AUTOMATED SOLAR COLLECTOR CLEANING DEVICE
An autonomous solar collector cleaning device includes at least one main shaft, a first driver attached to a first end of the at least one main shaft, and a second driver attached to a second end of the at least one main shaft. The first and second drivers propel the cleaning device along a surface of the solar collector. A first sensor is attached to the first driver to detect an edge of the solar collector, and a second sensor is attached to the second driver to detect the edge of the solar collector. A control circuit maintains alignment of the cleaning device with respect to the solar collector based on outputs from the first and second sensors.
1 . An autonomous solar collector cleaning device, comprising:
at least one main shaft;
a first driver attached to a first end of the at least one main shaft;
a second driver attached to a second end of the at least one main shaft, the first and second drivers being configured to propel the autonomous solar collector cleaning device along a surface of the solar collector;
a first sensor attached to the first driver and configured to detect an edge of the solar collector;
a second sensor attached to the second driver and configured to detect the edge of the solar collector; and
a control circuit configured to maintain alignment of the autonomous solar collector cleaning device with respect to the solar collector based on outputs from the first and second sensors.
2 . The autonomous solar collector cleaning device according to claim 1 , wherein the edge detected by the first and second sensors is perpendicular to a direction of travel of the autonomous solar collector cleaning device.
3 . The autonomous solar collector cleaning device according to claim 1 , further comprising a head mount configured to attach a cleaning member to the main shaft.
4 . The autonomous solar collector cleaning device according to claim 3 , wherein the head mount includes a spring assembly configured to exert pressure on the cleaning member to maintain continuous contact between the cleaning member and the surface of the solar collector as the autonomous solar collector cleaning device moves along the surface of the solar collector.
5 . The autonomous solar collector cleaning device according to claim 4 , wherein the cleaning member is a squeegee.
6 . The autonomous solar collector cleaning device according to claim 4 , wherein the cleaning member includes a liquid reservoir and a nozzle configured to spray liquid from the liquid reservoir onto the surface of the solar collector.
7 . The autonomous solar collector cleaning device according to claim 4 , wherein the first and second drivers are respectively configured to grip the solar collector to counteract a normal force generated by the pressure exerted by the head mount.
8 . The autonomous solar collector cleaning device according to claim 7 , wherein each of the first driver and the second driver include a set of upper wheels and a set of lower wheels that are spaced apart in order to grip the solar collector therebetween.
9 . The autonomous solar collector cleaning device according to claim 1 , wherein the first and second sensors are inductive sensors.
10 . The autonomous solar collector cleaning device according to claim 1 , wherein the first and second sensors are optical sensors.
11 . The autonomous solar collector cleaning device according to claim 1 , wherein the first and second sensors are infrared sensors.
12 . The autonomous solar collector cleaning device according to claim 1 , wherein the first and second sensors are laser sensors.
13 . The autonomous solar collector cleaning device according to claim 1 , wherein the first and second sensors are mechanical sensors.
14 . The autonomous solar collector cleaning device according to claim 1 , wherein the control circuit determines parameters to control the first and second drivers to maintain the alignment of the autonomous solar collector cleaning device based on a difference in time between detection of the edge of the solar collector by the first sensor and detection of the edge of the solar collector by the second sensor.
15 . The autonomous solar collector cleaning device according to claim 1 , wherein the control circuit polls the first and second sensors to receive the outputs of the first and second sensors.
16 . The autonomous solar collector cleaning device according to claim 1 , wherein the control circuit receives the outputs of the first and second sensors via interrupts.
17 . The autonomous solar collector cleaning device according to claim 1 , wherein the outputs of the first and second sensors are continuous output signals.
18 . The autonomous solar collector cleaning device according to claim 8 , wherein the first and second drivers each include an electric motor mounted to a frame and coupled to at least one wheel of the upper and lower wheels.
19 . The autonomous solar collector cleaning device according to claim 18 , wherein in the first and second drivers, the electric motor is coupled to the at least one wheel via a belt.
20 . The autonomous solar collector cleaning device according to claim 18 , wherein in the first and second drivers, the electric motor is directly coupled to the at least one wheel.