阅读说明：本技术 前部较重的灰尘清洁车辆 (Front heavy dust cleaning vehicle ) 是由 B.帕罗持 P.卡拉斯科扎尼尼 A.艾舍里 于 2016-08-18 设计创作，主要内容包括：一种用于清洁对象的表面的清洁车辆,包括限定框架的第一滑架和第二滑架。所述车辆还包括联接到第一滑架和第二滑架以形成驱动组件的第一轮子和第二轮子,并且至少一个电机可操作地联接到所述第一轮子和第二轮子中的至少一个。清洁元件在所述第一轮子和第二轮子的前方的位置处在所述第一滑架与第二滑架之间延伸并由其支撑。所述车辆还包括第三轮子和第四轮子。第三轮子相对于所述第一轮子可调节地安装。所述第三轮子和第四轮子配置为使得所述对象接收在第三轮子和第四轮子和相应的第一滑架和第二滑架之间。(A cleaning vehicle for cleaning a surface of an object includes a first carriage and a second carriage defining a frame. The vehicle also includes first and second wheels coupled to the first and second carriages to form a drive assembly, and at least one motor is operably coupled to at least one of the first and second wheels. Cleaning elements extend between and are supported by the first and second carriages at positions forward of the first and second wheels. The vehicle further includes a third wheel and a fourth wheel. A third wheel is adjustably mounted relative to the first wheel. The third and fourth wheels are configured such that the object is received between the third and fourth wheels and the respective first and second carriages.)

1. A cleaning vehicle for cleaning a surface of an object, comprising:

a first carriage and a second carriage;

first and second wheels coupled to the first and second carriages, respectively, for placement along a top surface of the object;

at least one motor operably coupled to at least one of the first and second wheels to define a drive assembly;

a cleaning element extending between and supported by the first and second carriages;

a third wheel in the form of a side roller coupled to one of the first and second carriages to contact and travel along a side of the object; and

a fourth wheel in the form of a bottom roller coupled to one of the first and second carriages to contact and travel along a bottom surface of the object;

wherein the cleaning element is disposed on one side of a transverse axis passing through the first and second wheels and is spaced apart from the first and second wheels by a first distance;

wherein the fourth wheel is disposed on an opposite side of the transverse axis and spaced apart from the transverse axis by a second distance.

2. The cleaning vehicle of claim 1, wherein the transverse axis is parallel to the rotational axis of the first and second wheels.

3. The cleaning vehicle of claim 1, wherein a single first motor is operatively coupled to one of the first and second wheels while the other of the first and second wheels is a non-driven wheel, and wherein the cleaning element is operatively coupled to a different second motor for controlled rotation thereof.

4. The cleaning vehicle of claim 3, wherein the first and second motors are mounted along an exterior face of one of the first and second carriages.

5. The cleaning vehicle of claim 1, wherein each of the first and second carriages includes a downwardly extending arm at a rear end thereof, the fourth wheel being mounted to one respective downwardly extending arm.

6. The cleaning vehicle of claim 5, wherein each of the downwardly extending arms includes a plurality of spaced apart apertures that receive the fourth wheel.

7. The cleaning vehicle of claim 1, further comprising a cross support member attached at first and second ends thereof to the first and second carriages.

8. The cleaning vehicle of claim 1, further comprising:

a fifth wheel in the form of a side roller coupled to the other of the first and second carriages to contact and travel along the other side of the object;

a sixth wheel in the form of a bottom roller coupled to the other of the first and second carriages to contact and travel along a bottom surface of the object.

9. The cleaning vehicle of claim 8, further comprising a seventh wheel mounted to the cross support member and configured to ride along a top of the panel.

10. The cleaning vehicle of claim 8, further comprising:

a seventh wheel in the form of a side roller coupled to one of the first and second carriages to contact and travel along a side of the object; and

an eighth wheel in the form of a side roller coupled to the other of the first and second carriages to contact and travel along the other side of the object;

wherein the third and seventh wheels are spaced apart from one another and the first wheel is at least partially disposed between the third and seventh wheels;

wherein the fourth and eighth wheels are spaced apart from one another and the second wheel is at least partially disposed between the fourth and eighth wheels.

