FIELD OF THE INVENTION

[0001] The present disclosure relates in general to systems, devices, apparatuses and methods for removal and placement of panels and more particularly, to systems, subsystems, devices, apparatuses and methods for controllable, autonomous or automatic removal, installation and transportation of solar panel units from and to solar panel units’ supports, each solar panel unit including at least one solar panel.

BACKGROUND

[0002] A solar panel is an array of photovoltaic (PV) cells typically held together by a plate or a frame that also includes one or more connectors, for connecting the PV cells group to an electricity power system, such as an electricity power grid. The PV cells are configured to convert light into electrical power/current.

[0003] Solar farms, also known as solar stations or solar power stations, include many solar panel units, each solar panel unit includes a solar panel and being connectable to an electricity grid of the solar farm.

[0004] Solar panel units in solar farms require frequent maintenance, such as panels’ replacement, repairing and cleaning. Failing to replace, clean or repair the solar panels in time may dramatically reduce power production of the solar farm, which may lead to dramatic energy harvesting and/or financial losses.

SUMMARY OF INVENTION

[0005] In a first aspect, the present invention provides a panel-system for removal, installation and transporting of each of one or more solar panel units (SPUs) from and to a panel support structure (PSS), the panel-system comprising at least: (i) a panel connector comprising at least: a first part configured for connection of the panel connector to a vehicle, and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to a PSS by transporting the SPU, grabbed by the panel connector, which connects to the vehicle; and (ii) a panel docking subsystem (PDS) configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line.

[0006] In a second aspect, the present invention provides system for managing removal, installation and transporting of each of multiple solar panel units (SPUs), each SPU comprising at least one solar panel, from and to a corresponding panel support structure (PSS), the system comprising at least: (i) at least one panel connector comprising at least: a first part configured for connection of the panel connector to an unmanned vehicle (UV), and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the UV and to releasably grab a SPU for enabling the UV to remove or install a SPU at least from and to a PSS by carrying the grabbed SPU, grabbed by the panel connector, which connects to the UV; (ii) multiple panel docking subsystems (PDSs) each PDS associated with a specific SPU of the multiple SPUs, and configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line; and (iii) a main control unit (MCU) configured to control removal, installation and transporting of each of the SPUs at least by controlling said UV connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU.

[0007] In a third aspect, the present invention provides a method for managing removal, installation and transporting of multiple solar panel units (SPUs) from and to a panel support structure (PSS), the method comprising at least: (i) providing at least one vehicle; (ii) providing at least one panel connector comprising at least: a first part configured for connection of the panel connector to the vehicle, and a second part configured to releasably grab a SPU, the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to a PSS by transporting the grabbed SPU, grabbed by the panel connector, which connects to the vehicle; (iii) providing multiple panel docking subsystem (PDS) each associated with a specific SPU of the multiple SPUs, each PDS being configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line; and (iv) controlling removal, installation and transporting of each of the SPUs at least by controlling of the at least one vehicle connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU.

[0008] In a fourth aspect, the present invention provides an autonomous solar farm, comprising at least: (i) multiple solar panel units (SPUs) each SPU comprising at least one solar panel; (ii) multiple panel support structures (PSSs), each PSS being configured for supporting and holding of a SPU; (iii) one or more unmanned vehicles (UVs), each UV being configured at least to carry and transport a SPU from one location to another; (iv) multiple panel connectors, each panel connector being configured to connect to an UV at one part thereof and to releasably grab a SPU at another part thereof, for carrying and transporting of the SPU; and (v) a main control unit (MCU) configured to receive data associated with each SPU of the system and automatically control at least the UVs for removal, installment and transportation of SPUs at least for automatic determining of maintenance operations for each SPU, based on received data analysis, and automatic controlling the carrying out of determined maintenance operations, the maintenance operations comprising at least one of: removal, replacement, repairing, installment of SPU.

[0009] In a fifth aspect, the present invention provides a supplementary panel support structure (PSS) for installment of solar panel units (SPUs) over an existing PSS, the supplementary PSS comprising: (i) an upper- section onto which said SPUs are mounted, (ii) a lower-section designed to anchor said supplementary PSS to the existing PSS such that once installed, the existing PSS resides in between the upper-and lower- sections, and once SPUs are installed on said supplementary PSS, they are positioned over SPUs that are installed on the existing PSS; and (iii) an electrical connector for connecting each one of the SPUs to an electricity line irrespectively to electrical connectors of the existing PSS.

[0010] In a sixth aspect, the present invention provides a method for managing removal, installation and transporting of multiple solar panel units (SPUs) from and to an existing panel support structure (PSS), the method comprising at least: (a) providing a supplementary PSS for installment of the SPUs over the existing PSS, the supplementary PSS comprising: (i) an upper-section onto which said SPUs are mounted, (ii) a lower-section designed to anchor said supplementary PSS to the existing PSS such that once installed, the existing PSS resides in between the upper-and lower- sections, and once SPUs are installed on said supplementary PSS, they are positioned over SPUs that are installed on the existing PSS; and (iii) an electrical connector for connecting each one of the SPUs to an electricity line irrespectively to electrical connectors of the existing PSS; (b) mounting said supplementary PSS onto said existing PSS; (c) providing at least one vehicle; (d) providing at least one panel connector comprising at least: a first part configured for connection of the panel connector to the vehicle, and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to the supplementary PSS by transporting the grabbed SPU, grabbed by the panel connector, which connects to the vehicle; (e) providing multiple panel docking subsystem (PDS) each associated with a specific SPU of the multiple SPUs, each PDS being configured to mechanically assist in positioning the SPU when installing thereof to the supplementary PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the supplementary PSS, for connecting the respective SPU to an electricity line; and (f) controlling removal, installation and transporting of each of the SPUs at least by controlling of the at least one vehicle connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU.

BRIEF DESCRIPTION OF THE FIGURES

[0011] The figures illustrate generally, by way of example, but not by way of limitation, various embodiments discussed in the present document.

[0012] For simplicity and clarity of illustration, elements shown in the figures have not necessarily been drawn to scale. For example, the dimensions of some of the elements may be exaggerated relative to other elements for clarity of presentation. Furthermore, reference numerals may be repeated among the figures to indicate corresponding or analogous elements. References to previously presented elements are implied without necessarily further citing the drawing or description in which they appear. The figures are listed below. [0013] Fig. 1 shows a panel system for removal, installation and transportation of solar panel units (SPUs) at least from and to a panel support system (PSS), according to some embodiments, using one or more drones for carrying out the removal, installation and transportation of SPUs;

[0014] Figs. 2A-2D show an embodiment of a panel connector connectable to an unmanned vehicle (UV) such as an unmanned aerial vehicle (UAV) and SPU frame design enabling grabbing of a SPU by the UAV, for removal, installation and/or transportation (carrying) of the SPU: Fig. 2A shows an isometric view of the panel connector when in an expanded state inserted into a hole of a frame of the SPU; Fig. 2B shows a zoom in view of the panel connector; Fig. 2C shows a first claw of the panel connector; and Fig. 2D shows a second claw of the panel connector;

