Method and device for controlling a solar panel cleaning robot

Abstract

Method and device for controlling a cleaning robot for solar panel The present invention relates to a method and a device for controlling (DV1) a cleaning robot (DV2) for solar panel (12).The method comprises: obtaining, via sensors (CP), environmental data (DT) comprising temperature data (DT1) representative of a temperature (T1) of the ambient air, hygrometric data (DT2) representative of a relative humidity (RH) and wind data (DT3) representative of the force (F) of a wind; b) verifying conditions indicative of the presence of water condensation on said surface (12a), comprising: verifying that the temperature (T1) and the relative humidity (RH) fulfill a first condition indicating the reaching of the dew point; and verifying as a second condition that the force (F) of the wind is less than or equal to a threshold value; and upon detection that the first and second conditions are fulfilled, activating a cleaning function (F1) of the cleaning robot. Figure for abstract: Figure 1.

Description

Title of the invention: Method and device for controlling a solar panel cleaning robot Technical field

[0001] The present invention relates to the field of cleaning solar panels and more particularly relates to the control of a cleaning robot intended to clean a solar panel. The invention relates in particular to a device and a method for controlling such a cleaning robot. Technological background

[0002] The advent of renewable energy, particularly photovoltaic solar panels, represents a major turning point in the fight against climate change and the reduction of our carbon footprint. These technologies, through their ability to transform solar energy into green electricity, play a crucial role in the global energy transition. However, to maximize their efficiency, it is necessary to clean solar panels to remove dust and other debris that naturally deposit on their surface.

[0003] Photovoltaic cleaning, which emerged around 2010-2011, has proven essential to guarantee the production of electricity and the sustainability of installations. Originally artisanal, this activity has developed in parallel with the rise of renewable energies. Conventional photovoltaic cleaning techniques mainly include cleaning with brushes, rotating brushes and more recently with remote-controlled robots. Each of these methods, however, presents significant technical problems.

[0004] Thus, brush cleaning raises safety and arduousness issues for operators, results in inconsistent cleaning quality and requires significant water consumption as well as high human and economic costs. Rotating brush cleaning, on the other hand, while improving cleaning efficiency, continues to present challenges in terms of safety and high costs, without solving the problem of excessive water consumption. Finally, the use of remote-controlled robots, although reducing the arduousness of the work, also poses safety problems, generates substantial costs and does not significantly reduce water consumption.

[0005] Generally speaking, excessive water consumption by traditional cleaning methods is therefore one of the challenges that needs to be addressed. This water consumption not only contrasts with the principles of sustainability and ecology inherent in solar energy, but also contributes to an environmental footprint broader environmental impact, particularly in regions where water is a scarce and precious resource. Summary of the present invention

[0006] An object of the present invention is to solve at least one of the drawbacks of the technological background.

[0007] Another object of the present invention is to offer an ecological solution allowing efficient maintenance of solar panels.

[0008] Another object of the present invention is to ensure effective cleaning of a solar panel with limited environmental impact, in particular in water consumption, so as to improve the efficiency of said panel.

[0009] To this end, the present invention according to a first aspect relates to a method, implemented by a control device, for controlling a cleaning robot intended to clean a surface of a solar panel, the method comprising: (a) obtaining, by means of at least one sensor, environmental data comprising temperature data representative of a temperature of the ambient air of the solar panel, hygrometric data representative of a relative humidity of the ambient air and wind data representative of the force of a wind in the ambient air; (b) verification of conditions indicative of the presence of water condensation on the surface of the solar panel, including: • verification, from temperature data and hygrometric data, that the temperature and relative humidity meet a first condition indicating that the dew point has been reached; and • checking as a second condition, from the wind data, that the wind force is less than or equal to a second threshold value; and c) upon detecting that at least the first and second conditions are met, activating a cleaning function of the cleaning robot to cause cleaning of the surface of the solar panel.

[0010] The method according to the invention may include other characteristics which may be taken separately or in combination, in particular among the following embodiments which are presented for illustration purposes only and may be combined or associated unless otherwise stipulated.

[0011] According to a particular example, the first condition indicates that the dew point is reached or is about to be reached.

[0012] According to a particular example, verification b) comprises: - determination, from hygrometric data, of the dew point temperature of the ambient air; and - verification as a first condition, from the temperature data, of if the ambient air temperature is less than or equal to a first threshold value depending on the dew point temperature.

[0013] According to a particular example, verification b) comprises: - verification as a first condition, from the temperature data, that the ambient air temperature is less than or equal to the dew point temperature.

[0014] According to a particular example, the environmental data comprises rainfall data representative of a level of water precipitation in the ambient air, the method comprising verifying as a third condition, from the rainfall data, that the precipitation level is at least equal to a third threshold value, the cleaning function being activated in c) if the third condition is met, regardless of whether the first and second conditions are met.

[0015] According to a particular example, the rainfall data comprises at least one of the following data defining the level of precipitation: - volume data representative of a precipitation volume; - intensity data representative of a precipitation intensity; and - frequency data representative of a precipitation frequency.

[0016] According to a particular example, the control method comprises: - obtaining temporal data indicative of a current instant; and - verification, during verification b), that the temporal data fulfill a temporal condition; the cleaning function being activated in c) if the first and second conditions and the time condition are met.

[0017] According to a particular example, the control device is distinct from the cleaning robot.

[0018] According to a particular example, activation c) of the cleaning function is carried out by sending an activation instruction to the cleaning robot via a communication link.

[0019] According to a second aspect, the present invention relates to a computer program which comprises instructions adapted for executing the steps of the method according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0020] Such a computer program may use any programming language, and be in 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 desirable form.