11. The cleaning vehicle of claim 1, wherein the cleaning element is rotatably coupled to a front end of the first and second carriages.

12. The cleaning vehicle of claim 1, wherein an axle extends between the first and second carriages, the first and second wheels being coupled to the axle.

Technical Field

The present invention relates generally to cleaning vehicles and, more particularly, to vehicles having cantilevered cleaning elements.

Background

Solar panels are a green alternative to electricity generation. Large scale power generation may include an array of solar panels located in an outdoor environment to convert solar energy into electrical energy. However, solar panels located in outdoor environments are exposed to sand, dust, dirt, and other debris, which may collect on the surface of the solar panel and reduce the ability of the panel to absorb light and convert it into electricity. This problem is magnified when the panels are located in arid environments (e.g., deserts) that receive high levels of solar radiation and are rarely overcast, as these environments tend to have high levels of dust and wind, resulting in high deposition rates on the surfaces of the panels.

The solar panel may be manually swept or otherwise cleaned; however, this process may be slow, labor intensive, costly, or have all of these characteristics. The present invention addresses these and other issues.

Disclosure of Invention

In one embodiment, a cleaning vehicle for cleaning a surface of an object includes first and second carriages (defining a frame), and a wheel axle extending between the first and second carriages. The vehicle also includes first and second drive wheels coupled to the axle to form a drive assembly, and at least one electric machine is operably coupled to the drive assembly. A cleaning element extends between and is supported by the first and second carriages at a location forward of the first and second drive wheels. The vehicle also includes a first road wheel and a second road wheel. The first travel wheel is adjustably mounted relative to the first drive wheel and the second travel wheel is adjustably mounted relative to the second drive wheel. The first and second travel wheels are configured such that the object is received between the first and second travel wheels and the respective first and second carriages.

The vehicle is designed such that the cleaning elements are arranged on one side of the wheel axle (and the first and second drive wheels) and spaced apart therefrom by a first distance, while the first and second travelling wheels are arranged on the opposite side of the wheel axle and spaced apart therefrom by a second distance.

Drawings

FIGS. 1A and 1B illustrate isometric views of a cleaning vehicle disposed on a solar panel according to a first embodiment of the present invention;

fig. 2A and 2B illustrate side views of the vehicle in a first state and a second state;

FIG. 3 illustrates a rear view of the vehicle; and

FIG. 4 is a first side perspective view of a cleaning vehicle according to a second embodiment;

FIG. 5 is a second side perspective view of the cleaning device of FIG. 4; and

fig. 6 is a side view of a cleaning device according to a third embodiment.

Detailed Description

Referring to fig. 1A and 1B, a surface cleaning vehicle 100 is disposed on a solar panel array 10, according to one embodiment of the present invention. The surface cleaning vehicle includes a first carriage 102 and a second carriage 104 disposed at opposite ends of an axle 106. A first set of wheels, consisting of a first wheel 108 and a second wheel 110, is coupled to the axle 106 and disposed at opposite ends thereof proximate the respective carriages 102, 104. The control housing 112 is supported by one of the carriages 102, 104. The control housing 112 may include motors, control electronics, a communication module, a power supply, and the like, as discussed in more detail below. The cleaning element 114 extends between and is thereby supported by the carriages 102, 104. A second set of wheels, consisting of a third wheel 116 and a fourth wheel 118, is connected to the respective carriages 102, 104 by adjustable links 120, 122. As discussed in more detail below, the first and second wheels 108, 110 and the third and fourth wheels 116, 118 cooperate to couple the vehicle to the solar panel array 10 such that the vehicle can traverse the surface of the array and maintain the cleaning elements 114 in contact with the surface of the array for cleaning.

