• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a device and method for autonomously transporting and positioning a cleaning robot next to mirror lines of a solar installation. According to the invention, the device is characterized in that it comprises a carriage (16) carrying the cleaning robot (6) and means for controlling the translation displacement of the carriage (16) relative to the support structure ( 3) mirror lines (2) following a guide path transverse to these lines, to automatically position the carriage (16) in alignment and successively with the mirror lines (2) and to control the transfer of the robot (6) to from the carriage (16) on each line of mirrors (2) aligned with the carriage (16) to perform a cleaning sequence of the horizontal mirrors (2) of the line. The invention finds application in the field of solar.
    公开号:FR3022360A1
    申请号:FR1500472
    申请日:2015-03-12
    公开日:2015-12-18
    发明作者:Cyril Crucy；Mathieu Martin
    申请人:CNIM Groupe SA；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a device and a method for autonomously transporting and positioning a cleaning robot successively facing parallel lines of mirrors of a solar installation. It applies in particular to a solar system with linear concentration to transform solar energy into thermal energy. Figure 1 shows by reference 1 such an installation. This installation, based on the Fresnel mirror technology, comprises a set of mirror modules 2, of which only one module is shown, constituting primary reflectors mounted on a ground support structure 3, partially shown, along several lines or parallel rows Li, L2, Ln, each row of mirrors comprising a series of several mirrors 2 aligned relative to each other. The support structure 3 comprises a metal framework consisting of two cross members 4, only one of which is shown, supporting the opposite ends of the lines L 1, L 2, L n of mirrors 2 extending transversely to the longitudinal direction of these lines. of mirrors. Both sleepers are supported by vertical support legs 5 anchored to the ground. Although not shown, this installation further comprises a horizontal linear receiver supported by a series of vertical poles so that the linear receiver extends longitudinally over the mirrors 2 which are oriented to reflect and focus the radiation. solar to the receiver. The latter receives energy from the solar radiation in radiative form and converts it into thermal energy, which can be used in the form of heat or to produce electricity from a turbo-alternator assembly.
    [0002] The cleanliness of the reflective surfaces of the mirrors 2 has a direct impact on the energy efficiency of such an installation. Indeed, the fouling of the reflective surfaces of the mirrors results in less reflection of the solar radiation to the receiver, and therefore in a lower recovery of solar energy by the receiver. It is therefore essential to regularly clean the reflecting surfaces of mirrors of such installations in order to keep their optimal performance and, consequently, to obtain a better performance of the solar installation. The document FR 2 997 875 in the name of the applicant describes a device for cleaning mirrors of a line and using a kind of motorized robot that can move along a line of mirrors in the forward direction and in the back direction to perform the cleaning the mirrors of this line without human intervention. This robot comprises a moving frame 20 guided in translation along the line of mirrors, a rotating cylindrical brush for cleaning the reflecting surfaces of the mirrors during displacement in translation in the outward and return direction of the frame along the line of mirrors a wash water spray nozzle integral with the frame and controllable to wet the full width of the mirrors downstream of the cylindrical cleaning brush as the frame moves in translation back along the line of mirrors and a scraper supported by the frame and operable to occupy an inactive raised positron during translational movement of the frame in a forward direction along the line of mirrors and a lowered position upstream of the brush to clean the moistened reflective surfaces. mirrors of the line during the translational movement of the chassis in the return direction along this line. line.
    [0003] However, when the cleaning robot has completed a cleaning cycle of a line of mirrors, it must be removed manually or by a lifting device if the weight of this robot is too important to be placed at one end of a machine. another line of mirrors to automatically perform a cleaning cycle in the back and forth direction of this line of mirrors. The present invention aims to overcome the above disadvantage of this known cleaning device. To this end, the invention proposes a device for transporting and positioning a cleaning robot successively facing parallel lines of horizontal mirrors of a solar installation mounted on a support structure on the ground to initiate a cleaning sequence of horizontal mirrors of each line by the robot adapted to move in a forward and backward direction along the line of mirrors and which is characterized in that it comprises a carriage carrying the cleaning robot and means for controlling the movement in translation of the carriage relative to the support structure of the mirror lines along a transverse guide path to the mirror lines, to automatically position the carriage in alignment and successively with the mirror lines and to control the transfer of the robot from the carriage on each line of mirrors aligned with the carriage to perform a horizontal mirror cleaning sequence of the line and at the end of which the robot is retrieved by the trolley. Preferably, the means for controlling the translational movement of the carriage and its automatic positioning in alignment with each line of mirrors comprise a servomotor on board the carriage, a mechanism interposed between the servomotor and the support structure of the lines of mirrors for translating the carriage relative to the structure of the support along the transverse guide path, a control electronics of the servomotor and an encoder integrated into the servomotor capable of supplying the control electronics with a signal relating to the number of revolutions of the servomotor during the translational movement of the carriage from a starting reference position of the carriage to a target value at which the control electronics stops moving the carriage to a position in alignment with the carriage with a line of mirrors. Preferably, the means for controlling the transfer of the cleaning robot from the carriage to the line of mirrors aligned with the carriage comprise an emitter circuit forming part of the control electronics and a receiver circuit embedded in the robot and able to receive from the transmitting circuit. , over the air, a control signal for moving the robot towards the line of mirrors. Advantageously, the drive mechanism in translation of the carriage comprises a toothed wheel integral with the drive shaft of the booster and a horizontal rack integral with the support structure of the mirror lines in a direction transverse to the lines of mirrors and in mesh with the gear wheel.
    [0004] The means for controlling the translational movement of the carriage and its automatic positioning in alignment with each line of mirrors furthermore comprise a first sensor connected to the control electronics and able to supply the latter with an electrical signal relating to the position. starting reference of the carriage towards each of the successive lines of mirrors. Advantageously, the first sensor is secured to the carriage and cooperates with a fixed portion secured to the support structure of the mirror lines at a location defining the starting reference position of the carriage.
    [0005] Preferably, the transverse guide path comprises a first horizontal upper rail secured to the support structure transversely to the mirror lines and at least two upper vertical wheels secured to the carriage adapted to move along the upper rail and a second horizontal lower rail. secured to the ground transversely to the mirror lines and at least two lower vertical wheels secured to the carriage adapted to move along the lower rail.