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

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

[0023] On the one hand, the recording medium may be any entity or device capable of storing the program. For example, the medium may comprise a storage means, such as a ROM memory, a RAM memory, a CD-ROM or a microelectronic circuit type ROM memory, or even a magnetic recording means or a hard disk.

[0024] Furthermore, this recording medium may also be a transmissible medium such as an electrical or optical signal, such a signal being able to be conveyed via an electrical or optical cable, by conventional or hertzian radio or by self-directed laser beam or by other means. The computer program according to the present invention may in particular be downloaded from an Internet-type network.

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

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

[0027] According to one example, the control device comprises: - an obtaining module configured to obtain, by means of at least one sensor, environmental data comprising temperature data representative of a temperature of the ambient air of the solar panel, hygrometric data representative of a relative humidity of the ambient air and wind data representative of the force of a wind in the ambient air; - a verification module configured to verify conditions indicative of the presence of water condensation on the surface of the solar panel, said verification module being configured to: • verify, from the temperature data and the hygrometric data, that the temperature and relative humidity meet a first condition indicating that the dew point has been reached; and • check as a second condition, from the wind data, that the wind force is less than or equal to a second threshold value; and - a control module configured to activate, upon detection that at least the first and second conditions are met, a cleaning function of the cleaning robot to cause cleaning of the surface of the solar panel.

[0028] It should be noted that the various embodiments mentioned above (as well as those described below) in relation to the control method of the invention, as well as the associated advantages, apply in a similar manner to the control device of the invention.

[0029] For each step of the control method, the control device of the invention may comprise a corresponding module configured to carry out said step.

[0030] According to one embodiment, the invention is implemented by means of software and / or hardware components. In this regard, the term "module" may correspond in this document to a software component, a hardware component or a set of hardware and software components.

[0031] A software component corresponds to one or more computer programs, one or more sub-programs of a program, or more generally to any element of a program or software capable of implementing a function or a set of functions, according to what is described below for the module or step concerned. Such a software component can be executed by a data processor of a physical entity (terminal, server, computer equipment, etc.) and is capable of accessing the hardware resources of this physical entity (memories, recording media, communication buses, electronic input / output cards, user interfaces, etc.).

[0032] In the same way, a hardware component corresponds to any element of a hardware assembly capable of implementing a function or a set of functions, according to what is described below for the module or step concerned. It may be a programmable hardware component or one with an integrated processor for executing software, for example an integrated circuit, a smart card, a memory card, an electronic card for executing firmware, etc.

[0033] According to a fifth aspect, the invention relates to a system (or control system) comprising: - a cleaning robot intended to clean a surface of a solar panel; and-- a control device according to the fourth aspect of the invention, this device being configured to control the cleaning robot.

[0034] The invention advantageously makes it possible to offer an ecological solution allowing effective maintenance of solar panels. In particular, it is possible to ensure effective cleaning of the solar panel with limited environmental impact, in particular in terms of water consumption, so as to improve the efficiency of said panel. It is thus possible to reduce the water required for cleaning the solar panel, or even carry out cleaning without the addition of water from the manager in charge of maintaining the solar panel. Brief description of the figures

[0035] Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting exemplary embodiments of the present invention below, with reference to the appended figures 1 to 5, in which:

[0036] [Fig-1] schematically illustrates a control device, and more broadly a control system, configured to control a cleaning robot, according to at least one particular embodiment;

[0037] [Fig.2] schematically illustrates the control device and the cleaning robot of the [Fig.l] (cleaning robot positioned in its station), according to at least one particular embodiment;

[0038] [Fig.3] schematically illustrates the control device and the cleaning robot of the [Fig.l] (cleaning robot operating outside its station), according to at least one particular embodiment;

[0039] [Fig.4] schematically illustrates modules implemented by the device of control of [Fig.l], according to at least one particular embodiment; and

[0040] [Fig.5] schematically illustrates steps of a control method implemented by the control device of [Fig.l] for controlling a cleaning robot, according to at least one particular embodiment. Description of examples of implementation

[0041] Examples of implementations of the invention will now be described in the following with reference to Figures 1-5. Unless otherwise indicated, elements common or similar to several figures bear the same reference signs and have identical or similar characteristics, so that these common elements are generally not described again for the sake of simplicity.

[0042] The terms "first(s)", "second(s)", etc.) are used in this document by arbitrary convention to enable different elements (such as operations, modules, etc.) implemented in the embodiments described below to be identified and distinguished.

[0043] The present invention relates in particular to a method and a control device for controlling a cleaning robot intended to clean a surface of a solar panel.

[0044] Thus, the invention proposes, according to various exemplary embodiments, to control a cleaning robot by means of a control device. From environmental data, the control device checks whether conditions indicative of the presence of water condensation (or dew) on a surface of a solar panel are met. If so, the control device triggers the cleaning of the surface of the solar panel by activating a cleaning function of the cleaning robot.

[0045] According to a particular example, the method comprises: (a) obtaining, by means of at least one sensor, environmental data comprising ambient air temperature data from the solar panel, hygrometric data representative of a relative humidity of the ambient air and wind data representative of the strength of a wind in the ambient air; (b) verification of conditions indicative of the presence of water condensation on the surface of the solar panel, including: • verification, from temperature data and hygrometric data, that the temperature and relative humidity meet a first condition indicating that the dew point has been reached; and • checking as a second condition, from the wind data, that the wind force is less than or equal to a second threshold value; and upon detecting that at least the first and second conditions are met, activating a cleaning function of the cleaning robot to cause cleaning of the surface of the solar panel.

