FIELD OF THE INVENTION

The present disclosure relates to solar panels and in particular, relates to systems and methods for cleaning solar panels.

BACKGROUND

With the advancement in technology for harnessing solar energy, different types of solar panels are employed for absorbing sunlight as a source of energy to generate electricity. A typical solar power plant consists of a plurality of solar panels structurally mounted in an open environment to receive sunlight. Owing to positioning of the solar panels in the open environment, soiling of the solar panels may occur due to settlement of ambient dust, bird droppings. Due to soiling of the solar panels, an amount of sunlight received by the solar panel may be obstructed which may lead to substantial reduction in output and overall efficiency of the solar panel. This may further lead to substantial financial losses. With increasing impetus on adoption of renewable energy as major source of power supply and decreasing cost of solar modules, solar power plants are being installed in an ever increasing number which results in ever increasing costs in periodic cleaning of solar power plants.

Typically, water based cleaning techniques, such as manual cleaning or robotic cleaning, may be implemented for cleaning the solar panels. However, such water based cleaning techniques uses a large amount of water which may not be feasible to implement in water deficient regions. Further, manual cleaning of the solar panel consumes substantial amount of time which is not feasible to implement in large solar power plant to clean large number of solar panels.

Additionally, robotic cleaning techniques can also be implemented for cleaning the solar panel without using water. However, such robotic cleaning techniques may be costly and require additional infrastructure for allowing movement of cleaning robots on the solar panel. Further, such cleaning robots lack provisions for maintaining orientation of the cleaning robot on the solar panel. For instance, due to presence of obstacles on the solar panel, the cleaning robot moving on the solar panel may be misaligned. Owing to such misalignment, the cleaning robot may fail to effectively and efficiently perform cleaning operation on the solar panel. SUMMARY

In an embodiment of the present disclosure, an automated cleaning device for a solar panel is disclosed. The automated cleaning device includes a frame having a first end portion and a second end portion distal to the first end portion. Further automated cleaning device includes a first coupling unit positioned at the first end portion and adapted to be operated to move the first end portion along the solar panel. The automated cleaning device includes a second coupling unit positioned at the second end portion and adapted to be operated to move the second end portion along the solar panel. Further, the automated cleaning device includes at least one sensing unit coupled to the frame and configured to determine a value of orientation of the frame on the solar panel. The automated cleaning device includes a controlling unit in communication with at least one sensing unit and configured to receive the determined value of orientation of the frame from the at least one sensing unit. Further, the controlling unit is configured to control operation of at least one of the first coupling unit and the second coupling unit based on the value of orientation of the frame to move the automated cleaning device over the solar panel.

To further clarify advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof, which is illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. The invention will be described and explained with additional specificity and detail with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other features, aspects, and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

Figures la, lb, lc illustrate different perspective views of an automated cleaning device for a solar panel, according to an embodiment of the present disclosure;

Figure 2a, 2b, and 2c illustrate partial exploded views of the solar panel cleaning device depicting cleaning members of the solar panel cleaning device;

Figures 3a, 3b, and 3c illustrate partial exploded views of the solar panel cleaning device, according to an embodiment of the present disclosure; Figures 4a and 4b illustrate a perspective view and a partial exploded view of a gear assembly of the solar panel cleaning device, according to an embodiment of the present disclosure;

Figure 5 illustrates a partial exploded view of the solar panel cleaning device, according to another embodiment of the present disclosure;

Figure 6 illustrates a block diagram depicting operation of the solar panel cleaning device, according to an embodiment of the present disclosure; and

Figures 7a and 7b illustrate schematic diagram depicting movement of the solar panel cleaning device on a solar panel, according to an embodiment of the present disclosure.

Further, skilled artisans will appreciate that elements in the drawings are illustrated for simplicity and may not have been necessarily been drawn to scale. For example, the flow charts illustrate the method in terms of the most prominent steps involved to help to improve understanding of aspects of the present invention. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the drawings by conventional symbols, and the drawings may show only those specific details that are pertinent to understanding the embodiments of the present invention so as not to obscure the drawings with details that will be readily apparent to those of ordinary skill in the art having benefit of the description herein.

