Method and device for controlling a solar panel cleaning robot

Abstract

The present invention relates to a method and a device (DV1) for controlling a solar panel (12) cleaning robot (DV2). 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 (HR) and wind data (DT3) representative of a wind force (F); b) verifying conditions indicative of the presence of water condensation on the surface (12a), comprising: verifying that the temperature (T1) and the relative humidity (HR) fulfil 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 detecting that the first and second conditions are fulfilled, activating a cleaning function (F1) of the cleaning robot.

Description

DESCRIPTION Title: 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 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 reducing our carbon footprint. These technologies, with their ability to transform solar energy into green electricity, play a crucial role in the global energy transition. However, to maximize their efficiency, solar panels must be cleaned to remove dust and other debris that naturally deposit on their surfaces.

[0003] Photovoltaic cleaning, which emerged around 2010-2011, has proven essential to ensure electricity production and the sustainability of installations. Originally a small-scale activity, this activity has developed alongside 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 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 solve 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] Overall, 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 sustainability and ecology principles inherent in solar energy, but also contributes to a larger environmental footprint, especially in regions where water is a scarce and precious resource. Summary of the 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, particularly in water consumption, so as to improve the efficiency of said panel.

[0009] For this purpose, 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) verifying conditions indicative of the presence of water condensation on the surface of the solar panel, comprising: • verification, from temperature data and hygrometric data, that the temperature and relative humidity meet a first condition indicating reaching the dew point; 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] In a particular example, the first condition indicates that the dew point is reached or is about to be reached.

[0012] In 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, from the temperature data, of whether the ambient air temperature is less than or equal to a first threshold value depending on the dew point temperature.

[0013] In a particular example, verification (b) includes: - 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] In a particular example, the rainfall data includes 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] In a particular example, the control method comprises: - obtaining temporal data indicative of a current instant; and - verification, during verification b), that the time data fulfill a time condition; the cleaning function being activated in c) if the first and second conditions and the time condition are fulfilled.

[0017] In 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 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 may 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 carrying out the steps of the method 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 may include a storage medium, such as ROM, RAM, CD-ROM or microelectronic circuit type ROM, or magnetic recording medium or 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 a network such as the Internet.

[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, 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 likely to access the hardware resources of this physical entity (memories, recording media, communication buses, electronic input / output cards, user interfaces, etc.).

[0032] Similarly, a hardware component is 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 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 provides an ecological solution for efficient maintenance of solar panels. In particular, it is possible to ensure efficient cleaning of the solar panel with limited environmental impact, particularly 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 to carry out cleaning without the need for water input 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 figure 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 Figure 1 (cleaning robot operating outside its station), according to at least one particular embodiment;

[0039] [Fig. 4] schematically illustrates modules implemented by the control device of Figure 1, 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. 1 to control 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 identify and distinguish 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 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 temperature data 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) verifying conditions indicative of the presence of water condensation on the surface of the solar panel, comprising: • 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 • verification as a second condition, from the wind data, that the force wind speed 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 become apparent 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 has been reached or not. Reaching the dew point may correspond to the fact that the dew point has been reached, or will soon be reached, depending on the case in question. In other words, it may involve detecting the dew point being reached 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 saturation pressure, 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. dew point. Not only are these variables likely to change rapidly locally, but their interaction also influences the air's ability to hold moisture. Therefore, 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 has been, or will be, reached in the ambient air of one or more solar panels.

[0051] Figure 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 figure 1, the control device DV1 is able to cooperate with the cleaning robot DV2 to allow 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 presentation 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 may have various shapes and configurations depending on the case. In this example, this DV2 robot 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 cleaning 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 further instruction from the control device DV1 once the function F1 has been activated. or, alternatively, the robot DV2 can 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 Figure 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 control device DV1.

[0062] As shown in Figure 1, 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 can 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 when implementing the control method of the invention.