As discussed in detail herein, in one embodiment, at least one of the first and second wheels 108, 110 may be a driven wheel, while the third and fourth wheels 116, 118 may be a travel wheel. However, as described herein, in other embodiments, the reverse arrangement is possible, i.e., at least one of the third wheel 116 and the fourth wheel 118 is the wheel being driven, and the first wheel 108 and the second wheel 110 may be the road wheels.

The carriages 102, 104 provide a supporting structural frame for the vehicle 100. A wheel axle 106 extends between the two carriages 102, 104. The carriage 102 supports one end of an axle 106 and the carriage 104 supports the other end of the axle. The axle 106 is coupled to the carriages 102, 104 such that the axle 106 can rotate freely. A first wheel 108 and a second wheel 110 are coupled to the axle 106 at opposite ends of the axle 106. The first and second wheels 108, 110 are disposed proximate the respective carriages 102, 104. The first wheel 108 and the second wheel 110 contact the top surface 12 of the solar panel array 10. Accordingly, rotation of the axle 106 causes rotation of the first and second wheels 108, 110 so that the vehicle can traverse the solar panel array 10.

It should be understood that the axle 106 may be omitted and, as an alternative, a different type of structural support may be provided and disposed between the two carriages 102, 104 in order to provide a sufficiently strong coupling between the two carriages 102, 104. For example, an aluminum extrusion may extend between the two carriages 102, 104. Alternatively, a sheet metal body/covering or any structural element may be provided to connect the two carriages to each other. In addition, the brush core described herein may also provide structural rigidity between the two carriages.

When the axle 106 is omitted, it should be understood that the first and second wheels 108, 110 are otherwise coupled to the two carriages 102, 104 to allow the first and second wheels 108, 110 to rotate freely. As described herein, in one embodiment, only one of the first and second wheels 108, 110 is driven, and thus, a single axle or drive shaft may be provided that connects between the one driven wheel 108, 110 and the drive motor (described herein). Since an arrangement may be provided in which only one of the wheels 108, 110 is actively driven, while the other wheel 108, 110 is passive (driven), no single axle connected to both wheels 108, 110 is required.

The cleaning elements 114 may be brushes comprising bristles. However, other types of cleaning devices, such as pads or fabrics, may be used. A cleaning element 114 extends between the carriages 102, 104. The cleaning element 114 is coupled to the carriages 102, 104 such that the cleaning element 114 can freely rotate. The cleaning elements 114 in the illustrated embodiment are generally cylindrical in shape so that effective removal of debris can be achieved by rotation of the cleaning elements. The cleaning elements 114 are sized so that they extend across the length of the solar panel array 10. The cleaning element 114 is coupled to a motor that rotates the cleaning element, which may be the same motor that rotates the axle 106 or, in embodiments other than that illustrated, a different motor that rotates the cleaning element. As the first and second wheels 108, 110 rotate such that the vehicle 100 traverses the solar panel, the cleaning elements rotate to mechanically remove debris from the surface of the solar panel array 10.

Referring now to fig. 2A, 2B and 3, one side of the vehicle 100 is shown on the solar panel array 10 (with the control housing 112 removed for ease of viewing). Although fig. 2A, 2B, and 3 illustrate only one side of the vehicle, the opposite side is arranged in substantially the same manner. The carriage 102 supports an axle 106. The first wheel 108 contacts the upper surface of the solar panel array 10 and is axially aligned with and coupled to the axle 106. The cleaning element 114 is supported by the carriage 102 and is disposed on a first side of the axle 106. The adjustable linkage 120 and the third wheel 116 are disposed on opposite sides of the axle 106. The adjustable link 120 and the travel wheel 116 are spaced a distance D1 from the axle 106, and the cleaning element 114 is spaced a distance D2 from the axle 106 (i.e., the third wheel 116 is farther from the cleaning element than the first wheel 108). In this structural arrangement, the weight (W) of the cleaning element 114 generates a rotational force R1 about the axle 106 in a first direction. The third wheel 116 is in contact with the underside of the solar panel 10. Accordingly, the force between the third wheel 116 and the underside of the solar panel produces a rotational force R2 about the axle 106, the rotational force R2 being in the opposite direction of the rotational force R1 caused by the cleaning element 114. F1 and F2 are the reaction forces experienced by the travelling and driving wheels, respectively. It can be seen that the cleaning elements 114 are cantilevered to the front of the vehicle relative to the axle 106 and the first wheel 108, making the vehicle "front heavy". As discussed in more detail below, adjusting the third wheels 116 may affect the positioning of the cleaning elements 114, as the third wheels 116 counteract the force generated by the cantilevered mounting of the cleaning elements 114.