DETAILED DESCRIPTION OF FIGURES

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiment illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended, such alterations and further modifications in the illustrated system, and such further applications of the principles of the invention as illustrated therein being contemplated as would normally occur to one skilled in the art to which the invention relates. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skilled in the art to which this invention belongs. The system, methods, and examples provided herein are illustrative only and not intended to be limiting.

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Figures la, lb, lc illustrate different perspective views of an automated cleaning device 100 for a solar panel, according to an embodiment of the present disclosure. In an embodiment, the automated cleaning device 100 may interchangeably be referred to as the solar panel cleaning device 100. Further, the solar panel cleaning device 100 may interchangeably be referred to as the cleaning device 100, without departing from the scope of the present disclosure.

The cleaning device 100 may be remotely controlled for cleaning solar panels, solar panel rows or photovoltaic devices. In an embodiment, the cleaning device 100 may be embodied as an electromechanical device for cleaning the solar panels or photovoltaic devices. In an embodiment, the cleaning device 100 may include, but is not limited to, a controlling unit 102 and at least one sensing unit 104 in communication with the controlling unit 102. The controlling unit 102 may be configured to control movement of the cleaning device 100 on the solar panels.

Referring to Figure la, the cleaning device 100 may include a frame 106 extending in longitudinal direction. In an embodiment, the frame 106 may include a first end portion 106- 1, an intermediate portion 106-2 distal to the first end portion 106-1, and a second end portion 106-3 distal to the intermediate portion 106-2. Each of the first end portion 106-1 and the second end portion 106-3 includes a coupling unit. In an embodiment, the first end portion 106-1 and the second end portion 106-3 includes a first coupling unit 108-1 and a second coupling unit 108-2. Constructional and operational details of the coupling units 108-1, 108-2 are explained with respect to Figure 2a and 2b of the present disclosure.

Figure 2a, 2b, and 2c illustrate partial exploded views of the solar panel cleaning device 100 depicting cleaning members of the solar panel cleaning device 100, according to an embodiment of the present disclosure. Referring to Figure la, lb, lc, Figure 2a, Figure 2b, and Figure 2c, in an embodiment, the cleaning device 100 may include at least one cleaning member 110 movably coupled to at least one driving motor. The at least one cleaning member 110 may be adapted to clean a surface of the solar panel when the cleaning device 100 traverses on the surface of the solar panel.

The at least one cleaning member 110 may be adapted to clean contaminants deposited over the surface of the solar panel. In an embodiment, the at least one cleaning member 110 may be embodied as a brush, without departing from the scope of the present disclosure. In one example, the brush may be made of microfiber cloths 114. In another example, the brush may be made of any static electrically charged soft cloth. In the illustrated embodiment, the at least one cleaning member 110 may be embodied as a plurality of microfiber cloths 114 attached to a cylindrical shaft. In such an embodiment, the cleaning device 100 may include a first cleaning member 110-1 and a second cleaning member 110-2. In an embodiment, the first cleaning member 110-1 and the second cleaning member 110-2 may collectively be referred to as the pair of cleaning members 110-1, 110-2, without departing from the scope of the present disclosure. Each of the first cleaning member 110-1 and the second cleaning member 110-2 may include a cylindrical shaft 202 adapted to be attached with the plurality of microfiber cloths 114.

Each of the first cleaning member 110-1 and the second cleaning member 110-2 may include a first end 204-1 and a second end 204-2 distal to the first end 204-1. The first end 204-1 of the first cleaning member 110-1 may be rotatably coupled to a first driving motor 116-1 positioned at the first end portion 106-1. Similarly, the first end 204-1 of the second cleaning member 110-2 may be rotatably coupled to a second driving motor 116-2 disposed on the second end portion 106-3.