[0015] Figs. 3A-3G show how an embodiment of a panel docking subsystem (PDS) can be used to assist in directing/guiding of the SPU positioning while installation thereof to a PSS, according to some embodiments, for improving installation accuracy to enable connection between two corresponding electrical connectors of the PSS and of the SPU for enabling connecting of the solar panel(s) of the SPU to an electricity line: Fig. 3A shows a side view of a docking system installed to a PSS and a SPU being installed to the PSS; Fig. 3B shows a bottom-perspective view of a docking system installed to a PSS and a SPU being installed to the PSS; Fig. 3C shows a back view of a SPU being positioned in a vertical position to fit into part of the docking system for easy installation of the SPU to the PSS; Fig. 3D shows a zoom in view of a receiving element of the PDS according to one embodiment thereof; Fig. 3E shows an isometric back view of the SPU once fully installed to the PSS; Fig. 3F shows a zoom in side view of the receiving element of the PDS when installed to the PSS; and Fig. 3G shows front view of the receiving element of the PDS when installed to the PSS;

[0016] Figs. 4A-4D show a panel system for installation, removal and transportation of SPUs that use different designs of a PDS and/or of a panel connector, according to other embodiments: Fig. 4A shows a perspective view of a SPU installed to a PSS, a panel connector having multiple vacuum cups for grabbing onto the surface of a solar panel of the SPU, and a PDS that includes a bar connectable to the SPU rotatable about a rotation axis inside a bar-holder that is connectable to the PSS, according to some embodiments of the PDS; Fig. 4C shows a perspective zoom in view of the PDS; and Fig. 4D shows a zoom in side view of the PDS;

[0017] Figs. 5A-5B show a PDS that includes a rotatable bar having truncated elongated edges and a receiving element for receiving therein the rotatable bar that includes an inner cylindrical recess, according to other embodiments of the PDS: Fig. 5A shows a perspective view of the PDS; and Fig. 5B show a zoom in view of the PDS;

[0018] Fig. 6 shows a block diagram schematically illustrating a system for managing maintenance of a solar facility such as a solar farm including multiple SPUs, according to some embodiments; [0019] Fig. 7 shows optional modules of a control unit of the system, the control unit being configured for management and control of maintenance of multiple SPUs, according to some embodiments;

[0020] Fig. 8 shows a flowchart, schematically illustrating optional steps of a method for removal and installation of a SPU, according to some embodiments;

[0021] Figs. 9A-9B show a SPU installable to a PSS via a PDS, where the SPU has two solar panels, located on opposite sides of the SPU, and the PDS that s configured to enable flipping sides of the SPU, according to some embodiments: fig. 9A shows an isometric view of the SPU, the PDS and a PSS, where an electrical connector of the PSS, connectable to a power grid, is located at a side of the SPU (and not underneath it); and Fig. 9B shows an isometric view of the PSS;

[0022] Figs. 10A-10C illustrate possible “C”-shaped supplementary PSSs according to some embodiments of the invention;

[0023] Figs. 11A-11D illustrate the “C”-shaped supplementary PSS of Fig. 10 mounted onto an existing PSS;

[0024] Figs. 12A-12D illustrate a SPU with a PDS according to some embodiments of the invention;

[0025] Figs. 13A-13E illustrate the installment steps of the SPU of Fig. 12 onto the supplementary PSS of Fig. 11; and

[0026] Figs. 14A-14B illustrate a solar farm after instalment of a supplementary PSS and SPUs thereon (front and back views).

DETAILED DESCRIPTION

[0027] Aspects of disclosed embodiments pertain to systems, apparatuses, devices and methods for removal, installation and transporting of solar panel units (SPUs) from and to a panel support structure (PSS), e.g., for autonomous maintenance and/or management of a solar facility such as a solar farm, a house, a factory, an electrical device, an electrical system etc., utilizing multiple SPUs.

[0028] The term “solar facility” pertains to any system, subsystem, appliance and/or device that uses and/or produces electricity by use of conversion of solar/light energy/power into electricity.

[0029] Aspects of disclosed embodiments pertain to an autonomous solar farm including multiple SPUs and various maintenance facilities such as panels washing/cleaning facility, panels fixing/repairing facility, replacement panels storage facility etc. The autonomous solar farms may include means for automatic detection (in real time or near real time) of maintenance-requiring problems (malfunctions) in each of the farm’s SPUs and automatic performance of maintenance actions such as solar panel cleaning, replacement, and/or repairing, e.g., by enabling automatic and controllable removal, installment and/or transporting of SPUs, using one or more vehicles, such as unmanned vehicles (UVs), optionally aerial vehicles, such as unmanned aerial vehicles (UAVs) like drones, unmanned road vehicles, movable robots, etc. that can be controlled via a main control unit (MCU) for automatic removal, installment and/or transporting of SPUs and optionally for autonomous performance of the actual maintenance actions upon identification of a malfunction in each of the solar farm’s SPUs or upon decision to replace SPUs.

[0030] The term “solar farm” used herein pertains to any energy/power production system that uses multiple solar panels.

[0031] The term “solar panel” used herein may refer to any type and/or configuration of any cluster of photovoltaic (PV) cells designed for conversion of solar power/energy into AC or DC electrical current.

[0032] In a first aspect, the present invention provides a panel-system for removal, installation and transporting of each of one or more solar panel units (SPUs) from and to a panel support structure (PSS), the panel-system comprising at least:

- a panel connector comprising at least: a first part configured for connection of the panel connector to a vehicle, and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to a PSS by transporting the SPU, grabbed by the panel connector, which connects to the vehicle; and

- a panel docking subsystem (PDS) configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line.

[0033] The term “electricity line” may refer to any electricity conduction and/or transmission system/supply that can channel electrical energy/power/current, produced by one or more solar panels, such as, yet not limited to, commercial power grid supplying electricity to multiple end consumers e.g., being used at least as part of a lager (e.g., commercial) power supply grid and/or for supplying and channeling electricity to one or more power consumption facilities such as all or several electrical devices/systems of a house, a factory, an office, electricity to several buildings, etc.

[0034] In certain embodiments of the above panel-system, the vehicle is an unmanned vehicle (UV), which is remotely controllable, partially autonomous and/or fully autonomous, and in specific embodiments, the UV is an unmanned aerial vehicle (UAV).

[0035] In certain embodiments, the present invention provides a panel-system, for installation and removal of one or more SPUs. The panel-system may include at least: a panel connector that may include: (i) a first part configured for connection of the panel connector to an unmanned vehicle (UV), such as a drone, and a second part configured to releasably grab/connect to a SPU; and (ii) a panel docking subsystem (PDS) configured to mechanically assist in positioning a SPU when it is installed (by the UV) to be held by a PSS, at a position that allows connection of an electrical connector of the solar panel of the SPU to a corresponding electrical connector of the PSS, for connecting the solar panel of the SPU being installed, to an electricity line and/or to a solar facility.

[0036] In certain embodiments of the panel-system according to any of the embodiments above, the PDS comprises at least one pair of connectable elements, which comprises at least: a first element comprising a socket, and a second element comprising a protruding element configured to fit into the socket of the first element, one element connected to the SPU, and the other element to the PSS, wherein once the first element connects to the second element the movement of the SPU in respect to the PSS is limited to only enable rotation of the SPU around a single rotation axis. Notably, the SPU can connect to the PSS in any suitable manner, such as in parallel or in an angle, all according to need and desire, and the design of the PSS and external requirements.