The third wheel 116 extends below the carriage 102 so that the third wheel 116 can contact the underside of the solar panel array 10 while the first wheel 108 contacts the upper side of the array. The third wheel 116 is coupled to the carriage 102 via an adjustable link 120. The adjustable coupling includes a first frame member 124 attached to the carriage 102 and a second frame member 126 connected to the third wheel 116. Supports 128 and 130 extend between the first frame member 124 and the second frame member 126. The two supports 128 and 130 prevent undesired rotation between the frame 126 and the rest of the vehicle in order to maintain alignment of the third wheel 116. One of the supports 130 may be threaded and connected to the frame 124 such that rotation of the handle 132 causes rotation of the threaded support 130 and causes a change in the distance a between the two frame members 124 and 126. Adjusting the distance between the two frame members 124, 126 causes the third wheel 116 to move relative to the drive wheel 108 (i.e., in the reference frame of the vehicle, the total vertical distance between the travel wheel and the drive wheel changes as the attachment point of the travel wheel moves relative to the vehicle). If the support 130 is adjusted such that the distance between the two frame members 124, 126 increases (i.e., a2 is greater than a1), the vehicle may then rotate about the first wheel 108 in direction M such that the cleaning element 114 is lowered relative to the top surface of the solar panel array, as shown in fig. 2B. If the support 130 is adjusted such that the distance between the two frame members 124, 126 is reduced (i.e., a2 is less than a1), the vehicle may rotate about the first wheel 108 in the opposite direction such that the cleaning element 114 is raised relative to the top surface of the solar panel array. The ability to lower or raise the cleaning element 114 relative to the solar panel surface allows for in situ adjustment of the amount of contact between the cleaning element 114 (e.g., the filaments of a rotating brush) and the panel surface. This configuration, which allows for such adjustment, is useful both during initial setup and during maintenance, as the cleaning elements 114 (e.g., brush filaments) may wear out over time.

Referring to fig. 3, the solar panel 10 is disposed between the first wheel 108 and the third wheel 116. The third wheel 116 may have a concave profile 134 such that the profile is complementary to the bottom edge 14 of the solar panel. Thus, the third wheel 116 may contact the bottom surface 16 of the solar panel in addition to the side surface 18 of the solar panel. By contacting the bottom and sides of the solar panel, the travel wheels can provide force in both vertical and horizontal directions. This structural arrangement allows the travelling wheels to act as a guide providing an outward normal force on each side of the solar panel. This keeps the vehicle from turning and maintains the normal force directed downward, which prevents the forward cleaning elements 114 from resting completely on the top surface 12 by counteracting the gravitational force acting to pull the brush downward. As described above, the adjustable support 120 allows for adjustment of the travel wheels, which provides for raising and lowering of the cleaning elements through the rotational action of the vehicle. In addition, the adjustment provided by adjustable support 120 also enables the vehicle to be coupled to solar panel arrays and/or rails having different thicknesses and geometries. Accordingly, by adjusting the adjustable supports 120, which allows for increased spacing between the frame members 124, 126, the vehicle may be adjusted to couple to thicker solar panels. Conversely, the spacing may be reduced to accommodate thinner solar panels.