Further, the second end 204-2 of each of the first cleaning member 110-1 and the second cleaning member 110-2 may be rotatably coupled to the intermediate portion 106-2 of the cleaning device 100 through at least one bearing member. Each of the pair of cleaning member 110-1, 110-2 may remain in contact with the surface of the solar panels. In an embodiment, when the first driving motor 116-1 and the second driving motor 116-2 rotate the first cleaning member 110-1 and the second cleaning member 110-2, the microfiber cloths 114 attached to respective cleaning members 110-1, 110-2 may rub against the surface of the solar panel, and thereby removing dust/debris on the solar panel. Another embodiment of the cleaning device 100 includes rotatable brush having a rotational axis and a drive configured to translate the rotatable brush in the direction which is perpendicular to an axis of the rotation of the rotatable brush.

In an embodiment, the cleaning device 100 may include a single cleaning member extending from the first end portion 106-1 to the second end portion 106-3 of the frame 106. In such an embodiment, one end of the cleaning member may be rotatably coupled to a driving motor adapted to rotate the cleaning member. In one implementation, one end of the cleaning member positioned at the first end portion 106-1 may be coupled to the driving motor. In another implementation, one end of the cleaning member positioned at the second end portion 106-3 may be coupled to the driving motor. Further, in one embodiment, the cleaning device 100 may include at least one intermediate wheel located at the intermediate portion 106-2 of the cleaning device 100. In the illustrated embodiment, the cleaning device 100 may include a plurality of intermediate wheels 118. In an embodiment, each of the plurality of intermediate wheels 118 may be embodied as a caster wheel, without departing from the scope of the present disclosure. In another embodiment, the cleaning device 100 may not be provided with the plurality of intermediate wheels 118, without departing from the scope of the present disclosure.

Figures 3a, 3b, and 3c illustrate partial exploded views of the solar panel cleaning device 100, according to an embodiment of the present disclosure. For the sake of simplicity and better understanding, constructional details of the coupling unit are explained with respect to the first coupling unit 108-1 attached to the first end portion 106-1 of the cleaning device 100. As would be appreciated by the person skilled in the art, the description of the first coupling unit 108-1 is equally applicable to the second coupling unit 108-2 of the cleaning device 100, without departing from the scope of the present disclosure.

In an embodiment, the first coupling unit 108-1 may include a pair of surface wheels 302 for enabling movement of the cleaning device 100 on the solar panels. The pair of surface wheels 302 may interchangeably be referred to as the surface wheels 302. The pair of surface wheels 302 may be adapted to traverse on an upper surface of the solar panel. The pair of surface wheels 302 may include a first surface wheel 302-1 and a second surface wheel 302-2 positioned distal to the first surface wheel 302-1 along a width of the cleaning device 100 at the first end portion 106-1.

Further, the first coupling unit 108-1 may include a plurality of side wheels 304 for supporting movement of the cleaning device 100 on the solar panel. The plurality of side wheels 304 may be adapted to traverse on a side surface, such as a periphery, of the solar panel. The plurality of side wheels 304 may include a pair of drive wheels 304-1 and a pair of driven wheels 304-2 positioned adjacent to the pair of drive wheels 304-2. The pair of drive wheels 304-1 may include a first drive wheel 308-1 and a second drive wheel 308-2. The first drive wheel 308-1 may be positioned in vicinity of the first surface wheel 302-1. The second drive wheel 308-2 may be positioned in vicinity of the second surface wheel 302-2.

The pair of driven wheels 304-2 may be adapted to support the cleaning device 100 on the solar panel. The pair of driven wheels 304-2 may be embodied as non-driven wheels. In an example, each of the pair of driven wheels 304-2 may be a caster wheel. In an embodiment, the pair of driven wheels 304-2 may rotate about an axis perpendicular to a surface of the solar panels. The pair of driven wheels 304-2 may be adapted to hold the cleaning device 100 on the solar panel, thereby allowing smooth movement of the cleaning device 100 in the longitudinal direction.