    [0006] The carriage comprises a second sensor connected to the control electronics and able to provide it with a signal for detecting the presence of the robot on the carriage at a starting position of its transfer to the line of mirrors to be cleaned.
    [0007] Advantageously, the carriage comprises a housing provided with an electrical connector connected to a power source on the ground and adapted to be electrically connected to a housing provided with an electrical connector of the robot when the latter is present on the carriage to recharge. a battery for supplying an electric motor for propulsion of the robot connected to the electrical connector of the latter. The electrical connector of the robot is also connected to a sensor for detecting the filling level of washing liquid from a tank of the robot to supply the control electronics with an electrical signal of this sensor when this electrical connector is connected to the electrical connector. of the cart. The electrical connector housing of the robot also includes a hydraulic connector connected to the wash liquid reservoir via a conduit and the electrical connector housing of the carriage also includes a hydraulic connector connected through a conduit to a source. the washing liquid supply floor and the control electronics control a solenoid valve or a pump drawing washing fluid from the source on the ground or a fixed tank on the ground to fill the tank of the robot with washing liquid when the robot is present on the carriage, the two housings are electrically and hydraulically connected to each other and the sensor supplies the control electronics with an electrical signal relating to a low level of washing liquid in the tank . The robot and the carriage comprise centering members allowing axial alignment of the two electrical and hydraulic connection boxes when the robot is present on the carriage. Preferably, the centering members comprise two rods with conical free ends secured to the robot parallel to its direction of movement on the carriage and each line of mirrors, and two sleeves 15 internal conical cavities integral with the carriage and adapted to receive the tapered ends. conjugate rods of the robot when the latter is present on the carriage. The carriage comprises two parallel longitudinal members spaced from each other by a width substantially equal to the width of the mirrors of the same line to ensure a continuous rolling path of the robot during its movement between the carriage and the line mirrors in alignment with the two longitudinal members of the carriage. The control electronics are housed in a ground-mounted cabinet near the middle of the carriage stroke between the first and last mirror lines to be cleaned and are connected to the first and second sensors and to the electrical connector housing of the carriage by electrical cables housed in a cable chain. The hydraulic connection line between the carriage housing and the washing fluid supply ground source is housed in the cable chain. The invention also relates to a method for transporting and positioning a cleaning robot successively facing parallel lines of horizontal mirrors of a solar installation mounted on a support structure on the ground to initiate a sequence of cleaning the horizontal mirrors of each line by the robot able to move back and forth long. of the mirror line and which is characterized in that it comprises the steps of: - controlling the movement of a carriage carrying the cleaning robot along a transverse guide path to the mirror lines from a starting position reference of the carriage, - position the carriage in alignment with a first line of mirrors, - control the movement of the robot to transfer it from the carriage to the first line of mirrors so that the robot performs a cleaning sequence of the horizontal mirrors of the first line in the back and forth direction, recovering the robot on the carriage, - controlling the movement of the carriage carrying the cleaning robot along the transverse guide path until positioning the carriage in alignment with a second line of mirrors along the first line of mirrors, - control the robot's motion to transfer it from the carriage to the second line of mirrors so that the robot performs a sequence of cleaning transport of the horizontal mirrors of the second line in the outward and return direction, - recover the robot on the carriage, and - repeat the above steps if necessary to clean the horizontal mirrors of the other lines Ln) following the second line of mirrors horizontal. The method comprises the step of filling a robot reservoir containing washing liquid of the horizontal mirrors with washing liquid as long as the robot is present on the carriage.
    [0008] The method also includes the step of controlling the movement of the carriage carrying the robot to its reference start position once the cleaning cycle of the horizontal mirror lines has been completed.
    [0009] The carriage is moved along the transverse guide path by a servomotor on the carriage with an encoder integrated into the servomotor providing a signal representative of the number of revolutions of the servomotor and the method further comprises the step of determining the number of revolutions of the servomotor. provided by the encoder from the reference start position of the carriage and stop the movement of the carriage when the number of revolutions of the servomotor reaches a set value corresponding to an alignment of the carriage with a line of mirrors to be cleaned. Finally, the method comprises the step of recharging a battery for supplying an electric propulsion motor of the robot as long as the latter is present on the carriage.
    [0010] The invention will be better understood, and other objects, features, details and advantages thereof will appear more clearly in the explanatory description which follows, with reference to the appended schematic drawings given solely by way of example, illustrating a mode of embodiment of the invention and in which: - Figure 1 is a perspective view partially showing several lines of mirrors of a solar installation comprising the device of the invention for transporting and positioning a cleaning robot next to each line of mirrors to clean; FIG. 2 is an enlarged partial perspective view showing the horse cleaning robot 35 between a mirror of a line and the transport and positioning device of the invention; - Figure 3 is a view similar to that of Figure 2 and showing the robot cleaning the line of mirrors; Figure 4 is an enlarged perspective view of the circled portion IV of Figure 1; - Figure 5 is a partial perspective view enlarged along the arrow V of Figure 2; - Figure 6 is an enlarged perspective view along the arrow VI of Figure 2; Figure 7 is a partial perspective view enlarged along the arrow VII of Figure 3; and FIG. 8 is a perspective view along arrow VIII of FIG. 7. The industrial-sized linear concentration solar installation 1 has already been described previously with reference to FIG. 1 and will therefore not be re-detailed in FIG. its constituent elements or components already described. The mirrors 2 are mounted to pivotally limited on the support structure 3 and can pivot simultaneously at the same pivot angle by at least one drive system, not shown, to occupy at a certain time of day a horizontal position.