Referring now to fig. 1B and 2B, the vehicle 100 includes a control housing 112, the control housing 112 including at least one electric machine for providing driving power to the vehicle. The motor may be coupled to the axle 106 to transmit power from the motor to the first wheel 108. Additionally, the cleaning elements 114 may be coupled to the hub 106 such that power from the motor may also be transmitted to the cleaning elements to rotate the cleaning elements. The power transmission system 136 may couple the axle 106 and the cleaning element 114 such that power from the motor may be used to rotate the first wheel 108 (such that the vehicle translates across the surface of the solar panel) and also rotate the cleaning element (such that the cleaning element removes debris from the surface of the solar panel). The power transmission system 136 may include a gear 138 connected to the axle 106, and a belt drive system 140 coupling the cleaning elements 114 to the gear 138. Accordingly, as the hub 106 rotates, the gear 138 rotates, causing the belt drive system 140 to rotate, causing rotation of the cleaning elements 114. The power transmission system 136 is configured and arranged to cause the drive wheels 108 and cleaning elements 114 to rotate in opposite directions. Thus, the cleaning element rotates in the opposite direction to the linear motion of the vehicle. The reverse rotation of the cleaning elements produces more effective cleaning as the wheels travel forward.

In addition, the opposite rotation of the cleaning element counteracts the torque generated by the driving drive wheel. Without power to the cleaning elements, as the motor applies torque to drive the vehicle forward, the body of the vehicle reacts, tending to "lift the front wheels off the ground" (wheelie), i.e., the brush tends to lift from the surface. However, because the drive wheel and cleaning element are coupled to the motor, the counteracting effect acts in the same way, but in the opposite direction. This effect arises from the torque required to drive the brush, and in particular the torque required to activate the drive brush, and the fact that the brush moves counter to the wheel. Thus, depending on which torque (i.e., the torque required to accelerate the vehicle or the torque required to activate the cleaning elements) is more demanding, the vehicle will experience either a "front wheel lift off the ground" or a "dive" effect. In the described arrangement, the torque required to drive the cleaning elements is typically higher than the torque required to drive the wheels, and therefore, as the vehicle accelerates forward, it tends to dive (i.e. the cleaning elements are pushed towards the surface of the solar panel due to the torque). This is an additional benefit of the design as it naturally ensures that there is increased cleaning element pressure when driving forward to clean the panel, while reducing the increased pressure when driving backward. (i.e., when the vehicle is driven in the opposite direction after the cleaning stroke of the panel is completed, the reverse torque direction tends to lift the cleaning element away from the solar panel, thereby reducing pressure and friction therebetween). The torque effect tends to be strongest when the vehicle begins to move as the cleaning element overcomes the static friction. The torque effect continues after start-up but is not as strong due to the sliding friction experienced between the cleaning elements and the panel surface.

Although, as described above, a single motor may be used to rotate the drive wheel and cleaning element, other motor arrangements are possible. Since driving the cleaning elements typically requires more power than the drive wheels, arranging the motor to directly drive the cleaning elements and indirectly using the power transmission system to indirectly drive the wheels may reduce the cost of the power transmission elements as they need to transmit less power and may therefore be smaller. On the other hand, moving the motor to the front of the vehicle (i.e., near the cleaning elements) will also change the weight distribution of the vehicle, which may not be desirable in some circumstances. It is also possible to drive the drive wheels and the cleaning elements separately, using separate motors for each and using a clutch mechanism. For example, one possible benefit is that the cleaning elements do not rotate after the vehicle has completed its cleaning stroke and returned to its starting position, as this will reduce power consumption and reduce wear on the cleaning elements and the panel. In other arrangements, one motor may drive the brush and the second motor may drive only one of the drive wheels (i.e., the other drive wheel is coupled to the axle for free rotation and is not driven to rotate). It is also possible to use three motors, where each drive wheel is driven by its own motor and the brushes are driven by a third motor. In addition to or instead of the drive wheel, it is also possible to use an electric motor for driving the travelling wheel (in which case the brush is driven by another electric motor).