[0037] In certain embodiments of the panel-system according to any of the embodiments above, the first element comprises: (i) a receptacle portion forming the socket that has a shape and size that fit the shape, and size of the protruding element, and (ii) a frame portion configured to assist in guiding the protruding element of the second element into the socket of the receptacle portion and limit movement of the SPU and of the second element to only allow rotational movements of the SPU around the rotation axis.

[0038] In certain embodiments of the panel-system according to any of the embodiments above, the frame portion has at least one wide aperture, which has a wider minimum width than a maximum width of the protruding element for receiving therethrough the protruding element of the second element, and a narrow side aperture for limiting the movements of the SPU in relation to the PSS, once the protruding element of the second element is located in the receptacle portion of the first element.

[0039] In certain embodiments of the panel-system according to any of the embodiments above, the first element connects to the PSS and has at least one bar-holder and the second element connects to the SPU, wherein the second element comprises at least a bar element configured to be rotatably held by the bar-holder. In specific embodiments, the bar-holder of the first element is an object having a U or V shaped cross-section connected via one or more fixation points to the PSS.

[0040] In certain embodiments, the panel-system according to any of the embodiments above further comprises one or more of: (i) one or more measuring devices for measuring electricity production of the respective SPU; (ii) one or more detectors for detection of one or more states of the respective SPU requiring an associated maintenance action; (iii) one or more transmitters communicatively associated with a main control unit (MCU), for transmitting to the MCU, SPU’s data outputted from the one or more measuring devices and/or the one or more detectors, wherein the MCU is configured to receive and analyze data from multiple panel systems of multiple SPUs of at least one specific solar farm or a specific zone of a specific solar farm, to determine when a maintenance action is required and for which specific SPU, based on SPU data analysis from multiple SPUs; and (iv) at least one sensor attached to the vehicle or to the panel connector, the at least one sensor being configured to sense one or more characteristics of the vehicle and/or of the SPU to which the vehicle approaches. In specific embodiments, the at least one measuring device and/or detector comprises one or more of: an , a voltmeter, a camera, an optical detector.

[0041] In certain embodiments, the panel-system according to any of the embodiments above further comprises a securing mechanism (233) for reversibly locking and securing each SPU to the PSS after installing thereof. The securing mechanism, as referred to herein throughout the application can be any suitable mechanism, such as pin with a spring; a pin entering into a groove, a lock, a groove that fits a protrusion, etc. The securing mechanism is designed to prevent unintentional removal of the SPU from its place, e.g., due to harsh winds.

[0042] In certain embodiments of the panel-system according to any of the embodiments above, the panel connector comprises one of: (i) a hook, configured in shape and size to fit into a recess or a hole of a lift connector of the SPU; (ii) a controllable pincer device configured for grabbing onto a part of the SPU; (iii) a fastening device having at least one connecting element movably connected to an expendable apparatus that can extend beyond border of a recess or hole of a connector of the SPU; (iv) a fastening device comprising a support element that fixedly connects to the UV, and at least one suction cup element configured to attach to the SPU surface via vacuum suction for grabbing the SPU; (v) a magnet; and any other suitable mechanic or electromechanics element.

[0043] In certain embodiments, the panel-system according to any of the embodiments above further comprises at least one sensor attached to the vehicle or to the panel connector, the at least one sensor being configured to sense one or more characteristics of the vehicle and/or of the SPU to which the vehicle approaches. In specific embodiments, the at least one sensor comprises at least one of: an orientation sensor, an acceleration sensor, an optical sensor, a camera, a proximity sensor, a motion sensor.

[0044] In certain embodiments of the panel-system according to any of the embodiments above, when the vehicle is an unmanned vehicle (UV), the panel-system further comprises a UV controller, configured to receive and analyze data outputted by the at least one sensor at least to determine relative position between the panel connector carried by the UV and the SPU to which it approaches for controlling grabbing, removal, installation, placement, approaching, arriving, positioning and/or carrying of the respective SPU.

[0045] In a second aspect, the present invention provides a system for managing removal, installation and transporting of each of multiple solar panel units (SPUs), each SPU comprising at least one solar panel, from and to a corresponding panel support structure (PSS), the system comprising at least:

- at least one panel connector comprising at least: a first part configured for connection of the panel connector to a vehicle or an unmanned vehicle (UV), and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the vehicle or the UV and to releasably grab a SPU for enabling the UV to remove or install a SPU at least from and to a PSS by carrying the grabbed SPU, grabbed by the panel connector, which connects to the UV ;

- multiple panel docking subsystems (PDSs) each PDS associated with a specific SPU of the multiple SPUs, and configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line; and - a main control unit (MCU) configured to control removal, installation and transporting of each of the SPUs at least by controlling said UV connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU.

[0046] In specific embodiment, the above system further comprises one or more vehicles or unmanned vehicles (UVs), which are remotely controllable, partially autonomous and/or fully autonomous. In certain embodiments thereof, the UV is an unmanned aerial vehicle (UAV), which is remotely controllable, partially autonomous and/or fully autonomous.

[0047] In specific embodiment, the system according to any of the embodiments above further comprises a securing mechanism (233) for reversibly locking and securing each SPU to the PSS after installing thereof.

[0048] According to some embodiments of the invention, each SPU may include at least one solar panel including a group of photovoltaic (PV) cells located over at least one surface (e.g., one flat surface) of a frame/platform of the SPU.

[0049] In some embodiments of the invention, several (two or more) solar panels may be installed over a single SPU such as over two opposite surfaces of a platform holding the solar panels, such that the two solar panels are positioned opposite and in parallel planes to each other (e.g., one located over a back side of the plate and the other over a front side of the plate. In other embodiments, a SPU may include two or more solar panels located at different surfaces defining different planes that are angular to one another, for preventing or reducing requirement for rotating/moving of the direction of the panels in response to radiation arrival directions, which changes constantly during the daytime.

[0050] In some embodiments, the system according to any of the embodiments of the invention controls the movement or flight of the one or more vehicles, such as UAVs, for removal of each SPU requiring removal for maintenance purposes, e.g., for cleaning or repairing the solar panel, or for replacement of the SPU and for installation of SPUs after being cleaned or repaired and/or of new replacement SPUs.

[0051] In certain embodiment of the system according to any of the embodiments above, the MCU is further configured to determine maintenance required for a specific SPU and control removal and/or installation of the specific SPU based at least on a designated location of the specific SPU, wherein the maintenance required is optionally determined for each SPU based on a preset and/or programmable maintenance schedule of each of the multiple SPUs, and/or based on detected malfunctions of SPUs requiring replacement, cleaning and/or repairing of the specific SPU. In specific embodiments, the MCU determines maintenance required for each SPU based on a preset and/or programmable maintenance schedule of each of the multiple SPUs, and/or based on detected malfunctions of SPUs requiring replacement, cleaning and/or repairing of the specific SPU.

[0052] In certain embodiment, the system according to any of the embodiments above further comprises at least one of: (i) a measuring unit comprising one or more measuring devices, the measuring unit being configured to measure one or more characteristics of each of the multiple SPUs, wherein the MCU is further configured to receive and analyze output data of the one or more measuring devices to detect malfunctioning SPUs from the multiple SPUs and control maintenance of detected malfunctioning SPUs at least by controlling removal and/or installation thereof via the one or more UVs; (ii) at least one memory unit configured to store information for each operative SPU, wherein the information per SPU is associated with one or more of: identification code of each SPU; location of each SPU; type of each SPU; current orientation of each SPU; maintenance schedule of each SPU; one or more characteristics of each SPU; grid connection information associated with each SPU; and (iii) at least one sensor attached to each UV and/or to each panel connector, the at least one sensor being configured to sense one or more characteristics of the UV and/or of the SPU to which the UV approaches.