Figures 4a and 4b illustrate a perspective view and a partial exploded view of a gear assembly of the solar panel cleaning device 100, according to an embodiment of the present disclosure. Referring to Figure 3a, Figure 3b, Figure 3c, Figure 4a, and Figure 4b, the first coupling unit 108-1 may include a first gear assembly 306-1 and a second gear assembly 306-2. In an embodiment, the first gear assembly 306-1 and the second gear assembly 306-2 may collectively be referred to as the gear assemblies 306-1, 306-2, without departing from the scope of the present disclosure. The first gear assembly 306-1 may be adapted to be coupled to the first surface wheel 302-1 and the first drive wheel 308-1. Further, the second gear assembly 306-2 may be adapted to be coupled to the second surface wheel 302-2 and the second drive wheel 308-2.

For the sake of simplicity and better understanding, constructional details of the gear assemblies 306-1 and 306-2 are explained with respect to the first gear assembly 306-1 of the cleaning device 100. As would be appreciated by the person skilled in the art, the description of the first gear assembly 306-1 is equally applicable to the second gear assembly 306-2 of the cleaning device 100, without departing from the scope of the present disclosure.

Referring to Figure 4a and 4b, the first gear assembly 306-1 may include a housing member 402 adapted to accommodate various sub-components of the first gear assembly 306-1. Further, the first gear assembly 306-1 may include a first bevel gear 404-1 and a second bevel gear 404-2 adapted to be engaged with the first bevel gear 404-1. The first bevel gear 404-1 may be adapted to be coupled to one of the first surface wheel 302-1 and the second surface wheel 302-2. In the illustrated embodiment, the first bevel gear 404-1 of the first gear assembly 306-1 may be coupled to the first surface wheel 302-1. The first bevel gear 404-1 may be coupled to the first surface wheel 302-1 through a first shaft 406-1. Further, the first shaft 406-1 may be coupled to the first drive wheel 308-1.

Further, as mentioned earlier, the second bevel gear 404-2 may be adapted to be engaged with the first bevel gear 404-1. The second bevel gear 404-2 may be adapted to be coupled to one of the first drive wheel 308-1 and the second drive wheel 308-2. In the illustrated embodiment, the second bevel gear 404-2 of the first gear assembly 306-1 may coupled to the first drive wheel 308-1. The second bevel gear 404-2 may be coupled to the first drive wheel 308-1 through a second shaft 406-2. Further, the second shaft 406-2 may be coupled to the first surface wheel 302-1.

In an embodiment, the first gear assembly 306-1 may be adapted to be coupled to the second gear assembly 306-2 through a pulley mechanism 408. Referring to Figure 3c, Figure 4a, and Figure 4b, in the illustrated embodiment, the pulley mechanism 408 may include at least a first pulley member 408-1, a second pulley member 408-2, and a belt member 408-3. The first pulley member 408-1 may be coupled to the first shaft 406-1 of the first gear assembly 306-1.

Further, the second pulley member 408-2 may be coupled to the first shaft 406-1 of the second gear assembly 306-2. The first pulley member 408-1 may be coupled to the second pulley member 408-2 through the belt member 408-3. In an embodiment, the belt member 408-3 may be embodied as one of a single sided timing belt, a double sided timing belt, a flat belt, a teethed belt, and a non-teethed belt, without departing from the scope of the present disclosure. Further, the pulley mechanism 408 may include a belt tensioner 410 adapted to maintain sufficient tension on the belt member 408-3 during operation of the cleaning device 100.

Further, referring to Figure 3a, Figure 3b, and Figure 3c, the first coupling unit 108-1 and the second coupling unit 108-2 may include a first drive motor 310 and a second drive motor 312. The first drive motor 310 and the second drive motor 312 may be in communication with the controlling unit 102. The first drive motor 310 may be adapted to drive at least one of the first surface wheel 302-1 and the first drive wheel 308-1 of the first coupling unit 108-1 through the first gear assembly 306-1. In the illustrated embodiment, the first drive motor 310 may be adapted to drive both the first surface wheel 302-1 and the first drive wheel 308-1.