As discussed above with respect to the illustrated embodiment, the third wheel 116 and the fourth wheel 118 may have concave surfaces 134 that contact both horizontal and vertical surfaces (e.g., bottom and sides) of the solar panel. However, in other arrangements, a guide assembly comprising two rollers may be provided on each side of the vehicle. In the two-roller (per side) arrangement, one roller contacts the side of the solar panel and the other roller contacts the underside of the solar panel. The dual guide roller arrangement functions similarly to a travel wheel having a concave surface in that the two guide rollers provide vertical and horizontal forces to offset the weight (W) of the cleaning element 114 and keep the vehicle coupled to and aligned with the solar panel while minimizing friction as the vehicle travels along the surface. The latter arrangement may be particularly suitable for devices in which the solar panel(s) are mounted with a tilt exceeding a certain amount (e.g., 30 degrees) to provide vertical and horizontal normal forces while allowing the robot to translate along the solar panel(s) with minimal friction. Additionally, the vehicle may include a second set of side rollers (one roller per side) at a location closer to the side of the vehicle having the cleaning elements (e.g., near the arrow F2 in fig. 2A). This additional set of side rollers further helps to maintain alignment of the vehicle with the solar panel array, particularly if the vehicle spans a wide or multiple solar panels.

Thus, the vehicle 100 may be widened to span multiple solar panels. Each of the carriages 102, 104 of the vehicle may be coupled to the outermost side of the outermost face of the solar panel in the array. In such an arrangement, the vehicle may clean multiple solar panels in a single trip. The axle and cleaning elements can be lengthened to accommodate the width of the solar panel(s). A frame member 142 may extend between the two carriages to provide additional structural support so that the carriages move together and remain aligned.

Another consequence of this structural arrangement of the vehicle is that the vehicle has a degree of "bounce" as it traverses the panel. The spring-back results from the combination of the materials used in the drive and running wheels and any bumps or protrusions that the wheels may encounter. For example, a harder material will produce a harder vehicle structure, while a softer, rubber-like material will act as a spring suspension and provide some resilience (a polyurethane coated wheel with a shore a hardness of 60A may be used as the drive wheel and a polyurethane coated wheel with a shore a hardness of 40A may be used as the road wheel). Furthermore, as the wheels of the vehicle overcome obstacles or protrusions, such as edges of the panel frame, gaps between panels, misalignment between one panel and the next, or even some debris on the panel (such as hardened bird droppings or accumulated sand), the height of the cleaning elements relative to the surface will vary slightly. Since the travel wheels may be flexible and behave like a spring suspension, the reduction in the force required to hold the cleaning element up (the normal force due to the cleaning element's interaction with the surface) causes the system to dynamically balance in a position that is higher than in the absence of a normal force between the cleaning element and the panel (i.e., in the case where the cleaning element is not touching the panel). Thus, the vehicle allows a small degree of automatic adjustment.

The cleaning elements 114 may be brushes with bristles or cloth brushes that do not use plastic filaments. If a cloth cleaning element is used, the normal force on the cleaning element may be much smaller (negligible if the cleaning element is not rotated).

In other arrangements, the distance D1 between the drive wheel and the travel wheel may be reduced to zero (i.e., the first wheel 108 may be vertically aligned with the third wheel 116).

The design is unique in that it places the cleaning elements in front of the wheels of the vehicle, solving the problem of reaching the end of the surface to be cleaned. Additionally, this arrangement reduces the number of moving parts on the cleaning vehicle, thus allowing for improved mechanical reliability and reduced cost. Additionally, the design allows us to adjust the cleaning vehicle to fit to solar panels of different thicknesses, making it easier to use on different systems with few modifications.