[0053] In certain embodiments of the system according to any of the embodiments above, the MCU is further configured to detect the specific malfunction and specific required maintenance required for each identified malfunctioning SPU. In specific embodiments thereof, the MCU is configured to detect any one or more of the following malfunctions of a specific SPU: reduction in power production of SPUs; disorientation of the specific SPU in relation to sun radiation direction; overheating and/or overcooling of SPUs and/or components thereof; weather induced malfunctions; and occlusion of SPUs.

[0054] In certain embodiments of the system according to any of the embodiments above, the MCU is further configured to identify location of each detected malfunctioning SPU.

[0055] In certain embodiments of the system according to any of the embodiments above, the PDS of each SPU comprises at least one pair of connectable elements, each pair of connectable elements comprising at least: a first element comprising a socket and a second element comprising a protruding element configured to fit into the socket of the first element, one element is connected to the SPU, and the other element to the PSS, wherein once the first element connects to the second element the movement of the SPU in respect to the PSS is limited to only enable rotation of the SPU around a single rotation axis. In specific embodiments thereof, the first element comprises: a receptacle portion forming the socket that has a shape and size that fit the shape, and size of the protruding element, and a frame portion configured to assist in guiding the protruding element of the second element into the socket of the receptacle portion and limit movement of the SPU, of the second element to only allow rotational movements of the SPU around the rotation axis. In further or alternative embodiments thereof, the frame portion has at least one wide aperture, which has a wider minimum width than a maximum width of the protruding element for receiving therethrough the protruding element of the second element, and a narrow side aperture for limiting the movements of the SPU in relation to the PSS, once the protruding element of the second element is in the receptacle portion of the first element.

[0056] In certain embodiments of the system according to any of the embodiments above, the first element connects to the PSS and has at least one base and the second element connects to the SPU, wherein the second element comprises at least bar element configured to be rotatably held by the base. In specific embodiments thereof, the base of the first element is an object having a U or V shape connected via one or more fixation points to the PSS.

[0057] In certain embodiments, the system according to any of the embodiments above further comprises one or more transmitters communicatively associated with the MCU, for transmitting to the MCU, SPU’s data outputted from one or more measuring devices and/or one or more detectors, configured for measuring one or more characteristics of each of the multiple SPUs, wherein the MCU is configured to receive and analyze data from the one or more measuring devices and/or detectors of the multiple SPUs, to determine when a maintenance action is required for a specific SPU and for which specific SPU, based on SPU data analysis from multiple SPUs.

[0058] In certain embodiments of the system according to any of the embodiments above, the panel connector comprises one of: (i) a hook, configured in shape and size to fit into a recess or a hole of a lift connector of the SPU; (ii) a controllable pincer device configured for grabbing onto a part of the SPU; (iii) a fastening device having at least one connecting element movably connected to an expendable apparatus that can extend beyond border of a recess or hole of a connector of the SPU; (iv) a fastening device comprising a support element that fixedly connects to the UV, and at least one suction cup element configured to attach to the SPU surface via vacuum suction for grabbing the SPU; (v) a magnet; and any other suitable mechanic or electromechanics element. [0059] In certain embodiments, the system according to any of the embodiments above further comprises: (i) at least one UV controller, mounted to the UV or to the panel connector that connects to the respective UV, wherein the UV controller is configured to receive and analyze data outputted by the at least one sensor at least to determine relative position between the panel connector carried by the UV and the SPU to which it approaches for controlling grabbing, removal, installation, placement, approaching, arriving, positioning and/or carrying of the respective SPU; and/or (ii) at least one sensor attached to each UV and/or to each panel connector, the at least one sensor being configured to sense one or more characteristics of the UV and/or of the SPU to which the UV approaches, wherein the at least one sensor optionally comprises at least one of: an orientation sensor, an acceleration sensor, an optical sensor, a camera, a proximity sensor, a motion sensor.

[0060] In a third aspect, the present invention provides a method for managing removal, installation and transporting of multiple solar panel units (SPUs) from and to a panel support structure (PSS), the method comprising at least: (a) providing at least one vehicle; (b) providing at least one panel connector comprising at least: a first part configured for connection of the panel connector to the vehicle, and a second part configured to releasably grab a SPU, the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to a PSS by transporting the grabbed SPU, grabbed by the panel connector, which connects to the vehicle; (c) providing multiple panel docking subsystem (PDS) each associated with a specific SPU of the multiple SPUs, each PDS being configured to mechanically assist in positioning the SPU when installing thereof to a PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the PSS, for connecting the respective SPU to an electricity line; and (d) controlling removal, installation and transporting of each of the SPUs at least by controlling of the at least one vehicle connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU.

[0061] In certain embodiment of the above method, the vehicle is an unmanned vehicle (UV), which is remotely controllable, partially autonomous and/or fully autonomous, said UV is optionally an unmanned aerial vehicle (UAV).

[0062] In certain embodiment, the method according to any of the embodiments above further comprises a step of determining maintenance required for a specific SPU and controlling removal and/or installation of said specific SPU based at least on: (1) a preset and/or programmable maintenance schedule of each of the multiple SPUs; (2) detected malfunctions of SPUs requiring replacement, cleaning and/or repairing of the specific SPU; and/or (3) a designated location of the specific SPU, wherein determining maintenance required is done by any one or more of the following: (i) measuring one or more characteristics of each of the multiple SPUs, using one or more measuring devices; (ii) receiving and analyzing output data of the one or more measuring devices to detect malfunctioning SPUs from the multiple SPUs; and (iii) controlling maintenance of detected malfunctioning SPUs at least by controlling removal and/or installation thereof via the one or more vehicles. In certain embodiments, the step of detecting malfunctions comprises any one or more of the following malfunctions of each specific SPU: reduction in power production; disorientation of the specific SPU in relation to sun radiation direction; overheating of SPU components; weather induced malfunctions; and occlusion of the SPU. [0063] In certain embodiment, the method according to any of the embodiments above further comprises one or both of the following steps: (i) identifying location of each detected malfunctioning SPU; and (ii) storing information for each operative SPU, wherein the information per SPU is associated with one or more of: location of the specific SPU; type of the specific SPU; current orientation of the specific SPU; maintenance schedule of the specific SPU; one or more characteristics of the specific SPU; and electricity grid connection information associated with the specific SPU.

[0064] In certain embodiments of the method according to any of the embodiments above, the PDS of each SPU comprises at least one pair of connectable elements, the at least one pair of connectable elements comprising at least: a first element comprising a socket and a second element comprising a protruding element configured to fit into the socket of the first element, wherein one element is connected to the SPU, and the other element to the PSS, wherein once the first element connects to the second element the movement of the SPU in respect to the PSS is limited to only enable rotation of the SPU around a single rotation axis. In specific embodiments, the first element: (1) comprises a receptacle portion forming the socket that has a shape and size that fit the shape, and size of the protruding element, and a frame portion configured to assist in guiding the protruding element of the second element into the socket of the receptacle portion and limit movement of the SPU, of the second element to only allow rotational movements of the SPU around the rotation axis, wherein the frame portion optionally has at least one wide aperture, which has a wider minimum width than a maximum width of the protruding element for receiving therethrough the protruding element of the second element, and a narrow side aperture for limiting the movements of the SPU in relation to the PSS, once the protruding element of the second element is located in the receptacle portion of the first element; and/or (2) connects to the PSS and has at least one base and the second element connects to the SPU, wherein the second element comprises at least bar element configured to be rotatably held by the base. In specific embodiments, the base of the first element is optionally an object having a U or V shape connected via one or more fixation points to the PSS.