In an embodiment, the first drive motor 310 may be coupled to the first shaft 406-1 of the first gear assembly 306-1 of the first coupling unit 108-1 to drive the first surface wheel 302-1 and the first drive wheel 308-1 of the first coupling unit 108-1. Similarly, the second drive motor 312 may be coupled to the first shaft 406-1 of the first gear assembly 306-1 of the second coupling unit 108-2 to drive the first surface wheel 302-1 and the first drive wheel 308-1 of the second coupling unit 108-2.

In an embodiment, the first drive motor 310 and the second drive motor 312 may be connected to a power source 412 adapted to supply power to each of the first drive motor 310 and the second drive motor 312. In an embodiment, the power source 412 may be mounted on the first end portion 106-1 of the frame of the cleaning device 100. Further, the power source 412 may also connected to components, such as the controlling unit 102, the at least one sensing unit 104, the first driving motor 116-1, and the second driving motor 116- 2, to supply power to the respective component. In an embodiment, the power source 412 may be embodied as a battery. In another embodiment, the power source 412 may be embodied as solar cells, without departing from the scope of the present disclosure.

Figure 5 illustrates a partial exploded view of the solar panel cleaning device, according to another embodiment of the present disclosure. Referring to Figure 4a, Figure 4b, and Figure 5, in an embodiment, the first drive motor 310 may be adapted to drive only the first drive wheel 308-1. In such an embodiment, the first surface wheel 302-1 may be coupled to the second shaft 406-2 through a bearing member 502 such that the second shaft 406-2 may freely rotate without rotating the first surface wheel 302-1. Similarly, the second drive motor 312 may be adapted to drive only the first drive wheel 308-1 at the second end portion 106-3. The first surface wheel 302-1 at the second end portion 106-3 may be coupled to the second shaft 406-2 through the bearing member (not shown) such that the second shaft 406-2 may freely rotate without rotating the first surface wheel 302-1. The bearing 502 may be embodied as a ball bearing, without departing from the scope of the present disclosure.

In another embodiment, the first drive motor 310 may be adapted to drive only the first surface wheel 302-1. In such an embodiment, the first drive wheel 308-1 may be coupled to the first shaft 406-1 through a bearing member (not shown) such that the first shaft 406-1 may freely rotate without rotating the first drive wheel 308-1. Similarly, the second drive motor 312 may be adapted to drive only the first surface wheel 302-2 at the second end portion 106-3. The first drive wheel 308-1 at the second end portion 106-3 may be coupled to the first shaft 406- 1 through a bearing member (not shown) such that the first shaft 406-1 may freely rotate without rotating the first drive wheel 308-1.

Figure 6 illustrates a block diagram depicting operation of the solar panel cleaning device 100, according to an embodiment of the present disclosure. For the sake of brevity, features of the cleaning device 100 that are already explained in detail in the description of Figure la, Figure lb, Figure lc, Figure 2a, Figure 2b, Figure 2c, Figure 3a, Figure 3b, Figure 3c, Figure 4a, Figure 4b, and Figure 5 are not explained in detail in the description of Figure 6.

As explained earlier, the cleaning device 100 may include the controlling unit 102 and the at least one sensing unit 104 in communication with the controlling unit 102. The controlling unit 102 may be configured to control the movement of the cleaning device 100 on the surface of the solar panel. In an embodiment, the controlling unit 102 may be configured to control orientation of the cleaning device 100 on the solar panel, based on data received from the at least one sensing unit 104.

In the illustrated embodiment, the controlling unit 102 may be embodied as a Proportional Integral Derivative (PID) controller, without departing from the scope of the present disclosure. Further, in the illustrated embodiment, the at least one sensing unit 104 may be embodied as an Inertial Measurement Unit (IMU). Therefore, the at least one sensing unit 104 may interchangeably be referred to as the IMU 104, without departing from the scope of the present disclosure.

In an embodiment, the controlling unit 102 may include a processor, memory, modules, and data. The modules and the memory are coupled to the processor. The processor can be a single processing unit or a number of units, all of which could include multiple computing units. The processor may be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, state machines, logic circuitries, and/or any devices that manipulate signals based on operational instructions. Among other capabilities, the processor is configured to fetch and execute computer-readable instructions and data stored in the memory.