[0046] Other aspects and advantages of the present invention will emerge from the exemplary embodiments described below with reference to the aforementioned drawings. In particular, the invention also relates to a corresponding control device as well as a corresponding computer program for carrying out the steps of the control method.

[0047] In this document, the terms "solar panel", "photovoltaic panel" or "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 electricity.

[0048] As indicated below and described in exemplary embodiments below, the control device and the corresponding method are based in particular on verifying whether the dew point in the ambient air of the solar panel is reached or not. Reaching the dew point may correspond to the fact that the dew point is reached, or will soon be reached, depending on the case considered. In other words, it may involve detecting a detection of the reaching of the dew point at the current time or the imminent (or future) reaching of the dew point depending on the case.

[0049] As understood by those skilled in the art, the dew point (also called dew point temperature) is the temperature at which humid air becomes saturated with water vapor and begins to condense. At this temperature and below, the water vapor contained in the air condenses on surfaces, by saturation effect, thus forming "dew". This water vapor has a partial pressure equal to the sa- turation, and a relative humidity level of 100%RH.

[0050] It has been observed that estimating the dew point in a given location, for example in the ambient air of a solar panel, can be complex due in particular 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 locally, but their interaction also influences the ability of the air to retain moisture. Therefore, accurately predicting when the dew point will be reached in a localized manner is difficult. As described below, the invention therefore relies on monitoring environmental conditions to determine whether the dew point is, or will be, reached in the ambient air of one or more solar panels.

[0051] [Fig. 1] schematically illustrates a control device DV1, and more broadly a control system SY1, configured to control a cleaning robot DV2, according to at least one particular embodiment.

[0052] As illustrated in [Fig.l], the control device DV1 is able to cooperate with the cleaning robot DV2 to enable the cleaning of a surface 12a of a solar panel 12. To do this, the control device DV1 is configured to control the cleaning robot DV2 so as in particular to activate a cleaning function F1 of said robot, thus causing the cleaning of the surface 12a of the solar panel 12.

[0053] In the following, it is considered by way of example that the control device DV1 and the cleaning robot DV2 are distinct (or separate) and that they are able to interact together to allow the cleaning of the solar panel 12. Alternatively, the control device DV1 can be integrated (be part of) the cleaning robot DV2. In other words, the cleaning robot DV2 can alternatively carry the control device DV1.

[0054] The solar panel (or photovoltaic panel) 12 is a device configured to convert solar energy into electricity. To do this, it comprises a plurality of photovoltaic cells configured to produce electricity from sunlight according to the photovoltaic effect. Thus, when these cells are exposed to sunlight, the incident photons cause the generation of a flow of electrons, thus creating an electric current. For the sake of simplifying the description of the invention, the characteristics and operation of the solar panel 12 will not be described in detail in the present disclosure.

[0055] As illustrated, the solar panel 12 here comprises a surface 12a, namely in this example an upper surface through which the sunlight propagates to reach the photovoltaic cells. The cleaning robot DV2 is configured to clean this surface 12 according to the cleaning function F1 by circulating on said surface.

[0056] The DV2 cleaning robot can have various shapes and configurations depending on the case. In this example, this robot DV2 comprises movement means (or a unit) 22, cleaning means (or a unit) 24 and a communication interface 26.

[0057] The movement means 22 are configured to allow the cleaning robot DV2 to move on the surface 12a, in particular to carry out cleaning according to the cleaning function F1. For example, these movement means 22 may comprise wheels or tracks, allowing the robot to move, including where appropriate on an inclined panel. Other types of movement means, based on cables or overhead rails are possible. The movement means 22 may also integrate a navigation system, comprising a position detector (of the GPS type for example) and possibly sensors (proximity sensors, cameras, etc.) to allow the cleaning robot 22 to move along a predetermined trajectory, or even to allow automatic adjustment of the route during cleaning.

[0058] The cleaning means 24 are configured to enable the cleaning robot DV2 to clean the surface 12a of the solar panel 12 according to the cleaning function F1. For example, the cleaning means 24 may comprise brushes (not shown), or any other suitable cleaning mechanism, to remove dirt, dust and / or debris without damaging the surface 12a of the photovoltaic cells. Rotating brushes may for example be operated to clean the solar panel 12.

[0059] The cleaning robot DV2 may be an autonomous or partially autonomous robot, insofar as it is capable of carrying out cleaning of the surface 12a of the solar panel 12 with a certain degree of autonomy once the control device DV1 has commanded it to activate the cleaning function F1. The degree of autonomy with which the cleaning robot DV2 then carries out the cleaning may vary depending on the case. The cleaning robot DV2 may, for example, implement the cleaning function F1 without additional instructions from the control device DV1 once the function F1 has been activated or, alternatively, the robot DV2 may exchange data or signals with the control device DV1 during the execution of the function F1.

[0060] The communication interface 26 is configured to allow the cleaning robot DV2 to communicate with the control device DV1, and more precisely with another communication interface, of the control device DV1, provided for this purpose.

[0061] As illustrated in [Fig. 1], the cleaning robot DV2 may also comprise at least one processor 28 configured to control the components of the robot, including the movement means 22, the cleaning means 24 and the communication interface 26, for example by executing a computer program (not shown) provided for this purpose. This processor 28 may in particular be configured to execute the cleaning function F1 using the means 22 and 24 under the control of the device DV1 control.

[0062] As shown in [Fig.l], the control device DV1 comprises in this example at least one processor 2, a communication interface 4 and at least one memory 6.

