Method and control device for a solar panel cleaning robot

Abstract

Method and control device of a solar panel cleaning robot The present invention relates to a method and a control device (DV1) of a solar panel cleaning robot (DV2) (12).The method comprises: a) obtaining, via sensors (CP), environmental data (DT) including temperature data (DT1) representative of an ambient air temperature (T1), hygrometric data (DT2) representative of relative humidity (RH), and wind data (DT3) representative of wind force (F); b) verifying conditions indicative of the presence of water condensation on said surface (12a), including: verifying that the temperature (T1) and relative humidity (RH) meet a first condition indicating that the dew point has been reached; and verifying, as a second condition, that the wind force (F) is less than or equal to a threshold value; and upon detection that the first and second conditions are met, activating a cleaning function (F1) of the cleaning robot. Figure for the 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 solar panel cleaning and more particularly to the control of a cleaning robot designed to clean a solar panel. The invention specifically relates to a device and a method for controlling such a cleaning robot. Technological background

[0002] The advent of renewable energies, particularly photovoltaic solar panels, represents a major turning point in the fight against climate change and the reduction of our carbon footprint. These technologies, by virtue of 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 the solar panels to remove dust and other debris that naturally accumulates on their surface.

[0003] Photovoltaic cleaning, which emerged around 2010-2011, has proven essential for ensuring electricity production and the sustainability of installations. Originally a small-scale, artisanal activity, it has developed in parallel with the rise of renewable energies. Conventional photovoltaic cleaning techniques mainly include brush cleaning, rotary brush cleaning, and more recently, remote-controlled robot cleaning. However, each of these methods presents significant technical challenges.

[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. Rotary brush cleaning, while improving cleaning efficiency, continues to present challenges in terms of safety and high costs, without resolving the problem of excessive water consumption. Finally, the use of remote-controlled robots, although reducing the physical strain of the work, also poses safety problems, generates substantial costs, and does not significantly reduce water consumption.

[0005] In general, the excessive water consumption of 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, particularly in regions where water is a scarce and precious resource. Summary of the present invention

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

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

[0008] Another object of the present invention is to ensure efficient cleaning of a solar panel with limited environmental impact, particularly in water consumption, so as to improve the performance 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 including temperature data representative of the ambient air temperature of the solar panel, hygrometric data representative of the 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, based on temperature and humidity data, that the temperature and relative humidity meet a first condition indicating that the dew point has been reached; and • verification, as a second condition, based on wind data, that the wind force is less than or equal to a second threshold value; and c) upon detection that at least the first and second conditions are met, activation of a cleaning function of the cleaning robot to cause a cleaning of the surface of the solar panel.

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

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

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

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

[0014] According to a particular example, environmental data include rainfall data representative of a level of water precipitation in the ambient air, the process including verification, as a third condition, based on rainfall data, that the level of precipitation 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, rainfall data include at least one of the following data defining the level of precipitation: - volume data representative of a volume of precipitation; - intensity data representative of precipitation intensity; and - frequency data representative of a precipitation frequency.

[0016] According to a particular example, the control method comprises: - obtaining indicative time data for a current moment; 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 separate 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 includes instructions adapted for the execution of the steps of the process 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 an 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 computer-readable recording medium (or information medium) on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

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

[0024] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, 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 execute or to be used in the execution of the process 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 for 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: - a data acquisition module configured to obtain, by means of at least one sensor, environmental data including temperature data representative of the ambient air temperature of the solar panel, hygrometric data representative of the relative humidity of the ambient air and wind data representative of the strength of a wind in the ambient air; - a verification module configured to check for conditions indicative of the presence of water condensation on the surface of the solar panel, said verification module being configured to: • verify, using temperature and humidity data, that the temperature and relative humidity meet a first condition indicating that the dew point has been reached; and • verify, as a second condition, using 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 a 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, and the associated advantages, apply in a similar way to the control device of the invention.

[0029] For each step of the control process, the control device of the invention may include 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 context, the term "module" may refer 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 subroutines of a program, or more generally to any element of a program or software capable of implementing a function or set of functions, as 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 that physical entity (memory, storage media, communication buses, electronic input / output cards, user interfaces, etc.).