It should be clear that the vehicle is designed to ride directly on the edge of a standard PV (photovoltaic) solar panel module and no additional rails are required. The present design is suitable for use on framed and frameless photovoltaic modules. In the case of a module with a frame, the wheels of the vehicle simply ride directly on the aluminum frame on the PV module. On the other hand, in the case of a frameless panel, the wheels of the vehicle will ride directly on the main glass panel of the module. In that case, the designer should consider the strength of the panel and balance the design parameters to ensure that the torque applied by the wheel (due to its front being heavier) does not damage the glass. Additionally, by removing one of the support bars, the rollers may be rotated outward on the remaining support bars for easier installation in the event that the robotic cleaning device is unable to roll to the end of the panel.

The vehicle may include an adjustment screw for adjusting the height of the bottom wheel (running wheel). This in turn results in: a) the ability to adjust the vehicle on site to work on different types of solar panels (with different frame heights); and b) the ability to lower or raise the brush in situ relative to the panel surface to control the amount of contact between the brush filaments and the panel surface (which is useful both during initial setup and during maintenance as the brush filaments wear out over time). As described herein, there is a moment created by reaction forces F1 and F2, which can be controlled by the user changing D1, D2, and other vehicle design parameters. The user will look at the statics and dynamics of the vehicle and ensure that both wheels have sufficient traction, and also select the wheel material to obtain its desired elastic properties. It will also be appreciated that "lowering" the bottom wheel using the adjustment screw will not cause the bottom wheel to move its position, but instead the attachment point between the bottom roller and the remainder of the vehicle will rise away from the roller, allowing the brush to be lowered when the vehicle is tipped forward.

Additionally, as shown in FIG. 4, the "travel wheels" may take on any number of different configurations and arrangements. For example, while fig. 3 illustrates a single travel wheel (i.e., the third wheel 116), it should be understood that more than one travel wheel may be associated with and coupled to each carriage, as illustrated in fig. 4, as discussed below. In addition, the wheels are not limited to having a concave or V-shaped configuration, and other configurations may be equivalently used. For example, in the embodiment of fig. 4, the wheels have smooth rounded outer surfaces.

In the embodiment of fig. 4 and 5, the counterbalancing function is decoupled from the lateral alignment function. More specifically, fig. 4 shows a vehicle 200 having a first carriage 210 (similar to carriage 104) and a second carriage 212 (similar to carriage 102), the second carriage 212 being spaced apart from the first carriage 210 and coupled to the first carriage 210 by a cross-support member 219. The cross support member 219 may be in the form of an elongated support structure that is attached (fastened) at its ends to the first and second carriages 210, 212. The cross support member 219 has a front face 222 and a rear face 224. Similarly, each of the first and second carriages 210, 212 has a forward facing end and a rearward facing end. The cross-brace support member 219 may be formed of any number of different materials including, but not limited to, metal, hard plastic, etc.

As shown in fig. 4 and 5, the rearward facing end of each of the carriages 210, 212 has a downwardly extending arm 211. One or more apertures 213 are formed along the downwardly extending arm 211. The illustrated embodiment has three spaced apart apertures 213 along the arm 211.

The vehicle 200 is configured such that each of the first and second carriages 210, 212 includes a side roller 220 and a bottom (top) roller 230. Although fig. 4 and 5 illustrate the use of a single side roller 220 and a single bottom roller 230, it should be understood that more than one side roller 220 and more than one bottom roller 230 may be used (see fig. 6, which has the brackets removed to illustrate the wheels 110). In this embodiment, the rollers 220 and 230 are not adjustable as in the previous embodiments. More specifically, the side rollers 220 are mounted on axles (which are oriented perpendicular to the longitudinal axis of the carriage) and are positioned such that the contact surfaces of the side rollers contact the side walls of the panel 10. The bottom roller 230 is mounted on a wheel axle (which is oriented parallel to the longitudinal axis of the carriage) and is positioned such that the contact surface of the bottom roller contacts the bottom wall of the panel 10.

The apertures 213 allow the bottom rollers 230 to be positioned differently with respect to a corresponding one of the first and second wheels 108, 110 to accommodate panels 10 having different thicknesses.