[0065] In certain embodiments, the method according to any of the embodiments above further comprises one or more of the following steps: (a) transmitting to a main control unit, SPU’s data outputted from one or more measuring devices and/or one or more detectors, configured for measuring one or more characteristics of each of the multiple SPUs; (b) receiving and analyzing data from the one or more measuring devices and/or detectors of the multiple SPUs; (c) determining when a maintenance action is required for a specific SPU and for which specific SPU, based on SPU data analysis from multiple SPUs, based on analysis of the data; (d) removing each SPU determined as requiring maintenance; and (e) performing one or more maintenance actions for the removed SPU, or any combination thereof.

[0066] In specific embodiments of the method according to any of the embodiments above, the at least one panel connector comprises one of: (i) a hook, configured in shape and size to fit into a recess or a hole of a lift connector of the SPU; (ii) a controllable pincer device configured for grabbing onto a part of the SPU; (iii) a fastening device having at least one connecting element movably connected to an expendable apparatus that can extend beyond border of a recess or hole of a connector of the SPU; or (iv) a fastening device comprising a support element that fixedly connects to the vehicle, and at least one suction cup element configured to attach to the SPU surface via vacuum suction for grabbing the SPU.

[0067] In certain embodiments, the method according to any of the embodiments above further comprises sensing one or more characteristics of the vehicle and/or of the SPU to which the vehicle approaches, using at least one sensor attached to each vehicle and/or to each panel connector, wherein the at least one sensor optionally comprises at least one of: an orientation sensor, an acceleration sensor, an optical sensor, a camera, a proximity sensor, a motion sensor. [0068] In certain embodiments, the method according to any of the embodiments above further comprises a step of transmitting to the MCU, SPU’ s data outputted from one or more measuring devices and/or one or more detectors, configured for measuring one or more characteristics of each of the multiple SPUs; receiving and analyzing data from the one or more measuring devices and/or detectors of the multiple SPUs; determining when a maintenance action is required for a specific SPU and for which specific SPU, based on SPU data analysis from multiple SPUs, based on analysis of the data; removing each SPU determined as requiring maintenance; and performing one or more maintenance actions for the removed SPU.

[0069] In certain embodiments of the various aspects of the invention as referred to herein, the MCU is used to receive information indicative of state of each SPU being currently used by the system and optionally of reserve SPUs for identifying when and if each of the SPUs requires maintenance, which malfunction is identified for which SPU and/or which maintenance action is required for each SPU requiring a maintenance action (e.g., cleaning, replacement, or repair and which type of repair it requires). The MCU may receive information (data) indicative of the status of each SPU from one or more measuring devices, sensors and/or detectors installed at each of the SPUs, from each of the vehicles and/or from electricity managing unit (EMU) that is configured to receive produced electricity from each of the SPUs and optionally measured one or more properties indicative of power/energy production of each of the SPUs. A decrease in power production of a specific SPU may be indicative to a malfunction of the specific SPU such as dirt/dust accumulated over the unit’s solar panel surface, malfunction in one or more of the components of the SPUs disorientation of the solar panel of the SPU in respect to radiation etc.

[0070] Measuring devices and/or detectors may include, e.g., one or more of: an electrical current meter and/or a voltmeter (per SPU measuring power production rate), a camera, an optical detector. For example, upon identification of a reduction of more than a Production threshold value Pth of power production (the threshold value Pth may be between 10% -25% of normal power production of the solar panel) under clear sky mid-day conditions, a malfunction requiring maintenance action may be determined for the specific SPU.

[0071] The measuring devices and/or detectors may also include communication means for communicating with the MCU, e.g., for transmitting output data thereto.

[0072] According to some embodiments, the MCU may include one or more communication data storage and data processing means for analyzing received measuring devices/detectors output data to identify malfunctions in SPUs and determine maintenance requirements for each SPU for which a malfunction has been identified.

[0073] Additionally, or alternatively, the MCU may be configured to operate scheduled maintenance operations via a scheduled maintenance plan for each SPU, based on a preset and optionally programmable maintenance schedule. For example, each group of SPUs may require a cleaning maintenance operation at a certain cleaning frequency (e.g., cleaning of the solar panels every month) which may be different at different periods of the year (e.g., more frequent cleaning may be required during the summer due to less rain wash and more dust accumulation etc.).

[0074] In certain embodiments of the systems and methods of any of the embodiments herein, a maintenance plan may be programmable such as to enable adding, changing and/or removing scheduled maintenance operations based on statistical analysis of the data from all SPUs in operation and/or based on external information such as based on weather predicted in an area of the SPUs.

[0075] For example, if a dust storm or haze has caused all or most solar panels of the operating SPUs to be covered with dust, the MCU may detect a global decrease in power production caused due to obscured solar panels and may reprogram the scheduled maintenance plan such that cleaning of all or most solar panels is done in close proximity of time to the detection of panels-obscurity.

[0076] Predicted weather conditions influencing functioning of the solar panels such as a dust/haze/fog/clouds condition, arriving as external information may also require reprogramming of scheduled maintenance actions/operations such as covering of the entire space of the SPUs to shield it from precipitation/dust, preponing nor postponing of solar panels cleaning/replacement, etc.

[0077] In certain embodiments of the systems and methods of any of the embodiments herein, the MCU may receive external information from one or more external information sources. According to some embodiments, external information may also be used in combination with measuring devices/detectors data analysis to improve determination of malfunctions per SPU and/or malfunctions’ causes/sources for improved determination of maintenance actions for mitigation of malfunctions. For example, a decrease in solar panel power production may be caused due to obscuring of the solar panel which may be caused due to weather conditions such as clouds or due to dust/dirt covering the upper surface of the solar panel. In cases in which an occlusion malfunction is identified, the MCU may cross information from the devices/detectors and external information such as updated weather information of the area, to identify the exact cause of the panel-obscureness and may not initiate a cleaning maintenance action in case the cause is “cloudy skies” in the area, and initiate cleaning of the solar panel if the skies are clear leading to a conclusion that the cause of the obscureness is accumulated dust/dirt over the panel’s surface.

[0078] In certain embodiments of the systems and methods of any of the embodiments herein, one or more of the vehicles, such as UVs and UAVs, being used to remove, install and transport SPUs may have one or more sensors installed therein/thereover, e.g., to improve removal, installation and/or flight related performances such as for improved real time orientation and positioning detection and control, flight rout detection and control, positioning detection and control in relation to positioning of the SPU, specific parts/points in the SPU and/or PDS thereof, etc. In specific embodiments thereof, the one or more sensors include, e.g., one or more of: a camera, an optical sensor, an acceleration sensor, a proximity sensor, a global positioning system (GPS) device, and the like.