[0032] Similarly, a hardware component corresponds to any element of a hardware assembly capable of implementing a function or set of functions, as described below for the module or step concerned. It may be a programmable hardware component or one with an integrated processor for software execution, 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 provides an environmentally friendly solution for the efficient maintenance of solar panels. In particular, it allows for effective cleaning of the solar panel with limited environmental impact, especially in terms of water consumption, thereby improving the panel's efficiency. This can reduce the amount of water needed for cleaning the solar panel, or even to perform a cleaning without the addition of water by the manager in charge of maintaining the solar panel. Brief description of the figures

[0035] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached 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.1] (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.1] (cleaning robot operating outside its station), according to at least one particular embodiment;

[0039] [Fig.4] schematically illustrates modules implemented by the device control of [Fig. 1], according to at least one particular embodiment; and

[0040] [Fig.5] schematically illustrates the steps of an implemented control process by the control device of [Fig.1] to control a cleaning robot, according to at least one particular embodiment. Description of examples of achievements

[0041] Examples of implementations of the invention will now be described in the following with joint reference to Figures 1-5. Unless otherwise indicated, common or similar elements in several figures bear the same reference numerals 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)" (or first(s)), "second(s)", etc.) are used in this document by arbitrary convention to allow identification and distinction of different elements (such as operations, modules, etc.) implemented in the embodiments described below.

[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 embodiments, to control a cleaning robot by means of a control device. Based on 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 robot cleaner.

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

[0046] Other aspects and advantages of the present invention will become apparent from the embodiments described below with reference to the drawings mentioned above. In particular, the invention also relates to a corresponding control device and a corresponding computer program for carrying out the steps of the control process.

[0047] In this document, the terms "solar panel", "photovoltaic panel", "photovoltaic solar panel", or "photovoltaic module" may be used interchangeably. As is well known, a solar panel is a device configured to convert solar energy into electricity.

[0048] As indicated below and described in the 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 has been reached or not. Reaching the dew point can refer to the fact that the dew point has been reached, or will be reached shortly, depending on the case considered. In other words, it can refer to the detection of the current moment reaching the dew point or the imminent (or future) reaching of the dew point, as the case may be.

[0049] As understood by those skilled in the art, the dew point (also called dew 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, due to saturation, thus forming "dew". This water vapor has a partial pressure equal to the pressure of its- temperature, and a relative humidity level of 100%RH.

[0050] It has been observed that estimating the dew point at a given location, for example in the ambient air of a solar panel, can be complex, particularly due to the variability of environmental conditions. Factors such as ambient temperature and relative humidity play a crucial role in determining the dew point. These variables are not only likely to change rapidly locally, but their interaction also influences the air's ability to retain moisture. Consequently, accurately predicting when the dew point will be reached locally 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 DV1 control device, and more broadly a SY1 control system, configured to control a DV2 cleaning robot, according to at least one particular embodiment.

[0052] As illustrated in [Fig.1], the control device DV1 is capable of cooperating 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 Fl of said robot, thus causing the cleaning of the surface 12a of the solar panel 12.

[0053] In what follows, it is assumed, by way of example, that the control device DV1 and the cleaning robot DV2 are distinct (or separate) and that they are capable of interacting together to enable 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 this end, 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, thereby creating an electric current. For the sake of simplicity in describing the invention, the characteristics and operation of the solar panel 12 will not be described in detail in this disclosure.

[0055] As illustrated, the solar panel 12 here has a surface 12a, namely in this example a top surface through which sunlight propagates to reach the photovoltaic cells. The DV2 cleaning robot is configured to clean this surface 12 according to the cleaning function Fl by moving over said surface.

[0056] The DV2 cleaning robot can have various shapes and configurations depending on the case. In this example, this DV2 robot includes 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 moves across surface 12a, notably to perform cleaning according to the Fl cleaning function. For example, these means of movement 22 may include wheels or tracks, allowing the robot to move, even if necessary, on an inclined panel. Other types of means of movement, based on cables or overhead rails, are possible. The means of movement 22 may also incorporate a navigation system, including a position detector (such as GPS) and possibly sensors (proximity sensors, cameras, etc.) to allow the cleaning robot 22 to move along a predetermined path, or even to allow automatic adjustment of the route during cleaning.

[0058] The cleaning means 24 are configured to enable the DV2 cleaning robot to clean the surface 12a of the solar panel 12 according to the cleaning function Fl. By way of example, the cleaning means 24 may include 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 used to clean the solar panel 12.

[0059] The DV2 cleaning robot can be autonomous or partially autonomous, insofar as it is capable of cleaning the surface 12a of the solar panel 12 with a certain degree of autonomy once the control device DV1 has instructed it to activate the cleaning function Fl. The degree of autonomy with which the DV2 cleaning robot then performs the cleaning can vary. For example, the DV2 cleaning robot can implement the cleaning function Fl without further instruction from the control device DV1 once the Fl function is activated, or, alternatively, the DV2 robot can exchange data or signals with the control device DV1 during the execution of the FL function.