The memory may include any non-transitory computer-readable medium known in the art including, for example, volatile memory, such as static random access memory (SRAM) and dynamic random access memory (DRAM), and/or non-volatile memory, such as read only memory (ROM), erasable programmable ROM, flash memories, hard disks, optical disks, and magnetic tapes.

The modules, amongst other things, include routines, programs, objects, components, data structures, etc., which perform particular tasks or implement data types. The modules may also be implemented as, signal processor(s), state machine(s), logic circuitries, and/or any other device or component that manipulate signals based on operational instructions.

Further, the modules can be implemented in hardware, instructions executed by a processing unit, or by a combination thereof. The processing unit can comprise a computer, a processor, such as the processor, a state machine, a logic array or any other suitable devices capable of processing instructions. The processing unit can be a general-purpose processor which executes instructions to cause the general-purpose processor to perform the required tasks or, the processing unit can be dedicated to perform the required functions. In another aspect of the present disclosure, the modules may be machine-readable instructions (software) which, when executed by a processor/processing unit, perform any of the described functionalities.

Referring to Figure 6, the IMU 104 may be configured to generate data indicative of orientation of the cleaning device 100 on the solar panel. In an embodiment, the IMU 104 may generate real-time data indicative of at least one Degree-of-Freedom (DOF) of the cleaning device 100 moving on the solar panel. In the illustrated embodiment, the IMU 104 may be configured to determine a value of current orientation, interchangeably be referred to as the value of orientation, of the cleaning device 100.

Further, IMU 104 may be configured to transmit the value of current orientation to the controlling unit 102. Subsequently, upon determination of the value of current orientation, the controlling unit 102 may be configured to control operation of at least one of the first coupling unit 108-1 and the second coupling unit 108-2 based on the value of orientation of the cleaning device 100 to move the cleaning device 100 over the solar panel. The controlling unit 102 may control angular velocity of the pair of surface wheels 302 and the pair of drive wheels 304-1 disposed on each of the first coupling unit 108-1 and the second coupling unit 108-2. For sake of simplicity, the pair of surface wheels 302 and the pair of drive wheels 304-1 of the first coupling unit 108-1 may collectively be referred to as first set of driving wheels. Similarly, the pair of surface wheels 302 and the pair of drive wheels 304-1 of the second coupling unit 108-2 may collectively be referred to as second set of driving wheels.

In an embodiment, the controlling unit 102 may be configured to compare the determined value of orientation with a pre-defined value of reference orientation of the frame 106 with respect to the solar panel. The controlling unit 102 may be configured to control operation of at least one of the first coupling unit 108-1 and the second coupling unit 108-2 based on the comparison. Further, the controlling unit 102 may be configured to generate an output signal to control operation of one of the first drive motor 310 and the second drive motor 312 based on the comparison between the determined value and the pre defined value of reference orientation.

In an embodiment, the output signal may be indicative of one of increasing an angular velocity of the pair of surface wheels 302 and the plurality of side wheels 304, such as the pair of drive wheels 304-1, and decreasing an angular velocity of the pair surface wheel 302 and the plurality of side wheels, such as the pair of drive wheels 304-1. Upon receiving the value of current orientation, the controlling unit 102 may compare the value of current orientation with the pre-defined value of reference orientation of the cleaning device 100 on the solar panel. Subsequently, if the controlling unit 102 determines a difference between the value of current orientation and the pre-defined value of reference orientation, the controlling unit 102 may generate the output signal to eliminate difference between the value of current orientation and the pre-defined value of reference orientation. In an embodiment, the output signal may be embodied as a Pulse Width Modulation (PWM) signal.