    [0011] Such a training system is known per se and need not be further detailed. Each mirror 2 may be of the plane mirror type or the slightly curved plane mirror type when used for the Fresnel linear mirror focusing technology. The module of the solar installation 1 further comprises a robot 6 for cleaning the reflecting surfaces of the mirrors 2 which are arranged in alignment along the same row Li, L2_, or Ln. The cleaning robot 6 has already been described in detail in the document FR 2 997 875 in the name of the applicant and only its essential parts will be included below. This robot comprises a frame 7 made from light alloy profiles, for example aluminum alloy, and which can be mounted to move translationally guided along each of the lines of mirrors 2 to perform at least one displacement in forward and backward direction along a row of mirrors 2 to perform a cleaning of these mirrors. The mobile frame 7 is propelled by an electric motor 8 on board the carriage 6 which is mounted directly guided on the mirrors 2 of a row. The electric motor 8, which is powered by a rechargeable battery 9, is connected by a drive mechanism 15 to at least one driving axle carrying two drive wheels 10 which can roll on the mirrors 2 of a line respectively of both sides of these mirrors, the chassis 7 comprising other axles with freewheels 11 which can also roll on both sides of the mirrors 2 of the same line, the driving and freewheels 10, 11 extending perpendicularly to the horizontal plane of the mirrors 2. The movable frame 7 is bilaterally guided along the mirrors 2 of a row by means of a plurality of rollers 12 integral with two longitudinal members 7a of the movable frame 7 parallel to the line of mirrors 2, which rollers 12 are extend perpendicularly under the longitudinal members 7a and the reflecting surfaces of the mirrors 2. The guide rollers 12 are mounted to contact 30 rolling respectively on the lateral edges or side edges of the m aligned irons 2 so that the movable frame 7 can move longitudinally along the line of mirrors 2 without substantially any transverse play. The movable frame 7 further comprises a rotating cylindrical brush 13 for cleaning the reflective surfaces of the mirrors 2 of the same row during translation movement in the forward direction and in the backward direction of this frame along the row of mirrors 2 The cylindrical brush 13 is secured to the frame 7 by being rotatably supported by its ends between the two longitudinal members 7a of the frame 7 transversely thereto and is rotated by the electric motor 8 in the direction opposite to the direction of displacement in translation. of the frame 7 along the row of mirrors 2. The movable frame 7 also comprises a nozzle, not shown, integral with this frame and which can be controlled for spraying a washing liquid, such as water, in order to moisten over their entire width the reflective surfaces of the mirrors 2 during the displacement of the frame 7 in the return direction of the latter. The mobile frame 7 of the robot 6 is also provided with a scraper, not shown, supported by the frame 7 in a direction substantially transverse to the two longitudinal members 7a of the frame 7. The mobile frame 7 supports a tank 14 containing washing liquid, such as water, connected by a pipe, not shown, to an electric pump, also not shown, secured to the frame 7, which pump is connected by a pipe, not shown, to the nozzle to provide washing liquid under pressure to spray on the reflecting surfaces of the mirrors 2 during the movement of the mobile frame 7.
    [0012] The mobile frame 7 further comprises a limit switch 15 fixed to the end of the frame 7 located downstream relative to the forward direction SA of this carriage and which is adapted to cooperate with a fixed stop, not shown, located at near the transverse free edge of the last mirror of a row located downstream from the forward direction SA of the frame 7 so that by contacting the fixed stop, the limit switch 15 sends a control signal of the electric motor 8 to move the mobile frame 7 in the opposite direction of return SR along the line of mirrors 2. The movable frame 7 finally supports an electronic control unit 5, not shown, adapted to control the electric motor 8 for translational movement of the movable frame 7, the rotation of the cylindrical cleaning brush 13, the electric pump supplying pressurized water to the cleaning nozzle and receiving the electrical signal from the end-of-the-end sensor. run 15, the electronic control unit being powered by the rechargeable battery 9. The mobile frame 7 of the robot 6 is covered with a protective cover 6a. According to the invention, the solar installation 1 also comprises a device for transporting and positioning the cleaning robot 6 facing successively parallel lines Li, L2, ... Ln horizontal mirrors 2, mounted on the structure of the 20 support 3 to initiate a cleaning sequence horizontal mirrors of each line by the robot 6 can move in the outward and return direction along the line of mirrors 2. This device comprises a mobile carriage 16 which can carry the robot 6 and means, which will be defined below, for controlling the translation displacement of the carriage 16 relative to the fixed support structure 3 of the mirror lines 2 along a transverse guide path to the mirror lines 2, to automatically position the carriage in alignment and successively with the mirror lines 2 and control the transfer of the robot 6 from the carriage 16 on each line of mirrors 2 aligned with the carriage 16 to perform a cleaning sequence of the horizontal mirrors 2 of the line, which cleaning robot 6 is recovered by the carriage 16 at the end of this cleaning sequence.
    [0013] Preferably, the means for controlling the translational movement of the carriage 16 and its automatic positioning in alignment with each line of mirrors 2 comprise a servomotor assembly 17 and integrated encoder 17a embedded on the carriage 16 in the upper part thereof, a mechanism 18 interposed between the servomotor 17 and the support structure 3 of the line of mirrors 2 to translate the carriage 16 in translation relative to the support structure 3 along the transverse guide path, a control electronics EC of the servomotor 17 fixed on the ground in the vicinity of the middle of the stroke of the carriage 16 between the first line Li and the last line Ln of mirrors 2 at a location that does not interfere with the translational movement of this carriage. The servomotor may be of the electric type. The EC control electronics can be housed in a box, not shown, fixed to the ground. Mobile carriage 16 is formed by a metal frame comprising a rectangular upper frame and a lower floor support frame of this carriage. The rectangular upper frame comprises two parallel longitudinal members 19 and two end crosspieces 20 while the lower support structure comprises two lateral uprights 21 whose upper ends are secured respectively to the two longitudinal members 19 of the upper frame and the lower ends are supported on the ground via a lower portion of the guide path of the carriage 16 transversely to the mirror lines 2. Each upright 21 comprises on each side thereof two inclined reinforcing legs 22 having their upper ends secured to each other. corresponding spar 19 of the upper frame and their other two ends integral with the upright 21 substantially in the middle thereof. Thus, each upright 21 and its two reinforcing legs 22 are located in a vertical plane containing the associated spar 19 of the upper frame of the movable carriage 16.