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

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

[0062] As shown in [Fig.1], the DV1 control device in this example comprises at least one processor 2, one communication interface 4 and at least one memory 6.

[0063] This memory 6 may include various types of memory, including volatile memory (of the RAM type) and non-volatile memory. The non-volatile memory may include read-only memory (of the ROM type) and / or rewritable non-volatile memory. This memory 6 may include, 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) according to particular embodiments, readable by the control device DV1, and on which a computer program PG1 is stored according to various particular embodiments. This computer program PG1 includes 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. To this end, 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 volatile memory internal to the control device DV1 (this memory may be part of the memory 6 or be a separate memory) to perform the various operations and functions necessary for the operation of the control device DV1, including executing the computer program PG1 during the implementation of the control method of the invention.

[0066] As shown in [Fig. 1], memory 6 is capable of storing various data that may be used during the execution of the control process. Thus, memory 6 can store environmental data DT, including temperature data D1 and humidity data DT2. Environmental data DT can also include other data, such as wind data DT3, or even rainfall data DT4 and / or pressure data DT5. As an example, memory 6 can also store temporal data DM1.

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

[0068] Furthermore, DT4 rainfall data characterizes precipitation in the ambient air, at a given moment or over time. This DT4 data may include 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 applicable, by the control device DV1 are indicative of a current instant, that is to say, 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 data mentioned above will be described in more detail later in specific examples.

[0071] The processing device Tl 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 process 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 provided on or near the solar panel 12. It may be a fixed station comprising a cavity or housing intended to accommodate the DV2 cleaning robot when the latter is in standby or stopped mode. The DV2 robot may, for example, position itself in or on this station at an initial stage of the control process 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 DV2 cleaning robot.

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

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

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

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

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

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

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

[0080] As already indicated, the control device DV 1 is capable of controlling the cleaning robot DV2, in particular to activate the cleaning function Fl according to one 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 Fl, thereby 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 Interface 4 is used to communicate with the DV2 cleaning robot via its communication interface 26. Thus, an L1 communication link ([Fig. 1]) can be established between the DV1 control unit and the DV2 cleaning robot via their respective communication interfaces 4 and 26. This L1 link can be wired or wireless, as appropriate. For example, this L1 link is established through complementary connections between the DV1 control unit and the DV2 cleaning robot. These connections can be combined, for instance, when the DV2 cleaning robot is in its reachable position in or on the docking station. Another example is the L1 communication link, which is a short-range wireless link, such as Wi-Fi®, Bluetooth®, or BLE® (for "Bluetooth Low Energy"). Other types of links, such as Z-Wave® or ZigBee®, are also possible.

[0082] This L1 communication link can be established between the control device DV1 and the cleaning robot DV2 before or during the execution of the control process, in order to allow the sending of at least one CMD1 instruction triggering the activation of the cleaning function Fl in the cleaning robot DV2. For example, this L1 communication link is maintained while the cleaning is being performed by the cleaning robot DV2, which allows the exchange of data or commands useful for the operation of the cleaning robot DV2 and / or for the collection of information, statistics, etc. In particular, the control device DV1 can collect data sent by the cleaning robot DV2 during cleaning to monitor the execution of the cleaning function Fl, and even, if necessary, to adapt the execution according to the operating conditions.

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

[0084] As shown in [Fig.4] according to a particular embodiment, the processor 2 controlled by the computer program PG1 ([Fig.1]) implements a number of modules, namely: an acquisition module MD2, a verification module MD4 and a control module MD6.

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

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

[0087] The MD6 control module is configured to activate, upon detection that at least the first and second conditions CD1 and CD2 are met, the Fl cleaning function of the DV2 cleaning robot to cause a 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. To this end, the control device DV1 executes the instructions of the computer program PG1 to implement the control method comprising steps S2-S6.

[0089] During a step S2 of acquisition, the control device DV1 obtains, by means of at least one sensor CP, environmental data DT including 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] By way of 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 ambient air temperature Tl can reasonably be estimated to be equivalent to the surface temperature 12a of the solar panel 12, at least during periods of darkness when sunlight does not reach the solar panel 12. Therefore, at night, the ambient air temperature Tl 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 ambient air temperature Tl to estimate the temperature of the surface 12a, rather than directly measuring the temperature of this surface 12a. By monitoring the ambient air temperature Tl rather than that of the surface 12a to be cleaned, one can thus advantageously and reliably evaluate the local conditions in terms of temperature.