Fig. 4 and 5 also show an arrangement in which only one of the first and second wheels 108, 110 is driven, and in particular, in the illustrated embodiment, the second roller 110 is the one that is driven. The second wheel 110 is mounted to a first wheel support 240 (similarly, the first wheel is mounted to a same or similar second wheel support (not shown) that is mounted to the carriage 210). Each of the first and second wheel supports 240 may be in the form of a bracket that is attached at its ends to the interior face of the corresponding carriage 210, 212. The first wheel 108 is rotatably positioned between the first wheel support 240 and the first carriage 210, and the second wheel 110 is rotatably positioned between the second wheel support 242 and the second carriage 212. The first motor 250 is operatively coupled to the first wheel 108 to control rotation thereof. A first motor 250 is mounted along an exterior face of the first carriage 210. A second motor 252 is also mounted to the exterior face of the first carriage 210 and is operatively coupled to the cleaning element 114 for controlled rotation of the cleaning element 114.

Since only one motor 250 is used to drive the vehicle 200 along the panel 10, the other wheels along the top of the panel 10 are passive (driven) wheels. In the illustrated embodiment, the second wheel 110 is therefore not directly driven by the motor 250 (i.e., no power is transmitted to the second wheel 110). In addition, since the cleaning element 114 and the first wheel 108 are independently driven by the motors 252, 250, respectively, there is no power transmission between the cleaning element 114 and the drive wheels (i.e., the wheels 108).

Fig. 4 and 5 also show that the vehicle 200 includes an additional optional top wheel, fifth wheel 260. Like the second wheel 110, the fifth wheel 260 is a driven wheel and is not actively driven by a motor. The fifth wheel 260 may be mounted to the cross support member 219, and more specifically, the fifth wheel 260 is mounted to a wheel bracket 270 (e.g., a U-bracket) attached to the rear face 224. The fifth wheel 260 in the illustrated embodiment is centrally located along the cross support member 220. It should be understood that the first wheel 108, the second wheel 108 and the fifth wheel 260 are all oriented such that a single axis passes through the axle about which the wheels rotate. This arrangement ensures that when the vehicle 200 is placed on top of the panel 10, each of the wheels 108, 110, 260 rests against the top of the panel 10. The fifth wheel 260 is thus positioned to provide support for the weight if needed.

Fig. 6 shows another vehicle 300 configured such that each carriage includes two side rollers 220 and one bottom (top) roller 230. The two side rollers 220 are spaced apart, with a top wheel at least partially disposed between the two side rollers 220. The one bottom roller 230 is located at the rear end of the carriage.

Based on the foregoing, it should be appreciated that the present invention can be implemented in various ways with different levels of specificity, as can be gleaned from the following points.

According to one embodiment, a cleaning vehicle for cleaning a surface having first and second top edges and first and second bottom edges is disclosed and has the following features:

a first carriage and a second carriage;

a wheel shaft extending between the first carriage and the second carriage;

a first drive wheel and a second drive wheel coupled to opposite ends of the axle;

at least one motor supported by one of the first and second carriages and coupled to the axle to transmit power from the motor to the axle to rotate the first and second drive wheels in a first direction;

a cleaning element extending between and supported by the first and second carriages, the cleaning element being disposed to one side of the axle and spaced apart therefrom by a first distance;

first and second travel wheels disposed on opposite sides of the axle and spaced apart therefrom by a second distance;

a first adjustable link and a second adjustable link, each travel wheel connected to one of the first and second carriages by a respective one of the adjustable links, wherein the adjustable links define a spacing between the respective carriage and the travel wheel that is variable by adjusting the adjustable links, the spacing being sized to receive at least a portion of a surface to be cleaned between the drive wheel and the travel wheel, and further wherein changing the spacing between the respective carriage and the travel wheel rotates the cleaning element about the drive wheel.

The above-described subject matter is provided by way of illustration only and should not be construed as limiting. Various modifications and changes may be made to the subject matter described herein without following the example embodiments and applications illustrated and described, and without departing from the true spirit and scope of the present invention.