[0079] In certain embodiments of the systems and methods of any of the embodiments herein, one or more of the vehicles, such as UVs and UAVs, also include communication means which may be embedded in the one or more sensors, e.g., to communicate with the MCU, external positioning systems such as GPS satellites, etc.

[0080] According to some embodiments the panel connector, connectable to the vehicle is electronically controllable by the vehicle and/or by the MCU, e.g., for controlling contraction and expansion/extension of one or more parts of the panel connector for grabbing onto or fastening to a part of the SPU for lifting, lowering and/or carrying of the SPU by the vehicle. [0081] In some cases, such as in a case of a system implemented as or in an autonomous solar farm, all or some of the facilities, sensors, detectors and devices of the system may communicate with the MCU via a wireless communication network/links such as via WiFi network/links.

[0082] According to some embodiments, the MCU may further be configured to receive information from all vehicles, SPUs and/or cleaning, repairing and/or storage facilities of the solar facility (e.g., solar farm) and process the received information to identify and handle malfunctions thereof such as UVs malfunctions, cleaning facility malfunctions etc. [0083] Reference is now made to Figs. 1, 2A-2C and 3A-3G schematically illustrating a system (1000) for controllable removal, installation and transportation of SPUs or parts of the system (1000), according to some embodiments.

[0084] The system (1000) may include: one or more UVs such as UV (10); and a panel system (100) including at least: (i) a panel connector (120) configured to be connected to the UV (10) to enable grabbing a solar panel unit (SPU) (20) for installation/ removal thereof; and (ii) a capping PDS (130) for assisting in positioning of the panel connector (120) in a position that enables grabbing, releasing and/or placing of the SPU (20).

[0085] According to some embodiments, the removal/installation of SPUs is done in order to remove/install each SPU from/to a PSS (30), which is a support structure designed to support the weight of a SPU and hold it in a position that may be optimal for absorption of maximal solar radiation for optimal solar-based power production. The PSS (30) may include: (a) a base (31); (b) a first support member (32) such as a frame or a pole connected to the base (31) at one edge thereof and removably connectable to a lower side a SPU (20) at another edge thereof; (c) a second support member (33) such as a frame or a pole, connected to the base (31) at one edge thereof; (d) a third support member (34) which connects to the second support member (33) for supporting a middle/upper part of the SPU

(20).

[0086] In some embodiments, the first support member (32) may be shorter than the second support member (33) and the third support member (34) may include a frame and/or a plate that is angular (form a non-zero angle a between a vertical axis Z’ and a plane X’Y’ parallel to the base (31) and/or the ground G, where a is smaller than 90°) in respect to the second support member (33) (see Fig. 3A) such that a solar panel of the SPU (20) supported by the support members (32), (33) and (34) hold the SPU (20) angularly (non-parallel) in respect to the base (31) and or a ground plane G, over which the base (31) is placed.

[0087] The PSS (30) may farther include an electrical connector (35) fort connecting the SPU (20), installed thereto, via a corresponding electrical connector (25) of the SPU (20), to an electricity line for harvesting electrical power/energy/current produced by the solar panel

(21) of the SPU (20).

[0088] According to some embodiments, the SPU (20) may include: (i) a solar panel (21) having multiple PV cells all held in place by a frame or a holding plate; (ii) a connecting member (22) which connects to a lower side of the solar panel (the lower side not including the PV cells and not facing the sky), wherein the connecting member (22) is designed/configured to be grabbed by the panel connector (120) for removal/installation of the respective SPU (20) as well as to engage/connect to the PSS (30); and (iii) an electrical connector (25) configured to connect to the corresponding electrical connector (35) of the PSS (30).

[0089] According to some embodiments, the connecting member (22) includes a main frame (22a) (see Fig. 3B) integrally and/or fixedly connected to the solar panel (21); a hold member (23) configured to enable firm and easy hold by the panel connector (120) attached to the UV (10).

[0090] The hold member (23) may be in the form of a frame forming a recess, an opening or a hole such as opening (23a) (see Fig. 2A) into which one part of the panel connector (120) can be inserted for holding the SPU (20) or forming a handle bar enabling a clip or claw/pincer like part of the panel connector (120) to grab.

[0091] Embodiments illustrated in detail in Figs. 2A-2C, show one design of a panel connector (120) that is reversibly extendable such that it can be contracted in order to pass through the opening (23 a) of the hold member (23) and extended to exceed the frame of the hold member (23) in order to grab onto the SPU (20) e.g., for removal and/or carrying thereof.

[0092] The panel connector (120) may include: a first part (121A) configured to (e.g., fixedly) connect to the UV (10), which may have a cross shape; a second part (12 IB) configured to reversibly expand and contract in size/length/width for being inserted through the opening (23a) in a contracted state and expand/extend to exceed borders of the frame of the hold member (23) for grabbing the SPU (20); and a connecting element (122) for connecting (e.g., moveably connecting) the first part (121A) to the second part (121B).

[0093] The second part (12 IB) includes two reversibly expandable claws (127) and (128) that can expand/contract and/or open/close in a controllable manner.

[0094] According to some embodiments, as shown in detail in Figs. 2B-2D, the second part (121B) of the panel connector (120) may include: four arms (123-126), two arms (123-124) moveably connected to the connecting element (122) via elements 51 and hinges 50, and two arms (125-126), each arm (125/126) moveably connected, at one edge thereof, to an arm (123/124), respectively, and at another edge thereof, to a claw (127/128), respectively.

[0095] According to some embodiments, each claw (127/128) may include several clawarms. For example, claw (127) may include four claw-arms: (127a-127d) and claw (128) may include four claw-arms: (128a-128d). One of the claw arms of each claw (127/128) may moveably connect to another edge of one of the arms (125/126).

[0096] Some or all of the arms (123-126) and/or (127a-127d) and (128a-128d) may rotatably connect to other parts/arms via hinges (50) to allow multiple expansion/compression and/or extension/contraction directions and configurations/dimensions/sizes possibilities.

[0097] According to some embodiments, one or more motorized and controllable pistons such as pistons (129A) and (129B) may be used for controlling opening and closing of the connector device (120) for controllable grabbing of the SPU (20) frame (23) for lifting/lowering/transporting of the SPU (20). Each piston (129A/129B) may include a separate motor controllable by a controller of the UV (10) or by a remotely located MCU.

[0098] For example, each UV (10) may be autonomous or semi- autonomous by having sensor(s) enabling positioning of the UV (10) connector (120) in relation to the SPU (20) to be handled for removing, installing and/or transporting thereof.

[0099] According to some embodiments, as shown in Fig. 1, the UV (10) used by the system (1000) may be drone UV (10). The drone UV (10) may be remotely controllable by a MCU as described above and/or fully or partially autonomous enabling to perform, for example, at least prescheduled removals/installations/transportations of SPUs.

[0100] The drone UV (10) may include at least: one or more motors (not shown), one or more batteries (not shown) such as rechargeable batteries, a flight control mechanism (17), a fuselage (11), two or more landing legs (15), several (e.g., four) propellers (13) and a UV connector (12) for connecting the panel connector, such as panel connector (120). The UV (10) may also include one or more sensors for sensing one or more characteristics of the UV (10) and/or of the SPU (20) such as for sensing relative orientation, positioning etc. between the UV (10) and the SPU (20) to be removed/installed/transported by the UV (10), and/or for sensing one or more SPU (20) characteristics for determining SPU (20) malfunctions (such as power production deterioration, structural impairments etc.).

