noted that the individual figures also describe features that may be advantageous in and of themselves. The skilled person will immediately recognize that a specific feature described in a figure may be advantageous even without adopting further features from that figure. Furthermore, the skilled person will recognize that advantages may also arise from a combination of several features shown in individual or different figures. List of reference symbols 2 robots for cleaning solar panels 4 solar panels 6 Adjustment unit 8 Feeding device 10 Brush device 12 Main direction of movement 14 tool-free connection 16 Control unit 18 Media supply line 20 brushes 22 axis of rotation 24 drive device 26 Connecting element 28 Application (ultimately nozzle)

Claims

[1] Robot for cleaning solar panels, with at least one adjustment unit with at least one brush device that can be attached to the robot and replaced, preferably with at least one supply device via which a liquid medium and / or energy can be supplied to the brush device, characterized by that at least one brush device can be replaced on both the front and rear of the robot. [2] Robot for cleaning solar panels according to claim 1, characterized by that at least one ventilation device, preferably several ventilation devices, are attached to the robot, in particular to the underside of the robot. [3] Robot for cleaning solar panels according to one of the preceding claims, characterized by that the at least one replaceable brush device can be attached to the robot by at least one tool-free connection. [4] Robot for cleaning solar panels according to one of the preceding claims, characterized by that a large number of different brush devices can be attached to the robot via interchangeable adapter elements, in particular without the need for tools. [5] Robot for cleaning solar panels according to one of the preceding claims, characterized by that a supply device supplies the energy and / or a liquid medium, in particular from the robot to the brush device, wherein this supply device can preferably be attached to the robot without tools and / or in an exchangeable manner. [6] Robot for cleaning solar panels according to one of the preceding claims, characterized by that the at least one adjusting unit can increase or decrease a contact pressure of the at least one brush device on the solar panels and / or can tilt the brush device. [7] Robot for cleaning solar panels according to one of the preceding claims, characterized by that at least one control unit is provided for the respective control of the robot and / or the at least one adjustment unit and / or the at least one brush device. [8] Robot for cleaning solar panels according to one of the preceding claims, characterized by that a media supply line from a peripheral supplies energy and / or liquid media to the robot. [9] Robot for cleaning solar panels according to one of the preceding claims, characterized by that the supply device for the liquid medium and / or energy can be brought into flow connection with the brush device and / or at least one media supply line from the periphery or at least one tank. [10] Robot for cleaning solar panels according to at least one of the preceding claims, characterized bythat at least one tank is attached to the robot, wherein this tank preferably serves to store a liquid medium. [11] Robot for cleaning solar panels according to the preceding claim, characterized by that the at least one tank has at least one filling device and at least one emptying device. [12] Robot for cleaning solar panels according to one of the preceding claims, characterized by that the media supply line is pivotable, preferably rotatable, and preferably a rotary boom is provided to achieve this pivotability. [13] Brush device for attachment to a robot for cleaning solar panels, characterized by that the brush device has at least one brush which is arranged rotatably with respect to a predetermined axis of rotation. [14] Brush device for attachment to a robot for cleaning solar panels, characterized bythat the brush device contains at least one brush rotatable with respect to a predetermined axis of rotation and at least one drive device for rotating the brush, wherein this drive device is preferably selected from a group of drives which includes pneumatic, hydraulic, combustion, solar and preferably electric drives. [15] Brush device for attachment to a robot for cleaning solar panels according to one of the preceding claims, characterized by that a connecting element is provided which is suitable and intended to connect the brush device and the robot to one another. [16] Brush device for attachment to a robot for cleaning solar panels according to one of the preceding claims, characterized by that the connecting element is preferably bent or kinked at least in sections. [17] Brush device for attachment to a robot for cleaning solar panels according to one of the preceding claims, characterized by that the brush device can be attached and / or replaced without tools, wherein a connecting element by means of which the brush device can be attached to the robot is preferably selected from a group of connecting elements which includes plug connections, magnetic connections, dovetail connections, screw connections, snap connections, clamp connections, magnetic connections and in particular bayonet closures. [18] Brush device for attachment to a robot for cleaning solar panels according to one of the preceding claims, characterized by that energy and / or a liquid medium can be supplied to at least one brush of this brush device via a supply device. [19] Brush device for attachment to a robot for cleaning solar panels according to the preceding claim, characterized by that the supply device supplies the liquid medium via at least one application to the at least one brush. [20] Brush device for attachment to a robot for cleaning solar panels according to one of the preceding claims, characterized by that the feed device can be brought into flow connection with the robot / media supply line / tank without the use of tools by at least one connection for energy and / or liquid medium.

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