    [0014] The two longerons 19 of the upper frame of the movable carriage 16 are located at a height relative to the ground such that their horizontal upper plane faces are at the same horizontal level as the horizontal mirrors 2 of each of the lines of mirrors 2 and these two longitudinal members 19 can be brought into alignment with a line of mirrors 2 so as to be in extension of the two horizontal sides of the mirrors 2 of this line to ensure a continuous rolling path of the robot 6 during its movements between the carriage 16 and the line of mirrors 2. In other words, the two parallel members 19 of the upper frame of the carriage 16 are spaced apart from each other by a width substantially equal to the width of the mirrors of each line. The servomotor 17 is fixed by two parallel and vertical plates 23, 24 to a crossmember 25 fixed to the two end portions of the longitudinal members 19 of the upper frame of the carriage 16 beneath them and parallel to the cross member 4 of the support structure. The mechanism 18 for translational driving of the carriage 16 comprises a vertical toothed wheel 26 integral with the drive shaft of the servomotor 17 and a horizontal rack 27 secured to the cross member 4 of the support structure. 3 along the latter, that is to say in a direction transverse to the mirror lines 2, which rack 27 is meshing with the toothed wheel 26. More precisely, the rack 27, which extends in parallel all along the crosspiece 4 of the support structure 3, is supported by a plurality of support plates 28, themselves attached to the cross member 4 of the support structure 3. The support plates 28 are spaced reg 1) and each support plate 28 extends in a plane perpendicular to the cross member 4 and has an inverted L shape, attached to the cross member 4 constituted by a flat U-shaped horizontal beam 4a. Thus, the plate 28 has its longer leg 28a resting on the outer flat face of the web 4a of the cross member 4 and its shorter leg length 28b resting on the horizontal upper branch 4b of the spar. The branch 28b shorter length of the support plate 28 ends with a right angled end 28c resting on the edge of the branch 4b of the cross member 4 to ensure the attachment and fixing of the plate 28 to this crosses. Each support plate 28 further comprises a front cutout defining a horizontal edge portion 28d for supporting the rack 27. The rack 27 is fixed in abutment on the edge 28d of each support plate 28 by a vertical fixing plate 29. - even fixed to the support wall 28 by two fixing bolts 30 so as to bear on one side of the rack 27 to hold it in abutment on the horizontal edge 28d of the support plate 28.
    [0015] The means for controlling the translational movement of the carriage 16 and its automatic positioning in alignment with each line of mirrors 2 further comprises a sensor 31 integral with the carriage 16 and which cooperates with a fixed part 32 secured to the cross member 4 of the structure 3 to a location defining the starting reference position of the carriage 16 to the successive rows of mirrors 2. The sensor 31 can be fixed below the crossbar 25 of the carriage 16 by means of a square part 33 of which a vertical leg 33a is fixed to the crosspiece 25 and the horizontal leg 33b carries the sensor 31. The sensor 31 may be of the end-of-travel type with a rocking lever by contact with the fixed part 32 of the crossmember 4 and which can be constituted by a plate secured to the cross member 4 perpendicular thereto. By contacting the fixed part 32, the rocking lever of the sensor 31 closes an electrical contact. The fixed part 32 can be fixed at a location of the cross member 4 sufficiently far from the first line 5 of mirrors 2 so that the carriage occupies a starting position of origin or reference at a distance upstream of the first line Li of mirrors 2 relative to the direction of movement of the carriage 16 towards the other lines of mirrors 2 to clean them successively by the robot 6. However, as shown in FIG. 1, the fixed part 32 can also be fixed to the cross member 4 at a location of a starting position of origin of the carriage 16 whose longitudinal members 19 are already aligned with both sides of the mirrors 2 of the first line Li. The sensor 31 is connected to the control electronics EC and can supplying thereto an electrical signal relating to the starting reference position of the carriage 16 to the successive lines of mirrors 2. The encoder 17a integrated into the servomotor 17 is connected to the electronic control unit. EC by an electric cable, not shown, and is able to provide the control electronics EC a signal relating to the number of revolutions of the servomotor 17 during the translational movement of the carriage 16 to lines of mirrors 2 from the starting reference position provided by the sensor 31 until reaching a setpoint value at which the control electronics EC stops the motor and, consequently, the displacement of the carriage 16 at a position 30 in alignment with this carriage with a line of mirrors 2, this process repeating itself for the successive rows of mirrors 2. Thus, the position of the mirror lines 2 is configured in the number of revolutions of the servomotor 17 from the reference position given by the sensor 31. The transverse guide path of the carriage 16 relative to the lines of mirrors 2 comprises a first horizontal upper rail 34 secured to the cross member 4 of the support structure 3 along this axis. crossbar and two upper vertical wheels 35 located in the same plane, integral with the carriage 16 and movable along the upper rail 34.