In the illustrated embodiment, the controlling unit 102 generates the output signal to vary angular velocity of at least one of the first set of driving wheels and the second set of driving wheels of the cleaning device 100. In one instance, the controlling unit 102 may generate the output signal to control operation of the first drive motor 310, and thereby controlling the angular velocity of the first set of driving wheels disposed at the first end portion 106-1 of the frame 106. In another embodiment, the controlling unit 102 may generate the output signal to control operation of the second drive motor 312, and thereby controlling the angular velocity of the second set of driving wheels disposed at the second end portion 106-3 of the frame 106. In yet another embodiment, the controlling unit 102 may generate output signals to control operation of each of the first drive motor 310 and the second drive motor 312, thereby controlling the angular velocities of the first set of driving wheels and the second set of driving wheels.

Figures 7a and 7b illustrate schematic diagram depicting movement of the solar panel cleaning device 100 on a solar panel, according to an embodiment of the present disclosure. Referring to Figure 7a, the cleaning device 100 may be adapted to move on a solar panel 600 along an axis A-A’ parallel to the surface of the solar panel 600. In the illustrated embodiment, the cleaning device 100 may be oriented on the solar panel 600 along a reference axis B-B\ The reference axis B-B’ is perpendicular to direction of movement of the cleaning device 100, i.e., along the axis A-A’. In such an embodiment, the controlling unit 102 may control the angular velocities of the first set of driving wheels and the second set of driving wheels to eliminate fluctuation in orientation of the cleaning device 100 during cleaning operation.

During cleaning operation, if the cleaning device 100 encounters an obstruction on the surface of the solar panel 600, the controlling unit 102 may control the angular velocities of the first set of driving wheels and the second set of driving wheels to overcome such obstruction on the surface. Referring to Figure 7b, in the illustrated embodiment, when the cleaning device 100 encounters an obstruction on the solar panel 600, the cleaning device 100 may undergo disorientation with respect the reference axis B-B\ In such an embodiment, the cleaning device 100 may be oriented along the axis C-C’.

Subsequently, the IMU 104 may determine the value of current orientation of the cleaning device 100 along the axis C-C’. Further, the IMU 104 may transmit the value of the current orientation to the controlling unit 102. Thereafter, the controlling unit 102 may determine the difference between the value of current orientation and the value of reference orientation. Further, based on the determined difference, the controlling unit 102 may increase the angular velocity of the first set of driving wheels, and reduce the angular velocity of the second set of driving wheels. Owing to such variation in the angular velocities, the cleaning device 100 may overcome the obstruction in vicinity of the first set of driving wheels on the first end portion 106-1 of the frame 106. Subsequently, orientation of the cleaning device 100 may be restored such that the cleaning device 100 may be oriented along the reference axis B-B\ Further, owing to above explained operation, the cleaning device 100 can efficiently overcome large obstacles/steps/obstructions, and thus reducing energy consumption of the cleaning device 100 during the cleaning operation. Therefore, the cleaning device 100 of the present disclosure is flexible in implementation, compact, robust, cost-effective, efficient, convenient, and has a wide range of applications.

In an embodiment, a length‘L’ of the cleaning device 100 can be varied based on dimensional characteristics of the solar panel, by making minor modification to the cleaning device 100. In one embodiment, the length‘L’ of the cleaning device 100 may be increased for employing the cleaning device 100 on large solar panels. In another embodiment, the length‘L’ of the cleaning device 100 may be reduced for employing the cleaning device 100 on smaller solar panels. In such an embodiment, the cleaning device 100 may include only one cleaning member and a corresponding motor for driving such cleaning member. In one example, the length‘L’ of the cleaning device 100 may be varied in a range of 4 meter to 6 meter, without departing from the scope of the present disclosure. In another example, the length‘L’ of the cleaning device 100 may be adjusted to 2 meter, without departing from the scope of the present disclosure.

While specific language has been used to describe the present subject matter, any limitations arising on account thereto, are not intended. As would be apparent to a person in the art, various working modifications may be made to the method in order to implement the inventive concept as taught herein. The drawings and the foregoing description give examples of embodiments. Those skilled in the art will appreciate that one or more of the described elements may well be combined into a single functional element. Alternatively, certain elements may be split into multiple functional elements. Elements from one embodiment may be added to another embodiment.