[0063] This memory 6 may comprise various types of memory, in particular a volatile memory (of the RAM type) and a non-volatile memory. The non-volatile memory may comprise a read-only memory (of the ROM type) and / or a rewritable non-volatile memory. This memory 6 may comprise in particular an operating system 10 executable by the processor 2 to operate the control device DV1.

[0064] The memory 6 constitutes a recording medium (or information medium) conforming to particular embodiments, readable by the control device DV1, and on which is recorded a computer program PG1 conforming to various particular embodiments. This computer program PG1 comprises instructions for executing the steps of the control method of the invention according to particular embodiments. The steps of this method are represented, according to particular embodiments, in [Fig. 5] described later.

[0065] Thus, the processor 2 is configured to execute the instructions of the computer program PG1 in order to carry out steps of the control method of the invention according to particular embodiments. For this purpose, the processor 2 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. In particular, the processor 2 may use a volatile memory internal to the control device DV1 (this memory being able to be part of the memory 6 or be a separate memory) to carry out the various operations and functions necessary for the operation of the control device DV1, including to execute the computer program PG1 during the implementation of the control method of the invention.

[0066] As shown in [Fig.l], the memory 6 is capable of storing various data that may be used during the execution of the control method. Thus, the memory 6 can store environmental data DT including temperature data DTI and hygrometric data DT2. The environmental data DT can also include other data, such as wind data DT3, or even rainfall data DT4 and / or pressure data DT5. According to one example, the memory 6 also makes it possible to store time data DM1.

[0067] The environmental data DT define a state of the ambient air of the solar panel 12, that is to say of the air (or atmosphere) surrounding the surface 12a to be cleaned. In particular, the temperature data DTI are representative of the temperature Tl of the ambient air, at a given instant or over time. The hygro data DT2 metrics are representative of the relative humidity HR of the ambient air, at a given instant or over time. DT3 wind data are representative of the force (or speed) F of the wind in the ambient air, at a given instant or over time. These DT data thus make it possible to characterize the thermodynamic state of the ambient air of the solar panel 12, at a given instant or over time.

[0068] In addition, the DT4 rainfall data characterizes precipitation in the ambient air, at a given instant or over time. These DT4 data may comprise at least one of (or any combination of two of): - DT4a volume data representative of a precipitation volume; - DT4b intensity data representative of a precipitation intensity; and - DT4c frequency data representative of a precipitation frequency.

[0069] The time data TM1 used where appropriate by the control device DV1 are indicative of a current instant, i.e. a current point in time. This data thus allows the control device DV1 to determine a current instant, for example a current date and / or time.

[0070] The nature and use of the various aforementioned data will be described in more detail later in specific examples.

[0071] The processing device T1 may have various forms depending on the case, and may in particular be a computer, a server, a smartphone, a tablet, a remote control, or more generally a device comprising means configured to carry out the steps of the control method of the invention.

[0072] As illustrated by way of example in Figures 2 and 3, the control device DV 1 here takes the form of all or part of a docking station which is arranged on or near the solar panel 12. It may be a fixed station comprising a cavity or housing intended to accommodate the cleaning robot DV2 when the latter is in the waiting state or stopped. The robot DV2 may for example position itself in or on this station at an initial stage of the control method of the invention. Other implementations of the control device DV1 are however possible. According to one example, the control device DV1 is positioned at a distance from the solar panel 12 and therefore interacts remotely with the cleaning robot DV2.

[0073] As illustrated in [Fig. 1], the control device DV 1 is configured to obtain the aforementioned environmental data DT by means of at least one sensor CP. This or these sensors CP are configured to capture local environmental data, i.e. data characterizing the ambient air of the solar panel 12. To do this, the sensors CP may be arranged on, in or near the solar panel 12. By way of example, the sensors CP are positioned in the control device DV1 and / or on the solar panel 12.

[0074] As an example, it is assumed that the DTI temperature data and the hy data DT2 grometric data are received from a CPI temperature sensor and a CP2 hygrometric sensor respectively. These CPI and CP2 sensors may possibly be part of a single thermo-hygrograph sensor (or probe) capable of measuring the temperature Tl and the relative humidity HR of the ambient air of the solar panel 12.

[0075] Where appropriate, the control device DV1 can also receive: - DT3 wind data from a CP3 sensor, e.g. an anemometer; - DT4 rainfall data from a CP4 sensor, for example a rain gauge; and / or - DT5 pressure data from a CP5 pressure sensor, e.g. a barometer.

[0076] The type and number of sensors used can be adapted as appropriate depending on the desired objective and the implementation conditions. Each type of data can be acquired using one or a plurality of corresponding sensors.

[0077] It is considered by way of example that the CP sensors are distinct from the control device DV 1 and therefore positioned outside of it. The control device DV 1 is thus configured to collect the DTI and DT2 data acquired respectively by the CPI and CP2 sensors, or even the DT3, DT4 and / or DT5 data acquired respectively by the CP3, CP4 and / or CP5 sensors.

[0078] As indicated, a rain gauge may in particular be used to measure the rainfall in the ambient air of the solar panel 12. Such a rain gauge may thus comprise an open collector, for example in the form of a funnel, which directs the precipitation (in particular rainwater) towards a receptacle. A measuring device may then be used to automatically measure the level of rainfall at a given instant or over time.

[0079] The control device DV 1 may, if necessary, be capable of obtaining the time data TM1 in various ways depending on the case. The control device DV1 may, for example, implement a clock function (not shown) to determine a current date and / or time. As illustrated in [Fig.l], the control device DV1 may, in a particular example, receive the time data TM1 from the outside, for example from an external server DV3 with which the control device DV 1 is able to communicate.