[0101] According to some embodiments, the flight control mechanism (17) may be configured to enable one or more of: autonomous flight, landing and/or positioning of the drone UV (10), semi- autonomous flight, landing and/or positioning of the drone UV (10) and/or remotely controllable flight, landing and/or positioning of the drone UV (10).

[0102] Figs. 1, 3A-3G show a schematic illustration of a design of the PDS (130) for assisting in real time control and positioning of the UV and panel connector (120) in respect to the PSS (30) or one or more points/parts thereof, for enabling accurate positioning of the SPU (20) when installing/placing thereof to/over the PSS (30) in a manner that will enable easy and correct mechanical and/or electrical connection of the electrical connector (25) of the SPU (20) and the electrical connector (35) of the PSS (30) for easy and automatically controllable connecting of the solar panel (21) of the SPU (20) to the electricity line.

[0103] According to these embodiments, the PDS (130) may include:

(i) a protruding element (132) connected/connectable to the first support member (32) of the PSS (30) having a specific protrusion shape (in this example a spherical or semi spherical shape)

(ii) a receiving element (131), removably connectable to the connecting member (22) of the SPU (20), the receiving element (131) has a receptacle portion (131a) forming a socket (depression/indentation) therein having a specific inner cavity formation (in this case a spherical or semi-spherical socket/cavity shape that corresponds, in size and shape, to the size and shape of the protruding element (132)), and a frame portion (131b) enveloping part of the outer rim of the receptacle portion (131a).

[0104] The sizes and shapes of the protruding element (132) and the and receptacle portion’s (131a) inner cavity may be such that that they fit one into one the other to allow engagement of the outer surface of at least part of the protruding element (132) with at least part of an inner wall/cavity of the receptacle portion (131a).

[0105] According to some embodiments, the frame portion (131b) of the receiving element (131) has a main aperture (13 lb)i (see Figs. 3C and 3D) which is larger than the overall size of the protruding element (132) to easily receive the protruding element (132) therethrough, before reaching the more confined receptacle portion’s (131a) inner socket/cavity, and a side aperture (13 Ibii) which is located over a side of the enveloping frame portion (131b) and extending from the main aperture (131b)i. The main aperture (131b)i may be radially symmetrical about a main axis Y’ of the spherical shape of the receptacle portion (131a) of the receiving element (131).

[0106] Once the UV (10) directs the panel downwardly (in respect to the ground G) the wide main aperture (13 lb)i of the receiving element’s (131) frame portion (131b) allows easy first insertion of the protruding element (132) connected to the PSS (30) into the envelope frame portion (131b) and then more easily into the socket formed by the receptacle portion (131a) of the receiving element (131), connected to the SPU (20).

[0107] As also shown in Figs. 3C-3D, the side-aperture (13 Ibii), extending over a side of the frame portion (131b), may be tapered having at least one part having a maximal width that is smaller than a maximal width of another part pf the side-aperture (13 Ibii). This allows locking of the protruding element (131) inside the socket of the receptacle portion (131a) of the receiving element (131) when the SPU (20) is fully in place and supported by (rested over) the PSS (30) as shown in Fig. 3G. The narrow width of the side-aperture (13 Ibii) prevents the protruding element (132) from exiting the socket of the receptacle portion (131a), and also prevents the SPU (20) from being moved sideways along the rotation axis Y’ for restricting the SPU (20) movements such that it can only move pivotally about the rotation axis Y’ for folding and unfolding of the SPU (20) towards and away from the PSS (30) such that the electrical connectors (25) and (35) will contact each other in an aligned manner when the SPU (20) is fully folded onto the PSS (30).

[0108] According to some embodiments, sensors such as sensors (135a-135c) may be attached/embedded to/in the PSS (30), the SPU (20), the PDS (130) and/or the UV, for detection of various system characteristics and for assist in docking of the SPU (20), detect malfunctions in the SPU (20) or in the UV (10) etc.

[0109] Fig. 3C shows how in these embodiments of the PDS (130) configuration, the installation/placement of the SPU (20) to the PSS (30) is done by having the UV (10) (not shown in Fig. 3C) position the SPU (20) in position (e.g. in a position in which the SPU (20) is vertical in respect to the ground or an XY plane that is perpendicular to the Z axis) before lowering the SPU (20) to direct the receiving element (131) connected to the SPU (20) right above the protruding element (132) connected to the PSS (30), e.g. by using sensors of the UV (10) and/or of the PSS (30). Once alignment is achieved such that the symmetry axis Y’ of the receiving element (131) is aligned with the symmetry axis of the protruding element (132) the USP (20) can be slowly lowered by the UV (10) to have the protruding element (132) inserted into the socket of the receiving element (131).

[0110] Before the SPU (20) is folded to be fully supported by the PSS (30), and after it is lowered to have the protruding element (132) inserted in the socket of the receiving element

(131), the SPU (20) can only be rotated about the symmetry (rotation) axis Y’ preventing and requires exertion of additional upward force for extracting the protruding element (132) from the socket, due to the dimensional fit between the socket and the protruding element

(132).

[0111] According to some embodiments, the extendable/expandable part of the panel connector may include any one of: a linker device, a fastening device or a hook that can grab a bar formed by the hold member (23) for lifting and/or carrying the SPU (20). [0112] Reference is now made to Figs. 4A-4D, schematically illustrating a panel system (200) for installation, removal and transportation of SPUs such as SPU (60), at least to and from a PSS (30), according to other embodiments.

[0113] The panel system (200) includes: (i) a panel connector (220) configured for attaching to a UV via a connecting element (223), the panel connector (220) may include the connecting element (223), a main plate or frame (221) connectable at one side thereof to the connecting element (223) and at another opposite side thereof, to one or more vacuum fasteners such as vacuum cups (222a-222f) that can releasably fasten to an upper surface of a solar panel (61) of the SPU (60) by applying pressure that releases air between an inner side of each vacuum cup and the solar panel (61) surface forming a vacuum therebetween, which can require a great force to be applied for releasing the vacuum based grab; and (ii) a PDS 230 having a first element, which may (fixedly) connect to the PSS (30), where the first element may include a bar-holder (231), and a second element, which may be (fixedly) connected to the SPU (60) having one or more bars such as bar element (232) configured to be rotatably insertable into the bar-holder (231), for assisting in easy installation of the SPU (60) to the PSS (30).

[0114] The bar-holder (231) may have a U-shaped or a V-shaped cross-sectional shape forming a socket that is configured to fit the dimensions (size and shape) of the bar element (232) such that when the bar (232) is placed inside the socket of the bar-holder (231), it can rotate about a rotation axis Y”.

[0115] According to some embodiments, as shown in Figs. 4A, 4C and 4D, the bar element (232) may have a main bar (232a) configured to be placed inside the socket of the bar-holder (231) and two angular edges (232b) and (232c), each integrally /fixedly connected to a different edge of the main bar (232a). The length of the main bar (232a) fits to a length of the socket formed by the bar-holder (231) where the angled edged (232b) and (232c) are folded such as to form a non-zero (preferably between 10-90°) from the main bar (232a) such that the edges (232b) and (232c) prevent the bar element (232) from making lateral side-movements along the rotation axis Y” and can only be rotatable about the rotation axis Y” for folding/unfolding the SPU (60) in respect to the PSS (30) such that upon full folding, the electrical connectors (25) and (35) are fully aligned and connected to one another.