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

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

[0094] More specifically, during the verification step S4, the device DV 1 verifies, using the temperature data DTI and the humidity data DT2 obtained in S2, that the temperature T1 and the relative humidity HR fulfill a first condition CD1 indicating that the dew point has been reached. In other words, the detection that this first condition CD1 is fulfilled indicates that the dew point temperature, denoted T2, has been reached, or possibly that it 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 ambient air temperature Tl is less than or equal to a first threshold value TH1, which is a function of the dew point temperature T2. The way 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 DV1 then verifies, as the first condition CD1, from the temperature data DTI, that the ambient temperature Tl is equal to or less than the first threshold value TH1.

[0097] According to a particular example, during step S4, the control device DV1 checks, as the first condition CD1, using the temperature data DTI, that the ambient air temperature Tl is less than or equal to the dew point temperature T2. In other words, it detects that the condition CD1 is met if Tl < 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 the first condition CD1, using the temperature data DTI, that the ambient air temperature Tl is less than or equal to the dew point temperature T2 multiplied by a coefficient K. In other words, it detects that the condition CD1 is met if Tl < K * T2, where K is a coefficient that can be adjusted as needed. For example, K can be set to 1.05 so that the condition CD1 is met if the temperature Tl reaches 105% of the dew point temperature T2.

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

[0100] Also during verification step S4, device DV 1 verifies, as a second condition CD2, using 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 (tilt, orientation, panel type, etc.). As indicated below, this second threshold value TH2 indicates a limiting wind force beyond which it is estimated that dew is likely to be eliminated or not form 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 Fl cleaning function of the cleaning robot DV2 to cause a cleaning of the surface 12a of the solar panel 12. This activation is done for example by sending at least one CMD1 command to the cleaning robot DV2 via the communication link L1 ([Fig.1]).

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

[0103] The invention advantageously provides an environmentally friendly solution for the efficient maintenance of solar panels. In particular, it makes it possible to ensure effective cleaning of the solar panel 12 with limited environmental impact, especially in terms of water consumption, so as to improve the efficiency of said panel. The amount of water required for cleaning the solar panel 12 can thus be reduced, or even cleaning can be carried out without the need for water input from the operator in charge of solar panel maintenance.

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

[0105] It has been observed that, even in limited quantities, the water present as dew on the surface of the solar panel significantly enhances the cleaning capacity of the DV2 robot cleaner compared to dry cleaning. In some cases, cleaning at the dew point also helps to preserve the robot's cleaning means 22 by limiting friction or abrasion.

[0106] It can be difficult to predict dew formation locally from global meteorological data that do 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 has been, or will be, reached in the ambient air of the solar panel 12. This allows the most opportune moment to initiate the cleaning of the solar panel 12 by the DV2 cleaning robot to be determined.

[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, due to the wind, which also influences whether or not dew forms on the surface 12a of the solar panel 12. If the wind force F in the ambient air is too high, it may eliminate the dew or prevent its formation on the surface of the solar panel. Therefore, the control device DV1 activates (S6, Fig. 5) the cleaning function Fl if the wind force F is limited, i.e., less than or equal to the threshold value TH2.

[0108] By checking in combination that both conditions CD1 and CD2 are met, we can therefore maximize the chances that dew is present on the surface of the solar panel 12 when the DV2 cleaning robot initiates cleaning, which ensures 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 may form more or less regularly at the surface of 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 Fl cleaning function at opportune times.

[0111] According to a particular example, the environmental data DT obtained in S2 ([Fig. 5]) includes 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, using 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, regardless 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 conditions CD1 and CD2 are not met.

[0112] Thus, in this particular example, the Fl cleaning function is activated if either of the following two criteria is met: - 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 broadening the conditions under which the Fl cleaning function is triggered. Even if the conditions for dew (or water condensation) formation are not met, cleaning is activated if the rainfall level is sufficient, as it is estimated that there is a good chance that the surface 12a of the solar panel 12 will be damp. This facilitates cleaning and thus improves the performance of the DV2 cleaning robot. The number of times the cleaning robot makes trips over a given period (for example, in a year) can therefore be increased, making maximum use 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 by means of a CP4 rainfall sensor. It is thus possible to monitor the precipitation to which the solar panel 12 is exposed. This precipitation refers to all forms of water in liquid or solid state coming from the atmosphere (hydrometeors, or atmospheric waters, 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. For example, the DT4 rainfall data obtained in S2 ([Fig. 5]) includes 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 DV 1 control device can take into account any combination of at least two (or all three) of the aforementioned DT4a-DT4c data in order to determine if the third condition CD3 is met.