[0080] As already indicated, the control device DV 1 is capable of controlling the cleaning robot DV2, in particular to activate the cleaning function F1 according to an exemplary embodiment of the control method of the invention. To do this, the control device DV 1 can send one or more commands (or instructions) CMD1 to the cleaning robot DV2, in particular to activate the cleaning function F1, thus causing the cleaning of the surface 12a of the solar panel 12.

[0081] To do this, the DV1 control device can use its communication interface nication 4 to communicate with the cleaning robot DV2 via the communication interface 26 of the latter. Thus, a communication link L1 ([Fig.l]) can be established between the control device DV1 and the cleaning robot DV2 via their respective communication interfaces 4 and 26. This link L1 can be wired or wireless depending on the case. According to one example, this link L1 is ensured through complementary connections of the control device DV 1 and the cleaning robot DV2, these connections being able to be coupled together for example when the cleaning robot DV2 is in its reaching position in or on the docking station. According to one example, the communication link L1 is a short-range wireless link, for example of the Wifi®, Bluetooth® or BLE® type (for “Bluetooth Low Energy”). The use of other types of link such as Z-Wave® or ZigBee® is possible.

[0082] This communication link L1 can be established between the control device DV 1 and the cleaning robot DV2 before or during execution of the control method, in order to allow the sending of at least one instruction CMD1 triggering the activation of the cleaning function F1 to the cleaning robot DV2. According to one example, this communication link L1 is maintained while the cleaning is being executed by the cleaning robot DV2, which makes it possible to exchange data or commands useful for the operation of the cleaning robot DV2 and / or for the collection of information, statistics, etc. The control device DV1 can in particular collect data sent by the cleaning robot DV2 during cleaning to monitor the execution of the cleaning function F1, or even if necessary to adapt the execution according to the implementation conditions.

[0083] It is understood that certain elements that may be present in the control device DV1 and in the cleaning robot DV2 have been deliberately omitted because they are not necessary for understanding the present invention. Furthermore, the control device DV1, and more generally the system SY1, constitute non-limiting examples of embodiments of the invention. Thus, certain elements are described to facilitate understanding of the invention, other implementations being possible however.

[0084] As shown in [Fig.4] according to a particular embodiment, the processor 2 controlled by the computer program PG1 ([Fig.l]) implements a certain number of modules, namely: an MD2 obtaining module, an MD4 verification module and an MD6 control module.

[0085] More precisely, the obtaining module MD2 can be configured to obtain, by means of at least one sensor CP, environmental data DT comprising temperature data DTI representative of a temperature Tl of the ambient air of the solar panel 12, hygrometric data DT2 representative of a humidity relative HR of the ambient air and DT3 wind data representative of the strength (or speed) F of a wind in the ambient air.

[0086] The verification module (or processing module) MD4 can be configured to verify CD conditions indicative of the presence of water condensation on the surface 12a of the solar panel 12. In particular, the verification module MD4 can be configured to carry out the following verifications: - verification, from the temperature data DTI and the hygrometric data DT2, that the temperature Tl and the relative humidity HR fulfill a first condition CD1 indicating the reaching of the dew point (i.e. indicating that the dew point is, or will be, reached); and - verification as a second condition CD2, from the wind data DT3, that the wind force F is less than or equal to a threshold value TH2, called the second threshold value.

[0087] The control module MD6 is configured to activate, upon detection that at least the first and second conditions CD1 and CD2 are met, the cleaning function Fl of the cleaning robot DV2 to cause cleaning of the surface 12a of the solar panel 12.

[0088] As illustrated in [Fig.5] according to at least one particular embodiment, the steps of the control method of the invention implemented by the control device DV1 as previously described with reference to Figures 1-4 are now described. For this purpose, the control device DV1 executes the instructions of the computer program PG1 to implement the control method comprising steps S2-S6.

[0089] During an obtaining step S2, the control device DV1 obtains, by means of at least one sensor CP, environmental data DT comprising temperature data DTI representative of a temperature Tl of the ambient air of the solar panel 12, hygrometric data DT2 representative of a relative humidity HR of the ambient air and wind data DT3 representative of the force (or speed) F of a wind in the ambient air.

[0090] As an example, it is assumed that the data DTI, DT2 and DT3 are sensor data received (S2) by the device DV 1 from sensors CPI, CP2 and CP3 respectively.

[0091] It has been observed that the temperature Tl of the ambient air can reasonably be estimated to be equivalent to the temperature of the surface 12a of the solar panel 12, at least during periods of darkness when sunlight does not reach the solar panel 12. Also, during the night, the temperature Tl of the ambient air can be used to estimate the temperature of the surface 12a to be cleaned. It has been found that it is more efficient to measure the temperature Tl of the ambient air to estimate the temperature of the surface 12a, rather than directly measuring the temperature of this surface 12a. By monitoring the temperature Tl of the ambient air rather than that of the surface 12a to be cleaned, it is thus advantageous to reliably and efficiently assess the local conditions in terms of temperature.

[0092] The environmental data DT can be obtained punctually or multiple times over time. The device DV1 can thus evaluate, from the obtained DTI data, the local environmental conditions at a current time or monitor the evolution of the local environmental conditions over time.

[0093] During a verification step S4 ([Fig.5]), the control device DV1 verifies CD conditions indicative of the presence of water condensation on the surface 12a of the solar panel 12. In other words, it is verified whether CD conditions are met, these conditions being indicative of the presence of water condensation on the surface of the solar panel 12. These CD conditions are verified in S4 from the environmental data DT obtained in S2. As described below, the CD conditions thus verified comprise at least conditions CD1 and CD2.