    [0016] The upper rail 34 can be fixed in abutment on upper horizontal edges 28e respectively support plates 28 integral with the cross member 4 being retained thereon between the longer legs 28a of the plates 28 and vertical stops 28f solidarity branches 28a opposite them. The rail 34 may have a substantially Q-shaped profile in cross-section and, in this condition, the two wheels 35 are constituted by pulleys whose grooves engage on the rail 34. The two upper vertical wheels 35 are fixed respectively to two support screeds 36 fixed under the cross member 20 of the upper frame of the carriage 16, located on the cross member 4, being spaced along this cross member. The lower portion of the transverse guide path of the carriage 16 also comprises a second horizontal lower rail 37 secured to the ground transverse to the mirror lines 2 and at least two lower vertical wheels 38 situated in the same vertical plane and able to move along the second lower rail 37. The second lower rail 37 may be identical to the first upper rail 34 and, under these conditions, the two lower wheels 38 are constituted by two pulleys whose grooves engage on the second lower rail 37. lower wheels 38 are respectively fixed to two support screeds 39 fixed under a lower cross member 40 of the lower support frame of the movable carriage 16 and extend transversely to the lines of mirrors 2. Thus, the two wheels 38 are located in the same vertical plane as that containing the crossbar 40. The second lower rail 37 is fixed to the bottom of an angle bracket 41 fixed to the 2. The mobile carriage 16 comprises a sensor 50, which is connected to the control electronics EC, and capable of supplying thereto a signal for detecting the presence of the robot 6 on the trolley. 16 to a starting position of the robot 6 for its transfer to a line of mirrors 2 to be cleaned when the carriage 16 is in alignment with this line. The sensor 50 can be fixed to the crossmember 20 of the movable carriage 16 opposite the cross member 4 and be of the end-of-travel type with an axial pusher for closing an electrical contact when the robot 6 bears on this sensor. The means for controlling the transfer of the cleaning robot 6 of the carriage 16 onto a line of mirrors 2 aligned with the carriage 16 comprise an emitter circuit 60 forming part of the control electronics EC and a receiving circuit 61 on board the cleaning robot. 6 and can receive from the transmitter circuit 60, over the air, a control signal of the movement of the robot 6 to and on the line of mirrors 2. Thus, when the presence of the robot 6 on the carriage 16 is detected by the sensor 50 , the transmitter circuit 60, under the control of the control electronics EC, can transmit a radio signal to the transmitter circuit 61 of the robot 6, whose propulsion motor 8 is activated to move the robot 6 of the carriage 16 towards the line mirrors 2 aligned with this carriage to perform a sequence of cleaning the mirrors of this line. The mobile carriage 16 comprises a plate 62 35 vertically fixed to the crosspiece 20 of this carriage opposite to the crosspiece 4 of the support structure 3 and which carries a housing B1 with an electrical connector 65 connected by an electric cable Cl to a source of ground-mounted power supply 63, which can be integrated into the cabinet in which the EC control electronics are located. The robot 6 comprises, integral with its front face intended to come opposite the plate 62 of the carriage 16 to the starting position of the robot 6 on this carriage, a B2 box with an electrical connector 66 connected by an electric cable C2 to the battery 9 of the robot 6. Thus, when the robot 6 is present on the carriage 16 at its starting position, the two connectors 65 and 66 are electrically connected to recharge the battery 9 of the robot 6. The power source 63 can be connected to the electricity grid and supply a supply voltage of 24 volts DC.
    [0017] In addition, the electrical connector 66 of the housing B2 is connected by an electric cable C3 to a sensor 68 for detecting the filling level of the washing liquid of the tank 14 of the robot 6 and capable of supplying an electrical signal representative of the level of liquid present. in this tank. The sensor 68 may be of the float type closing an electrical contact when the tank 14 is full. The electrical connector 65 of the carriage 16 is also electrically connected by a cable 04 to the control electronics EC to receive the electrical output signal from the sensor 68 when the electrical connector 66 of the robot 6 is electrically connected to the electrical connector 65 of the truck. 16 once the robot 6 present on the carriage 16 at the end of the race on the latter 30. The housing B2 of the robot 6 also comprises a hydraulic connector 69 connected to the tank 14 of the robot 6 via a pipe 70 and the housing B1 of the carriage 16 also comprises a hydraulic connector 71 connected via a conduit 72 to a washing liquid supply source 74 located on the ground. The electrical cables C1, 04 and the hydraulic pipe 72 descend in the lower part of the carriage 16 located above the lower rail 37 through a protective box 73 integral with the carriage. The source 74 may be constituted by the sub-water supply network. The electrical and hydraulic connectors described above are known and may be constituted, for example, by the system of modular connectors called "Combitac" of the company Multi Contact.
    [0018] The control electronics EC is also adapted to control an EV solenoid valve for filling the tank 14 of the robot 6 with washing liquid when the robot is present at the end of the stroke on the carriage 16, the electrical connectors 65, 66 are electrically connected. and hydraulically to each other and the sensor 68 provides an electrical signal relating to a low level of washing liquid in the tank 14. Alternatively, under the same conditions, the EC control electronics, instead of a solenoid valve, can control a pump (not shown) drawing cleaning fluid from the source on the ground or a fixed tank on the ground to fill the tank 14 of the robot 6 in washing liquid. The cleaning robot 6 and the mobile carriage 16 comprise centering members allowing precise axial alignment of the electrical and hydraulic connectors 65, 71, 66, 69 when the robot 6 is present on the carriage 16. Preferably, the centering members comprise two rods 76 with conical ends secured to the front face of the robot 6 parallel to its direction of movement on the carriage 16 and on the line of mirrors 2 to be cleaned, and two sleeves with internal conical cavities 78 secured respectively to two vertical plates 79 fixed to the crossmember 20 of the carriage 16 opposite the crossmember 4, which internal cavities of the sleeves 78 are able to receive the conical conical ends of the rods 76 of the robot 6 when the latter is present on the carriage 16. The electric connecting cables ( not shown) sensors 31, 50 and encoder 17a to the EC control electronics and cables C1, C4 electrical connection the electrical connector 65 of the carriage 16 to the EC control electronics are housed in a cable chain 80, for tracking the movements of the carriage 16 between its reference start position and its opposite position in alignment with the last line 2. In addition, the hydraulic pipe 72 is also housed in the cable chain 80 to follow the movements of the carriage 16. The cable chain 80 can move by flexibility being guided between and along. two vertical parallel walls 81 fixed to the ground transversely to the mirror lines 2 by means of support bars 82 perpendicular to the walls 81 and regularly spaced along them. The support bracket 41 of the lower rail 37 and the two guide walls 81 of the cable chain 80 are bilaterally retained and supported by soles 83 fixed to the ground and each having two vertical parallel walls 84 on either side. walls 