[0066] As shown in Figure 1, 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 DT1 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 DT1 are representative of the temperature T1 of the ambient air, at a given instant or over time. The hygrometric data DT2 are representative of the relative humidity RH of the ambient air, at a given instant or over time. The wind data DT3 are representative of the force (or speed) F of the wind in the ambient air, at a given instant or over time. These data DT 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, DT4 rainfall data characterize precipitation in the ambient air, at a given moment or over time. These DT4 data may include at least one of (or any two of): - DT4a volume data representative of a precipitation volume; - DT4b intensity data representative of precipitation intensity; and - DT4c frequency data representative of a precipitation frequency.

[0069] The TM1 time data used where appropriate by the DV1 control device are indicative of a current instant, i.e. a current point in time. This data thus allows the DV1 control device to determine a current moment, 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 DV1 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 Figure 1, the control device DV1 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 temperature data DT1 and the hygrometric data DT2 are received from a temperature sensor CP1 and a hygrometric sensor CP2 respectively. These sensors CP1 and CP2 may possibly be part of a single thermo-hygrograph sensor (or probe) capable of measuring the temperature T1 and the relative humidity HR of the ambient air of the solar panel 12.

[0075] Where applicable, the DV1 control device can 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, 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 more corresponding sensors.

[0077] For example, it is considered that the CP sensors are separate from the control device DV1 and therefore positioned outside of it. The control device DV1 is thus configured to collect the DT1 and DT2 data acquired respectively by the CP1 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 moment or over time.

[0079] The control device DV1 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. 1, 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 DV1 is able to communicate.

[0080] As already indicated, the control device DV1 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 DV1 can send one or more commands (or instructions) CMD1 to the robot DV2 cleaner, in particular to activate the cleaning function F1, thereby causing the surface 12a of the solar panel 12 to be cleaned.

[0081] To do this, the control device DV1 can use its communication interface 4 to communicate with the cleaning robot DV2 via the latter's communication interface 26. Thus, a communication link L1 (figure 1) 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 DV1 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 connection such as Z-Wave® or ZigBee® is possible.

[0082] This communication link L1 can be established between the control device DV1 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 which may be present in the control device DV1 and in the cleaning robot DV2 have been voluntarily omitted because they are not necessary for the understanding of the present invention. In addition, 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 Y1 the understanding of the invention, other implementations being possible however.

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

[0085] More specifically, the obtaining module MD2 can be configured to obtain, by means of at least one sensor CP, environmental data DT comprising temperature data DT1 representative of a temperature T1 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.

[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 DT1 and the hygrometric data DT2, that the temperature T1 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 F1 of the cleaning robot DV2 to cause cleaning of the surface 12a of the solar panel 12.

[0088] As illustrated in Figure 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 program computer PG1 for implementing 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 DT1 representative of a temperature T1 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] For example, assume that data DT1, DT2 and DT3 are sensor data received (S2) by device DV1 from sensors CP1, CP2 and CP3 respectively.

[0091] It has been observed that the ambient air temperature T1 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 ambient air temperature T1 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 T1 to estimate the temperature of the surface 12a, than to directly measure the temperature of this surface 12a. By monitoring the ambient air temperature T1 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] DT environmental data can be obtained punctually or multiple times over time. The DV1 device can thus evaluate, from the obtained DT1 data, the local environmental conditions at a current time or monitor the evolution of local environmental conditions over time.

[0093] During a verification step S4 (figure 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 DT environmental data obtained in S2. As described below, the CD conditions thus verified include at least CD1 and CD2 conditions.

[0094] More particularly, during the verification step S4, the device DV1 verifies, from the temperature data DT1 and the hygrometric data DT2 obtained in S2, that the temperature T1 and the relative humidity RH 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 DT1, 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 DV1 then checks as a first condition CD1 , from the temperature data DT1 , 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 DT1, 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 DT1, 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 which can be adapted as appropriate. For example, we can set K = 1.05 so that 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 data DT1 and DT2, whether the dew point has been reached.

[0100] Still during the verification step S4, the device DV1 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 (figure 5), upon detection that at least the first and second conditions CD1 and CD2 are met, the control device DV1 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 (figure 1).