[0094] More particularly, during the verification step S4, the device DV 1 verifies, from the temperature data DTI and the hygrometric data DT2 obtained in S2, that the temperature T1 and the relative humidity HR fulfill a first condition CD1 indicating the reaching of the dew point. In other words, the detection that this first condition CD1 is fulfilled indicates that the dew point temperature noted T2 is reached, or possibly that it will be (is about to be) reached.

[0095] According to a particular example, during step S4, the control device DV1 determines, from the hygrometric data DT2, the dew point temperature T2 of the ambient air. The device DV1 then checks as a first condition CD1, from the temperature data DTI, whether the temperature T1 of the ambient air is less than or equal to a first threshold value TH1 which is a function of the dew point temperature T2. The manner in which this threshold value TH1 is set may vary depending on the case.

[0096] According to a particular example, during step S4, the control device DV1 determines the first threshold value TH1 from the dew point temperature T2. The device DV 1 then checks as a first condition CD1, from the temperature data DTI, that the ambient temperature T1 is equal to or lower than the first threshold value TH1.

[0097] According to a particular example, during step S4, the control device DV1 verifies as a first condition CD1, from the temperature data DTI, that the temperature T1 of the ambient air is less than or equal to the dew point temperature T2. In other words, it is detected that the condition CD1 is fulfilled if T1 < T2. In this case, the first threshold value TH1 is therefore equal to the dew point temperature T2.

[0098] According to a particular example, during step S4, the control device DV1 verifies as a first condition CD1, from the temperature data DTI, that the temperature T1 of the ambient air is less than or equal to the dew point temperature T2 multiplied by a coefficient K. In other words, it is detected that the condition CD1 is fulfilled if T1 < K * T2, where K is a coefficient that can be adapted according to the case. For example, K = 1.05 can be set so that the condition CD1 is satisfied if the temperature T1 reaches 105% of the dew point temperature T2.

[0099] According to one example, the control device DV1 uses a digital chart to determine, from the DTI and DT2 data, whether the dew point has been reached.

[0100] Still during the verification step S4, the device DV 1 verifies as a second condition CD2, from the wind data DT3 obtained in S2, that the wind force F is less than or equal to a second threshold value TH2. This threshold value TH2 can be adapted on a case-by-case basis depending in particular on the photovoltaic installation considered (inclination, orientation, type of panel, etc.). As indicated below, this second threshold value TH2 indicates a limit wind force beyond which it is estimated that the dew risks being eliminated or not forming on the surface 12a of the solar panel 12.

[0101] During a detection step S6 ([Fig.5]), upon detection that at least the first and second conditions CD1 and CD2 are met, the control device DV 1 activates the cleaning function F1 of the cleaning robot DV2 to cause cleaning of the surface 12a of the solar panel 12. This activation is done for example by sending at least one command CMD1 to the cleaning robot DV2 via the communication link L1 ([Fig.l]).

[0102] In response to this command CMD1, the cleaning robot DV2 can thus initiate the cleaning function F1 in order to clean the surface 12a of the solar panel 12. To this end, the cleaning robot DV2 can, for example, carry out cleaning using its cleaning means 24 and by moving to the surface 12a of the solar panel along a given cleaning path using its movement means 22. The robot DV2 can, for example, carry out the cleaning function F1 autonomously with respect to the control device DV1 once the command CMD1 has been received or, as a variant, carry out this function F1 under the control of, or in cooperation with, the control device DV1.

[0103] The invention advantageously makes it possible to offer an ecological solution allowing effective maintenance of the solar panels. In particular, it is possible to ensure effective cleaning of the solar panel 12 with a limited environmental impact, in particular in terms of water consumption, so as to improve the efficiency of said panel. It is thus possible to reduce the water required for cleaning the solar panel 12, or even to carry out cleaning without the need for water to be supplied by the manager in charge of solar panel maintenance.

[0104] To do this, the cleaning of the solar panel 12 is activated during the control method when the conditions CD indicative of the presence of water condensation on the surface of the solar panel 12 are met. Advantageously, the water condensation (dew) present on the surface 12a of the solar panel can be used to facilitate or improve cleaning by the cleaning robot DV2. The presence of water in the form of dew facilitates the action of the cleaning means 24 of the cleaning robot DV2, which makes it possible to effectively eliminate dust and other dirt likely to be present on the surface of the solar panel.

[0105] It has been observed that, even in limited quantity, the water present in the form of dew on the surface of the solar panel significantly promotes the cleaning capacity of the DV2 cleaning robot compared to dry cleaning. In certain cases, dew point cleaning also makes it possible to preserve the cleaning means 22 of the robot by limiting friction or abrasion effects.

[0106] It can be difficult to locally predict dew formation from global meteorological data that does not specifically target the area of ​​the solar panel in question. The present invention relies on the analysis of environmental data produced from local sensors to estimate whether the dew point is, or will be, reached in the ambient air of the solar panel 12. It is thus possible to determine the most opportune moment to initiate cleaning of the solar panel 12 by the cleaning robot DV2.

[0107] 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, and this is due to the wind which also influences the formation or not of dew on the surface 12a of the solar panel 12. If the force F of the wind in the ambient air is too great, it risks eliminating the dew or preventing its formation on the surface of the solar panel. Also, the control device DV1 activates (S6, fig. 5) the cleaning function Fl if the force F of the wind is limited, that is to say less than or equal to the threshold value TH2.