81 and angle 41 adjacent the walls 81. Because the control electronics EC is located substantially in the middle of the total travel of the carriage 16 between the first and last lines of mirrors 2, the end of the door -cables 80 opposite to that connected to the box 73 to follow the movement of the carriage 16 is fixed in the middle of the length of the two parallel walls 81 and the electrical cables C1, C4 and those connected to the sensors 31, 50 and the encoder 17a and that the hydraulic pipe 72 are connected to the control electronics EC and the source 74 by the cables Cla, C4a and the pipe 72a, the electrical cables of the sensors 31 and 50 and the encoder 17a n ' As not shown. When the carriage 16 passes at the middle level of the length of the guide walls 81, the cable chain 80 turns itself elastically with respect to its end fixed between these two walls to ensure the continuity of electrical and hydraulic connection. between the electrical cables and the hydraulic pipe 72 and the control electronics EC and the underground water network 74. The operation of the device of the invention is already apparent from the description which precedes and will now be explained. First of all, at a given time at which the mirrors 2 of the solar installation do not reflect solar radiation, for example during the night, a control unit which can be constituted by the control electronics EC, controls the system 20 for driving the rotation of the mirrors 2 of all lines Li, L2_ Ln to horizontally position the mirrors 2 of these lines. It will be placed in the conditions according to which the carriage 16 occupies its reference starting position detected by the sensor 31, the presence of the robot 6 on the carriage 16 is detected by the sensor 50, the sensor 68 indicating that the reservoir 14 of the robot 6 is filled with washing liquid, the battery 9 for supplying the propulsion motor 8 of the robot 6 is loaded and no anomaly is detected. As shown in FIG. 1, the starting position of the carriage corresponding to that in which the carriage 16 is in alignment with the first mirror line Li 2. The control electronics EC is then programmed to control the transmitter circuit 60 so that it transmits a radio signal to the receiver circuit 61 of the robot 6 whose propulsion motor 8 is activated to move the robot 6 of the carriage 16 towards and along the first line Li of mirrors 2 in order to perform a cleaning sequence of the mirrors 2 by the robot in the forward direction SA and in the return direction SR. It should be noted that the robot is bilaterally guided by the rollers 12 along the longitudinal members 19 of the upper frame of the carriage 16 and along the two parallel edges of the aligned mirrors 2 of the line Li and the wheels 10, 11 of the robot 6 are circulating continuously on the longitudinal members 19 and on both horizontal sides of the aligned mirrors 2 when the robot 6 moves between the carriage 16 and the mirrors 2 in the forward direction SA and return SR. After performing the cleaning sequence of the mirrors 2 of the line Li by the robot 6, the latter 15 returns to the carriage 16 and connects electrically and hydraulically with the control electronics EC, the power supply 63 and the power source. supplying washing liquid 74 via the two electrical and hydraulic connectors 65, 66 centered relative to one another by the centering members 76, 78 and the presence of the robot 6 at the end of the stroke on the carriage 16 is detected by the sensor 50. If the control electronics EC receives from the sensor 68 a signal indicating that the tank 14 of the robot 6 has a low level of washing liquid, it then controls the solenoid valve EV or the pump to fill the reservoir 14 with washing liquid from the external supply source 74. In addition, the power source 63 recharges the supply battery 9 of the robot 6. At the same time as the reservoir 14 is re mpli washing liquid and that the battery 9 is recharged, EC control electronics activates the servomotor 17 to move the carriage 16 in the direction transverse to the lines of mirrors 2 to the second line L2 of mirrors 2. When the encoder 17a of the servomotor 17 supplies the control electronics EC with the setpoint value, the determined number of revolutions of which the carriage 16 is in the second line L2 of the mirrors 2, EC control commands the stopping of the corresponding to a servomotor 17, aligned with the servomotor electronics 17 to this alignment position and it then drives the transmitter circuit 60 to transmit again a radio signal to the receiver circuit 61 of the robot 6 whose propulsion motor 8 is activated to move the robot 6 of the trolley 16 on the line L2 of mirrors 2 to perform a cleaning sequence of the mirrors in the forward direction SA and in the return direction SR with recovery of the robot 6 on the carriage 16 once this sequence of n and cleaning completed. The process described above for recharging the battery 9 of the robot 6 and filling the reservoir 14 of the robot with washing liquid is repeated as previously described at the same time as the carriage 16 is moved in translation towards the third line L3 of the mirrors 2 to be cleaned.
    [0019] These different steps of cleaning the mirrors 2 and moving the carriage 16 are successively repeated for the successive rows of mirrors 2 to be cleaned. Once the mirrors 2 of the last line Ln have been cleaned, the control electronics EC drives the servomotor 17 so that it moves in translation the carriage 16 of this line to its reference start position detected by the sensor 31 and the carriage 16 is in the waiting position to repeat further steps of cleaning mirrors 2 successive lines Li to Ln. It should be noted that the filling of the reservoir 14 of the robot 6 with the washing liquid can be carried out automatically at the end of a cleaning sequence of each line of mirrors 2 as explained above, but can be carried out on every other line of mirrors 2 according to the volume of the tank 14 and / or the amount of washing water consumed to clean the mirrors 2 of a line. It should also be noted that the filling of the reservoir 14 of the robot 6 with the washing liquid and the recharging of the supply battery 9 of the robot 6 can be carried out whenever necessary as long as the robot 6 is present on the trolley 16 and not only during the displacement of the carriage 16. Furthermore, the carriage 16 can occupy a reference starting position upstream of the first line Li of mirrors by considering the direction of movement of the carriage towards the following rows of mirrors 2. In this case, the control electronics EC activates the servomotor 17 and the encoder 17a supplies the control electronics EC with an output signal representative of the number of revolutions of the servomotor 17 translating the carriage 16 along the transverse guide path to the mirror lines 2 and when the control electronics EC receives a number of revolutions corresponding to a set value at which the mobile carriage 16 is in alig With the first line Li of mirrors 2, it controls the shutdown of the servomotor 17 at this alignment position. Then, the above-described process of controlling the robot 6 to clean the mirrors 2 of a line is performed for the mirrors 2 of the line Li and once this cleaning is complete, the carriage 16 is again moved to the line L2 of mirrors 2 at the same time as the reservoir 14 and filled with washing liquid of the battery 9 of the robot 6 is recharged as described above. The above described device of the invention allowing automatically and autonomously to transport and position a cleaning robot in succession to parallel lines of mirrors of a solar installation, is of an extremely simple design and does not require human intervention to transfer the robot from a line of mirrors to another line of mirrors and position it next to each line of mirrors.
