Solar Collector Cleaning Gantry With Sensor-Guided Brush Alignment
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Solution Overview
Problem
Existing solar collector cleaning technologies face challenges in accurately controlling the distance and inclination of cleaning tools, leading to potential damage and inefficiency, especially in industrial settings with uneven terrain and large arrays of panels.
Innovation Solution
A gantry-type cleaning robot with wheels, guide rails, and linear actuators, equipped with distance sensors for real-time adjustment and independent control of the cleaning tool's position, ensuring precise alignment and pressure management across solar panels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a brush device moves over solar collectors guided by rails placed on panels, then cleaning coverage is improved, but the complexity of the device increases due to rail installation requirements
Solution Approach 1:
The cleaning device is divided into modular components: a gantry frame that spans multiple panels, independent brush modules that can be adjusted, and separate drive mechanisms. This segmentation allows the system to cover large areas while maintaining manageable complexity through standardized modules.
Solution Approach 2:
The gantry-type frame serves multiple functions: it provides structural support, guides the cleaning tool movement, positions the brushes relative to panels, and supports the drive mechanism. This multi-functionality reduces the need for separate components, thereby reducing overall device complexity while maintaining comprehensive cleaning coverage.
2Reliability
If springs are used to press the brush against the solar panel surface, then cleaning contact is improved, but the solar panels may be damaged due to excessive pressure
Solution Approach 1:
The brush pressing mechanism uses adjustable and controllable force application rather than fixed spring pressure. The system can dynamically adjust the contact force based on panel conditions, ensuring sufficient cleaning contact while preventing damage through controlled, adaptable pressure regulation.
Solution Approach 2:
The system allows adjustment of pressing force parameters to optimize cleaning effectiveness while staying within safe limits for panel integrity. By making the pressure parameter variable and controllable rather than fixed, the system achieves reliable cleaning contact without causing harmful damage to the panels.
3Adaptability or versatility
If a hydraulically operated articulated arm is used to mount the brush, then adaptability to different positions is improved, but the control complexity increases due to manual operation requirements
Solution Approach 1:
The cleaning device incorporates autonomous positioning capabilities where the system automatically adjusts and maintains optimal brush positions without requiring continuous manual intervention. The device serves itself by detecting panel positions and autonomously adjusting the articulated arm to appropriate configurations, reducing operational complexity while maintaining high adaptability.
4Adaptability or versatility
If the brush is fixed to a hydraulically operated articulated arm, then the ability to adjust brush inclination is improved, but the stability of the brush position deteriorates due to ground bumpiness affecting the lever arm
Solution Approach 1:
The system incorporates feedback mechanisms that continuously monitor brush position and inclination, detecting deviations caused by ground irregularities. The control system processes this feedback and makes real-time adjustments to counteract instability, maintaining both the desired inclination adaptability and position stability even on uneven terrain.
Solution Approach 2:
The articulated arm system uses dynamic control rather than static positioning, allowing the brush inclination to be continuously adjusted in response to terrain variations. This dynamic adaptation enables the system to maintain stable, optimal positioning despite ground bumpiness, combining flexibility with stability through active control.
Data Source
AI summary
A cleaning robot (10) for cleaning solar collectors comprises a gantry-type frame (16) configured to span a row (14) of solar collectors (12) and to define a corresponding cleaning space (24); and wheels (28) that are fixed to the gantry frame in order to move the latter and are associated with drive means. A cleaning tool (30) extends across the width of the gantry and is able to move in the cleaning space in order to be positioned with respect to the upper surface of the solar collectors (12), the cleaning tool being guided by means of guide rails (40, 42) fixed to the frame. Actuating means (54, 56) are provided to move the cleaning tool along the guide rails. At least one distance sensor (64) is arranged to determine a distance between the cleaning tool and a respective solar panel. A control unit (70) is connected to the distance sensor(s) and is configured to, continuously, adjust the position of the cleaning tool with respect to the solar panels of a row. The frame (16) comprises two lateral uprights (18, 20) that are connected in their upper part by a transverse member (22), and one of the guide rails (40, 42) is fixed to each of the lateral uprights (18, 20). The cleaning tool (30) has, towards each of its ends, a respective guide element (44) which cooperates with an associated guide rail (40, 42). The two guide rails (40, 42) define a plane of movement for the cleaning tool (30) and one of the guide rails (42) is mounted in articulated manner on one of the lateral uprights (20) so as to be able to pivot in the plane of movement. The actuating means (54, 56) comprise, at the two ends of the cleaning tool, a respective linear actuator connected to the frame, an actuating rod (54.2, 56.2) of which is connected to the cleaning tool (30) and to the guide element (44), respectively.