[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, alternatively, 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 efficient maintenance of solar panels. In particular, it is possible to ensure efficient cleaning of the solar panel 12 with limited environmental impact, particularly in 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 input from the manager in charge of maintaining the solar panel.

[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 remove dust and other dirt likely to be present on the surface of the solar panel.

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

[0106] It can be difficult to predict dew formation locally 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 the 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 F1 if the wind force F is limited, i.e. less than or equal to the threshold value TH2.

[0108] By checking in a combined manner that both conditions CD1 and CD2 are met, we can therefore maximize the chances that dew will be present on the surface of the solar panel 12 when the DV2 cleaning robot initiates cleaning, which ensures efficient cleaning with 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 F1 is not activated.

[0110] Depending on the region considered, dew may form more or less regularly on the surface of the solar panel 12. If necessary, it is possible to adapt the CD conditions to be checked in S4 (figure 5), in particular the threshold value TH2, to allow the activation of the cleaning function F1 at the appropriate times.

[0111] According to a particular example, the environmental data DT obtained in S2 (figure 5) include 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 F1 is then activated in S6 (figure 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 F1 even if the conditions CD1 and CD2 are not met.

[0112] So, in this particular example, the F1 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 expanding the conditions for triggering the F1 cleaning function. Even if the conditions for dew (or water condensation) to form are not met, cleaning is activated if the rainfall level is sufficient to the extent that it is estimated that there is There is a good chance that the surface 12a of the solar panel 12 will be wet, which makes cleaning easier and therefore improves the work of the DV2 cleaning robot. This allows the number of times the cleaning robot goes out over a given period (in a year, for example) to be increased and makes the most 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 refers to all forms of water in 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. For example, the DT4 rainfall data obtained in S2 (Figure 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 DV1 control device may 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 one example, during verification step S4 (figure 5), the control device DV1 performs 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 process (figure 5), the control device DV1 obtains time data TM1 (figure 1) indicative of a current instant t. These time data TM1 define, for example, a current date and / or a current time. The control device DV1 then checks, during verification S4 (figure 5), that the time data TM1 fulfill a time condition CD4. The cleaning function F1 is then activated in S6 (figure 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, 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 F1 should be activated. A combination of environmental data DT and temporal data TM1 can thus be taken into account to refine the control of the cleaning function F1 as a function of time. For example, it is possible to activate cleaning only during a predetermined time range that 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 moisture 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, it can be received from the server DV3 or determined by the device DV1 performing a clock function. The device DV1 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. This GPS data can further be transmitted by the control device DV1 to the cleaning robot DV2 to help the latter position itself on the solar panel 12.

[0121] According to a particular example, during the obtaining step S2 (figure 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 include the pressure data DT5. The control device DV1 blocks or deactivates the cleaning function F1 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 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, the cleaning robot DV2 can be prevented 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 F1 is not activated. According to an example, if it is detected that the condition CD5 is met while the function F1 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 F1), 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 (figure 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 relates to 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 sensor CP, environmental data DT comprising temperature data DT1 representative of a temperature T1 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 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 c) upon detection that at least the first condition CD1 is fulfilled, activation (S6) of a cleaning function F1 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 exemplary 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 (DT1) representative of a temperature (T1) 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 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 • 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 (F1) of the cleaning robot to cause cleaning of the surface of the solar panel.

2. Method according to claim 1, in which 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 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 the temperature data (DT 1 ), of whether the temperature (T1 ) 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 (DT1), that the temperature (T1) 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 (F1) being activated in c) if the third condition is met, regardless of whether the first and second conditions are met.

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

7. Method according to one of the preceding claims, the method comprising: - obtaining temporal data (TM1) indicative of a current instant (t); and - verification, 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 (F1) is carried out by sending an activation instruction (CMD1) to the cleaning robot via a communication link (L1).

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 solar panel (12), said control device comprising a memory (6) associated with at least one processor configured to implement 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.

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