    权利要求:
    Claims (21)
    [0001]
    REVENDICATIONS1. L Device for transporting and positioning a cleaning robot (6) facing successively parallel lines (L1, ..., Ln) horizontal mirrors (2) of a solar installation (1) mounted on a structure of floor support (3) for launching a cleaning sequence of the horizontal mirrors (2) of each line by the robot (6) able to move in the back and forth directions along the line of mirrors (2), characterized in it comprises a carriage (16) carrying the cleaning robot (6) and means (17, 17a, 18, EC, 60, 61) for controlling the translational movement of the carriage (16) relative to the support structure (3) of the mirror lines (2) along a transverse guide path to the mirror lines (2), to automatically position the carriage (16) in alignment and successively with the mirror lines (2) and to control transferring the robot (6) from the carriage (16) to each line of mirrors (2) aligned with the a trolley (16) for performing a cleaning sequence of the horizontal mirrors (2) of the line and at the end of which the robot (6) is retrieved by the trolley (16). 25
    [0002]
    2. Device according to claim 1, characterized in that the translational control means of the carriage (16) and automatic in alignment with each (2) comprise a servomotor (17) displacement in line mirror line embarked on the sound 30 carriage (16), a mechanism (18) interposed between the servomotor (17) and the support structure (3) of the mirror lines (2) for translationally driving the carriage (16) relative to the support structure (3) the control electronics (EC) of the servomotor (17) and an encoder (17a) integrated in the servomotor (17) capable of supplying the control electronics (EC) with a signal relating to the number of turns of the servomotor (17) during the translational movement of the carriage (16) from a starting reference position of the carriage (16) to a setpoint at which the control electronics (EC) stops moving the carriage (16) to a position in alignment of the carriage (16) with a line of mirrors (2).
    [0003]
    3. Device according to claim 2, characterized in that the means for controlling the transfer of the cleaning robot (6) of the carriage (16) on the line of mirrors (2) 10 aligned with the carriage (16) comprises a transmitting circuit (60) part of the control electronics (EC) and a receiver circuit (61) on the robot (6) and adapted to receive from the transmitter circuit (60), by radio, a control signal of the movement 15 of the robot (6) to the line of mirrors (2).
    [0004]
    4. Device according to claim 2 or 3, characterized in that the mechanism (18) for translational drive of the carriage (16) comprises a toothed wheel (26) integral with the drive shaft of the booster (17) and a 20 horizontal rack (27) integral with the support structure (3) of the mirror lines (2) in a direction transverse to the mirror lines (2) and in meshing with the toothed wheel (26).
    [0005]
    5. Device according to one of claims 2 to 4, characterized in that the means for controlling the translational movement of the carriage (16) and its automatic positioning in alignment with each line of mirrors (2) further comprises a first sensor (31) connected to the control electronics (EC) and capable of supplying thereto an electrical signal relating to the starting reference position of the carriage (16) towards each of the successive lines of mirrors (2) .
    [0006]
    6. Device according to claim 5, characterized in that the first sensor (31) is integral with the carriage 35 (16) and cooperates with a fixed portion (32) integral with the support structure (3) of the lines of mirrors (2). ) at a location defining the starting reference position of the carriage (16).
    [0007]
    7. Device according to one of claims 1 to 6, characterized in that the transverse guide path comprises a first horizontal upper rail (34) integral with the support structure (3) transversely 5 to the lines of mirrors (2) and at least two upper vertical wheels (35) integral with the carriage (16) able to move along the upper rail (34), and a second horizontal lower rail (37) integral with the ground transverse to the lines of mirrors (2) and to the minus two lower vertical wheels (38) integral with the carriage (16) able to move along the lower rail (37).
    [0008]
    8. Device according to one of claims 3 to 7, characterized in that the carriage (16) comprises a second sensor (50) connected to the control electronics (EC) and able to provide it with a signal detecting the presence of the robot (6) on the carriage (16) at a starting position of its transfer to the line of mirrors to be cleaned (2). 20
    [0009]
    9. Device according to one of claims 1 to 8, characterized in that the carriage (16) comprises a housing (51) provided with an electrical connector (65) connected to a ground power source (63) and adapted to electrically connect to a housing (B2) provided with an electrical connector (66) of the robot (6) when the latter is present on the carriage (16) to recharge a battery (9) of power supply. an electric motor (8) for propelling the robot (6) connected to the electrical connector (66) thereof. 30
    [0010]
    10. Device according to claim 9, characterized in that the electrical connector (66) of the robot (6) is also connected to a sensor (68) for detecting the filling level of the washing liquid of a reservoir (14) of the robot (6) for providing the control electronics (EC) with an electrical signal from that sensor when the electrical connector (66) is connected to the electrical connector (65) of the carriage (16).
    [0011]
    11. Device according to claim 10, characterized in that the housing (B2) electrical connector (66) of the robot (6) also comprises a hydraulic connector (69) connected to the washing liquid reservoir (14) via a conduit (70) and the electrical connector housing (B1) (65) of the carriage (16) also includes a hydraulic connector (71) connected via a conduit (72) to a ground source supply of washing liquid (74) and that the control electronics (EC) control a solenoid valve (EV) or a pump drawing washing fluid from the source on the ground or a fixed tank on the ground allowing filling the reservoir (14) of the robot (6) with washing liquid when the robot (6) is present on the carriage (16), the two housings (B1, B2) are electrically and hydraulically connected to each other and the sensor (68) provides the control electronics (EC) with a low level electrical signal washing liquid in the tank (14).
    [0012]
    12. Device according to claim 11, characterized in that the robot (6) and the carriage (16) comprise centering members (76,78) for axial alignment of the two electrical and hydraulic connection boxes (B1, 32). when the robot (6) is present on the carriage (16).
    [0013]
    13. Device according to claim 12, characterized in that the centering members comprise two rods conical free ends (76) integral with the robot (6) parallel to its direction of movement on the carriage (16) and each line of mirrors ( 2) and two sleeves conical internal cavities (78) integral with the carriage (16) and adapted to receive the conical ends of the conical rods (76) of the robot (6) when the latter is present on the carriage (16).
    [0014]
    14. Device according to one of claims 1 to 13, characterized in that the carriage (16) comprises two parallel longitudinal members (19) spaced apart from each other by a width substantially equal to the width of the mirrors (2 ) of the same line to ensure a continuous raceway of the robot (6) during its movements between the carriage (16) and the line of mirrors (2) in alignment with the two longitudinal members (19) of the carriage (16) .