[0117] According to an example, during the verification step S4 ([Fig.5]), the control device DV1 performs at least one of (or at least two, or all three): - verification that the volume of precipitation 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 process ([Fig. 5]), the control device DV1 obtains time data TM1 ([Fig. 1]) 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 Fl is then activated in S6 ([Fig. 5]) if the first and second conditions CD1 and CD2 are met and if the time condition CD4 is also met. For example, the activation of the cleaning function Fl can be blocked if conditions CD1 and CD2 are met but the time condition CD4 is not.

[0119] In this way, the current time during which the control process is carried out can advantageously be taken into account to decide whether or not the cleaning function Fl should be activated. A combination of environmental data DT and temporal data TM1 can thus be considered to refine the control of the cleaning function Fl over time. For example, it is possible to activate cleaning only during a predetermined time range that is most conducive to dew formation (for example, within a time range encompassing the theoretical sunrise date at the position of the solar panel, a time range particularly conducive to morning dew formation). This further improves the detection of conditions favorable to the presence of moisture on the surface of the solar panel and thus enhances the cleaning quality while limiting the required water consumption.

[0120] The TM1 time data can be obtained in various ways: for example, it can be received from the DV3 server or determined by the DV1 device performing a clock function. The DV1 device can, for example, receive a time data point ("Timestamp") within GPS data received from the DV3 server, this GPS data defining a position of the DV2 cleaning robot. GPS data can also 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 acquisition step S2 ([Fig. 5]), the control device DV1 obtains pressure data DT5 representative of the ambient air pressure P. In other words, the environmental data DT received in S2 includes 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 met, for example, if the pressure P is greater than or equal to a pressure limit value.

[0122] According to a particular example, the FR cleaning 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, the DV2 cleaning robot can be prevented from cleaning the solar panel if the ambient air pressure P is so high that it indicates a risk of atmospheric disturbance, such as the formation of a thunderstorm or similar event. In such a case, the conditions favorable for cleaning the solar panel are not met, so the Fl function is not activated. For example, if it is detected that condition CD5 is met while the Fl function has already been activated and is still running, the DV1 control device sends a command to the DV2 cleaning robot to suspend cleaning (stop the Fl function), and possibly to 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]) include at least conditions CD1 and CD2. According to one embodiment, the first condition CD1 is verified, but the second condition CD2 is not verified in S4. Alternatively, it is verified whether the dew point is reached without taking into account the wind force F. This makes it possible to predict the opportune moment when dew is likely to form on the surface of the solar panel without using wind data, thereby limiting the complexity and processing costs.

[0125] Thus, according to a particular example, the invention relates to a method for controlling a DV2 cleaning robot 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 including 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 water on the surface of the solar panel, including: • verification, based on temperature and humidity 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 Fl cleaning function of the DV2 cleaning robot to cause a cleaning of the surface 12a of the solar panel 12.

[0126] As those skilled in the art will understand, all the embodiments and variations described above, some of which have been intentionally simplified for ease of explanation, are merely non-limiting examples of implementation of this disclosure. In particular, those skilled in the art may consider any adaptation or combination of the embodiments and variations described above to meet a specific need.

[0127] The present invention is therefore not limited to the embodiments described above but extends in particular to a control method that would include secondary steps without 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

Demands

1. A 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 that the dew point has been reached;and • verification as a second condition (CD2), from 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, activation (S6) of a cleaning function (Fl) of the cleaning robot to cause a cleaning of the surface of the solar panel.

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

3. A method according to claim 1 or 2, wherein verification b) comprises: - determination, from hygrometric data (DT2), of the dew point temperature (T2) of the ambient air; and - verification as a first condition (CD1), from temperature data (DTI), of whether the temperature (Tl) of the ambient air is less than or equal to a first threshold value (TH1) as a function of the dew point temperature.

4. A method according to any one of the preceding claims, wherein verification b) comprises: - verification as first condition (CD1), from temperature data (DTI), that the ambient air temperature (T1) is less than or equal to the dew point temperature (T2).

5. A method according to any one of the preceding claims, wherein the environmental data include rainfall data (DT4) representative of a level of water precipitation in the ambient air, the method comprising verification 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, regardless of whether the first and second conditions are met.

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

7. A method according to any 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. A method according to any one of the preceding claims, wherein the control device (DV1) is separate from the cleaning robot (DV2).

9. A method according to any one of the preceding claims, wherein 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 carrying out 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 the implementation of the steps of the process according to any one of claims 1 to 9.

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

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