[0108] By checking in a combined manner that both conditions CD1 and CD2 are met, it is therefore possible to maximize the chances that dew will be present on the surface of the solar panel 12 when the cleaning robot DV2 initiates cleaning, which makes it possible to ensure efficient cleaning with a limited environmental impact.

[0109] According to an example, if the dew point T2 is reached but excessive wind is detected (force F > TH2), this means that the conditions CD are not met for dew to form on the surface 12a of the solar panel 12, so that the cleaning function Fl is not activated.

[0110] Depending on the region considered, dew can form more or less regularly at the surface of the solar panel 12. If necessary, it is possible to adapt the CD conditions to be checked in S4 ([Fig.5]), in particular the threshold value TH2, to allow the activation of the cleaning function Fl at the appropriate times.

[0111] According to a particular example, the environmental data DT obtained in S2 ([Fig.5]) comprise rainfall data DT4 representative of a level of water precipitation in the ambient air. During the verification step S4, the device DV1 can then verify as a third condition CD3, from the rainfall data DT4, that the precipitation level is at least equal to a third threshold value TH3. The cleaning function Fl is then activated in S6 ([Fig.5]) if the third condition CD3 is met, and this independently of whether the first and second conditions CD1 and CD2 are met. It is thus possible to force the activation of the cleaning function Fl even if the conditions CD1 and CD2 are not met.

[0112] Thus, in this particular example, the cleaning function Fl is activated if any one of the following two criteria is satisfied: - if the first and second conditions CD1 and CD2 are met; and - if the third condition CD3 is met.

[0113] In this way, cleaning can be optimized by expanding the conditions for triggering the cleaning function Fl. Even if the conditions for dew (or water condensation) to form are not met, cleaning is activated if the level of rainfall is sufficient since it is estimated that there is a good chance that the surface 12a of the solar panel 12 is wet, which facilitates cleaning and therefore improves the work of the cleaning robot DV2. It is thus possible to increase the number of times the cleaning robot goes out during a given period (in a year for example) and to take maximum advantage of the humidity naturally present in the ambient air and on the surface of the solar panel 12.

[0114] As already indicated, the DT4 rainfall data can be acquired using a CP4 rainfall sensor. It is thus possible to monitor the precipitation to which the solar panel 12 is exposed. This precipitation designates all forms of water in the liquid or solid state coming from the atmosphere (hydrometeors, or atmospheric water, in the form of ice crystals or water droplets, for example in the form of rain / drizzle / snow / hail).

[0115] The nature of the DT4 rainfall data may vary depending on the case. According to one example, the DT4 rainfall data obtained in S2 ([Fig.5]) comprises at least one of the following data defining the precipitation level: - DT4a volume data representative of a precipitation volume; - DT4b intensity data representative of precipitation intensity; and - DT4c frequency data representative of a precipitation frequency.

[0116] The control device DV 1 can take into account any combination of at least two (or all three) of the aforementioned DT4a-DT4c data in order to determine whether the third condition CD3 is met.

[0117] According to an example, during the verification step S4 ([Fig.5]), the control device DV1 carries out at least one of (or at least two, or all three): - verification that the precipitation volume is at least equal to the third threshold value TH3; - verification that the precipitation intensity is at least equal to the third threshold value TH3; and - verification that the precipitation frequency is at least equal to the third threshold value TH3.

[0118] According to a particular example, during the control method ([Fig.5]), the control device DV1 obtains time data TM1 ([Fig.l]) indicative of a current instant t. This time data TM1 defines for example a current date and / or a current time. The control device DV1 then verifies, during the verification S4 ([Fig.5]), that the time data TM1 fulfills a time condition CD4. The cleaning function F1 is then activated in S6 ([Fig.5]) if the first and second conditions CD1 and CD2 are fulfilled and if the time condition CD4 is also fulfilled. For example, the activation of the cleaning function F1 can be blocked if the conditions CD1 and CD2 are fulfilled but the time condition CD4 is not fulfilled.

[0119] In this way, it is advantageous to take into account the current time during which the control method is carried out to decide whether the cleaning function Fl should be activated or not. It is thus possible to take into account a combination of environmental data DT and temporal data TM1 to refine the control of the cleaning function Fl as a function of time. It is for example possible to activate cleaning only during a predetermined time range which is most conducive to the formation of dew (for example in a time range including the theoretical date of sunrise at the position of the solar panel, a time range particularly conducive to the formation of morning dew). This makes it possible to further improve the detection of conditions favorable to the presence of humidity on the surface of the solar panel and thus improve the cleaning quality while limiting the necessary water consumption.

[0120] The time data TM1 can be obtained in various ways: for example, they can be received from the server DV3 or determined by the device DV 1 performing a clock function. The device DV 1 can, for example, receive a time data ("Timestamp") in GPS data received from the server DV3, this GPS data defining a position of the cleaning robot DV2. These GPS data can further be transmitted by the DV1 control device to the DV2 cleaning robot to help the latter position itself on the solar panel 12.

[0121] According to a particular example, during the obtaining step S2 ([Fig.5]), the control device DV1 obtains pressure data DT5 representative of the pressure P of the ambient air. In other words, the environmental data DT received in S2 comprise the pressure data DT5. The control device DV1 blocks or deactivates the cleaning function Fl if the pressure P meets a fifth condition CD5 indicating a risk of atmospheric disturbance. This fifth condition CD5 is for example met if the pressure P is greater than or equal to a pressure limit value.

[0122] According to a particular example, the cleaning FR function is activated if the first and second conditions CD1 and CD2 are met and if the fifth condition CD5 is not met.