    [0015]
    15. Device according to one of claims 2 to 13, characterized in that the control electronics (EC) is housed in a cabinet attached to the ground in the vicinity of the middle of the travel of the carriage (16) between the first (L1 ) and last (L2) lines of mirrors to be cleaned (2) and is connected to the first and second sensors (31, 50) and to the housing (B1) with electrical connector (65) of the carriage (16) by electric cables (Cl , C4) housed in a cable chain (80).
    [0016]
    16. Device according to claim 15 when considered in combination with claim 11, characterized in that the pipe (72) for hydraulic connection between the housing (B1) of the carriage (16) and the ground source (74) supply in washing liquid is housed in the cable chain (80).
    [0017]
    17. A method for transporting and positioning a cleaning robot (16) successively facing parallel lines of horizontal mirrors (2) of a solar installation (1) mounted on a support structure on the ground (3) to launch a cleaning sequence of the horizontal mirrors (2) of each line by the robot (6) able to move in the outward and return direction along the line of mirrors (2), characterized in that it comprises the steps of: - controlling the movement of a carriage (16) carrying the cleaning robot (6) along a guide path transverse to the mirror lines (2) from a reference starting position of the carriage (16), - positioning the carriage (16) in alignment with a first line (L1) of mirrors (2), 35 - controlling the movement of the robot (6) to transfer it from the carriage (16) to the first line L1) of mirrors (2) in order to the robot (6) performs a cleaning sequence of the horizontal mirrors (2) of the first e line (L1) in the outward and return direction, - recovering the robot (6) on the carriage (16), - controlling the movement of the carriage (16) carrying the cleaning robot (6) along the transverse guide path up to positioning the carriage (16) in alignment with a second line (L2) of mirrors (2) along the first line (L1) of mirrors (2), - controlling the movement of the robot (6) to transfer it from the carriage (16). ) on the second line (L2) of mirrors (2) so that the robot (6) performs a cleaning sequence horizontal mirrors (2) of the second line (L2) in the back and forth direction, - recover the robot (6) ) on the carriage (16), and - if necessary repeat the above steps for cleaning the horizontal mirrors (2) of the other lines Ln) along the second line (L2) of horizontal mirrors (2).
    [0018]
    18. The method of claim 17, characterized in that it comprises the step of filling in a washing liquid a reservoir (14) of the robot (6) containing washing liquid horizontal mirrors (2) as the robot ( 6) is present on the carriage (16).
    [0019]
    19. The method of claim 18, characterized in that it comprises the step of controlling the displacement of the carriage (16) carrying the robot (6) to its reference start position once completed the cleaning cycle of the lines of horizontal mirrors (2).
    [0020]
    20. Method according to one of claims 17 to 19, characterized in that the carriage (16) is moved along the transverse guide path by a servomotor (17) embedded on the carriage (16) with an encoder (17a). integrated in the servomotor (17) providing a signal representative of the number of revolutions of the servomotor (17) and in that it comprises the step of determining the number of revolutions of the servomotor (17) supplied by the encoder (17a) from of the reference start position of the carriage (16) and stop the movement of the carriage (16) when the number of revolutions of the servomotor (17) reaches a set value corresponding to an alignment of the carriage (16) with a line of mirrors to clean (2).
    [0021]
    21. Method according to one of claims 17 to 20, characterized in that it comprises the step of recharging a battery (9) for supplying an electric motor (8) propulsion robot (6) as long as last is present on the carriage (16).
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    同族专利:
    公开号 | 公开日
    FR3022360B1|2016-09-09|
    引用文献:
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    US20140109334A1|2012-10-18|2014-04-24|Moshe Saraf|Solar panel cleaning system|CN106602982A|2016-12-12|2017-04-26|南京绿谷信息科技有限公司|Downtime apparatus of scavenging machine|
    WO2017118973A1|2016-01-05|2017-07-13|Evermore United S.A.|Solar panel cleaning system capable of cleaning a plurality of solar arrays|
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    ES2727008R1|2017-01-26|2020-01-22|Evermore United S A|SYSTEM AND METHOD OF CLEANING WITHOUT WATER FOR SOLAR FOLLOWERS USING AN AUTONOMOUS ROBOT.|
    US10985691B1|2017-01-26|2021-04-20|Evermore United S.A.|Waterless cleaning system and method for solar trackers using an autonomous robot|
    US11201583B2|2017-01-26|2021-12-14|Evermore United S.A.|Waterless cleaning system and method for solar trackers using an autonomous robot|
    WO2022022778A1|2020-07-29|2022-02-03|Frenell Gmbh|Solar array with service robot that can travel between solar panels|
    CN107065852B|2016-12-20|2020-08-25|华电电力科学研究院有限公司|Photovoltaic power station inspection operation and maintenance system and method thereof|
    CN111252425A|2020-03-06|2020-06-09|北京中电博顺智能设备技术有限公司|Transition vehicle|
    法律状态:
    2016-02-12| TP| Transmission of property|Owner name: SUNCNIM, FR Effective date: 20160104 |
    2016-02-19| PLSC| Search report ready|Effective date: 20160219 |
    2016-03-10| PLFP| Fee payment|Year of fee payment: 2 |
    2017-03-20| PLFP| Fee payment|Year of fee payment: 3 |
    2018-03-28| PLFP| Fee payment|Year of fee payment: 4 |
    2020-03-26| PLFP| Fee payment|Year of fee payment: 6 |
    2021-03-16| PLFP| Fee payment|Year of fee payment: 7 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1500472A|FR3022360B1|2015-03-12|2015-03-12|DEVICE AND METHOD FOR FREELY TRANSPORTING AND POSITIONING A CLEANING ROBOT SUCCESSIVELY WITH MIRROR LINES OF A SOLAR INSTALLATION|FR1500472A| FR3022360B1|2015-03-12|2015-03-12|DEVICE AND METHOD FOR FREELY TRANSPORTING AND POSITIONING A CLEANING ROBOT SUCCESSIVELY WITH MIRROR LINES OF A SOLAR INSTALLATION|
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