[0123] In this way, it is possible to prevent the cleaning robot DV2 from cleaning the solar panel if the pressure P in the ambient air is so high that it indicates a risk of atmospheric disturbance, such as the formation of a thunderstorm or the like. In such a case, the conditions favorable to cleaning the solar panel are not met so that the function Fl is not activated. According to one example, if it is detected that the condition CD5 is met while the function Fl has already been activated and is still running, the control device DV1 sends a command to the cleaning robot DV2 to suspend cleaning (stopping the function Fl), and possibly command the return to the docking station.

[0124] As described above in particular examples of the control method of the invention, the conditions CD verified in step S4 ([Fig.5]) comprise at least the conditions CD1 and CD2. According to a variant, the first condition CD1 is verified but the second condition CD2 is not verified in S4. Otherwise, it is verified whether the dew point is reached without taking into account the force F of the wind. It is thus possible to predict the opportune moment when it is likely that dew will form on the surface of the solar panel without using wind data, which limits the complexity and processing costs of the method.

[0125] Thus, according to a particular example, the invention aims at a method for controlling a cleaning robot DV2 intended to clean a surface 12a of a solar panel 12, the method comprising: a) obtaining (S2), by means of at least one CP sensor, environmental data DT comprising temperature data DTI representative of a temperature Tl of the ambient air of the solar panel and hygrometric data DT2 representative of a relative humidity HR of the ambient air; b) verification (S4) of CD conditions indicative of the presence of condensation of water on the surface of the solar panel, including: • verification, from temperature data and hygrometric data, that the temperature and relative humidity meet a first condition CD1 indicating that the dew point has been reached; and c) upon detection that at least the first condition CD1 is met, activation (S6) of a cleaning function Fl of the cleaning robot DV2 to cause cleaning of the surface 12a of the solar panel 12.

[0126] As understood by a person skilled in the art, all the embodiments and variants described above, some of which have been deliberately simplified to facilitate explanations, constitute only non-limiting examples of implementation of the present disclosure. In particular, a person skilled in the art may envisage any adaptation or combination of the embodiments and variants described above, in order to meet a particular need.

[0127] The present invention is therefore not limited to the embodiments described above but extends in particular to a control method which would include secondary steps without thereby departing from the scope of the present invention. The same would apply to a control device, or more generally to a control system, for implementing such a method.

Claims

Claims

1. Method, implemented by a control device (DV1), for controlling a cleaning robot (DV2) intended to clean a surface (12a) of a solar panel (12), the method comprising: a) obtaining (S2), by means of at least one sensor (CP), environmental data (DT) comprising temperature data (DTI) representative of a temperature (Tl) of the ambient air of the solar panel, hygrometric data (DT2) representative of a relative humidity (RH) of the ambient air and wind data (DT3) representative of the force (F) of a wind in the ambient air; b) verification (S4) of conditions (CD) indicative of the presence of water condensation on the surface of the solar panel, comprising: • verification, from the temperature data and the hygrometric data, that the temperature and the relative humidity fulfill a first condition (CD1) indicating the reaching of the dew point;and • checking as a second condition (CD2), from the wind data, that the wind force is less than or equal to a second threshold value (TH2); and c) upon detection that at least the first and second conditions are met, activating (S6) a cleaning function (Fl) 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) is reached or is about to be reached.

3. Method according to claim 1 or 2, in which the verification b) comprises: - determining, from the hygrometric data (DT2), the dew point temperature (T2) of the ambient air; and - verifying as a first condition (CD1), from the temperature data (DTI), whether the temperature (Tl) of the ambient air is less than or equal to a first threshold value (TH1) depending on the dew point temperature.

4. Method according to any one of the preceding claims, in which verification b) comprises: - verification as a first condition (CD1), from the temperature data (DTI), that the temperature (Tl) of the ambient air is less than or equal to the dew point temperature (T2).

5. Method according to any one of the preceding claims, in which the environmental data comprises rainfall data (DT4) representative of a level of water precipitation in the ambient air, the method comprising verifying as a third condition (CD3), from the rainfall data, that the level of precipitation is at least equal to a third threshold value (TH3), the cleaning function (Fl) being activated in c) if the third condition is met, independently of whether the first and second conditions are met.

6. Method according to claim 5, wherein the rainfall data (DT3) comprises at least one of the following data defining the level of precipitation: - volume data (DT3a) representative of a volume of precipitation; - intensity data (DT3b) representative of a precipitation intensity; and - frequency data (DT3c) representative of a precipitation frequency.

7. Method according to one of the preceding claims, the method comprising: - obtaining time data (TM1) indicative of a current instant (t); and - verifying, during verification b), that the time data fulfill a time condition (CD4); the cleaning function being activated in c) if the first and second conditions and the time condition are fulfilled.

8. Method according to one of the preceding claims, in which the control device (DV1) is separate from the cleaning robot (DV2).

9. Method according to one of the preceding claims, in which the activation c) of the cleaning function (Fl) is carried out by sending an activation instruction (CMD1) to the cleaning robot via a communication link (Ll).

10. Computer program (PG1) comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor (2).

11. Control device (DV1) configured to control a cleaning robot (DV2) intended to clean a surface (12a) of a panel solar (12), said control device comprising a memory (6) associated with at least one processor configured for implementing the steps of the method according to any one of claims 1 to 9.

12. System (SY1) comprising: - a cleaning robot (DV2) intended to clean a surface of a solar panel; and - a control device (DV1) according to claim 11 configured to control the cleaning robot.

Images