[0116] Another PDS (330) design is shown in Figs. 5A-5B that includes: (i) a first element (331) which connects to a SPU (80) and has a first part (331a) forming therein an elongated socket and extendable wings (331b) and (331c) forming an opening; and (ii) a second element, which has an elongated bar (332) connected to a PSS (90).

[0117] The elongated bar (332) has two opposite elongated flat surfaces and two opposite elongated rounded surfaces, where the socket formed in the first part (331a) of the first element (331), has a cylindrical shape such as to only fit to engage the rounded surfaces of the elongated bar (332). This configuration may also allow rotational movement of the SPU (80) about a rotation axis Y” while preventing the elongated bar (232) from being easily released from the socket of the first part (331a).

[0118] According to some embodiments, any UV being used for the removal, installation and transportation of SPUs may be specially designed or modified to carry the weight (and more) of the SPUs it is designated to carry, position each SPU for carrying and/or flying of each SPU and for placing each SPU for installation thereof to the PSS and/or for placing it in designated facilities/places, supports for preforming maintenance actions to a removed SPU.

[0119] Reference is now made to Fig. 6 schematically illustrating a system (5000) for managing maintenance of a solar facility that includes multiple SPUs, such as a solar farm

(500) for electricity production, according to some embodiments.

[0120] The system (5000) may be an autonomous solar farm enabling full or partial automatic and autonomous ongoing power harvesting and automatic farm maintenance by enabling automatic removal, transportation, installment, replacement, repairing and cleaning of SPUs as well as automatic detection of functionality malfunctions per SPU and optionally also malfunctions of other parts/facilities of the system (5000).

[0121] The system (5000) may include, for example, at least: (i) a main control unit (MCU) (5100); (ii) multiple UVs such as UVs (5001) and (5002) each UV being configured to carry a SPU; and (iii) multiple panel systems, each panel system comprising: a panel connector connectable to a UV and configured to removably hold/grab/fasten/connect to a SPU; and a PDSs, where part of the PDS may be attached to a SPU and another party of the PDS may be attached to a respective PSS.

[0122] According to some embodiments, the solar farm (500) may include multiple SPUs

(501); a cleaning facility (502) (e.g., for SPUs washing/c leaning); a storage facility (503) (e.g., for storage of replacement SPUs, SPU parts etc.); and a repairing facility (504) (e.g., for automatic and/or manual repairing of SPUs). [0123] According to some embodiments, each SPU of the solar farm (500) may be eclectically connected to an energy production subsystem (EPS) (900) configured to receive electrical power from each operated SPU of the solar farm (500) for production of electrical power and channeling the produced power onwards e.g., to a main electricity grid, for operating electrical machines/devices of a specific facility or a group of several facilities (such as houses, factories, a building, etc.

[0124] According to some embodiments, the EPS (900) may also be configured to measure power production related properties of each operative SPU (501) of the solar farm (500), for example by ongoing measuring of current/voltage produced by each SPU (501), e.g., by using one or more measuring devices (such as voltmeters) configured to measure one or more energy production related properties per each solar panel of each SPU.

[0125] According to some embodiments, data associated with real time measured power production properties of each SPU may be sent by the EPS (900) to the MCU (5100) for further processing and decision making.

[0126] According to some embodiments, one or more measuring devices and/or detectors may be installed at each SPU or in proximity to each SPU for measuring the SPU state (which may be associated with the SPU’s power production state) and transmit the data indicative of each SPU state directly to the MCU (5100) for further processing and decision making.

[0127] According to some embodiments, the MCU (5100) may be configured to receive data from the EPS (900) and/or from the measuring devices/detectors of all operative SPUs of the solar farm (500), analyze the received data and identify one or more malfunctions for each operative SPU such as malfunctions selected from one or more of: (i) obscured solar panel of the SPU; (ii) one or more malfunctioning components; (iii) disorientation of the solar panel of the SPU; (iv) overdue of expiration date of the solar panel of the SPU; and (v) prolong malfunctioning.

[0128] According to some embodiments, each identifiable malfunction type may be associated with one or more maintenance actions that may be required to mitigate/overcome the specific malfunction. For example, an obscured solar panel malfunction may be associated with a cleaning maintenance action, requiring removal of the SPU for cleaning of its solar panel surface, whereas a prolong malfunctioning of a SPU may be associated with a maintenance action of replacing of the SPU or just the solar panel thereof. [0129] According to some embodiments, the MCU (5100) may use one or more external information sources such as external information source (5901) and/or one or more analysis models to enable a more fine-tuned identification of malfunctions and/or of reasons/causes of at least some of the malfunctions identified, wherein each cause of the same malfunction may be associated with a different maintenance action. For example, an obscured solar panel malfunction caused due to accumulated dust/dirt may be associated with a solar panel cleaning maintenance action, whereas an obscured solar panel malfunction caused due to cloudy skies obscuring sunlight for the entire area, may be associated with “no action” as it requires no maintenance action to be initiated and performed. The same “obscured solar panel” malfunction may also be identified to be caused due to an obscuring object that is not related to a weather condition such as cloudy skies yet also not caused due to accumulated particles over the SPU’s solar panel and therefore may be associated with a “obstacle removal” maintenance action.

[0130] The external information source (5901) may be configured to provide information related to any one or more of: (i) updated weather prediction of the area of the solar farm (500); and (ii) statistical malfunctions history of SPUs of similar types to the ones used in the solar farm (500).

[0131] According to some embodiments, the MCU (5100) may be further configured to initiate, manage and control maintenance actions upon real time identification of malfunctions of SPUs requiring maintenance actions.

[0132] In some embodiments, the MCU (5100) is further configured for ongoing initiation and controlling of maintenance actions based on prescheduled and optionally reprogrammable maintenance plans.

[0133] For example, SPUs of each SPU group of the solar farm (500) may be associated with a maintenance plan in which maintenance actions such as cleaning, replacement, etc. are performed according to a planned schedule. The groups of the solar farm (500) may be divided based on any one or more division rules. Each SPUs group may be associated with the same zone/area/row/column of the solar farm (500) or associated with the same or close expiration date or type (model) of SPU etc.

[0134] According to some embodiments, each maintenance action may be associated with one or more executable control commands for automatically and remotely controlling of the UVs for removing, installing and/or transporting each SPU requiring of a maintenance action according to the specific maintenance action required. [0135] For example, the MCU (5100) may identify an obscured solar panel malfunction requiring solar panel cleaning or a scheduled solar panel cleaning time for a specific SPU. Upon such identification the MCU (5100) may control a UV (5001) to fly to the (known) location of the specific SPU remove it, transport it to a cleaning station and return and reinstall the cleaned SPU once the cleaning process is over. In other embodiments, the UV may be carrying out the actual cleaning action by flying to the SPU location and using one or more cleaning instruments held thereby for cleaning of the solar panel of the specific SPU. [0136] According to some embodiments, one or more of SPUs may include two solar panels, each solar panel of the same SPU may be directed to a different direction.

[0137] For example, the SPU may have two solar panels located on opposite sides of the SPU such that one faces the sun and the other faces the ground, for enabling flipping the SPU for reducing the number of times required for maintenance actions such as cleaning, replacement etc.

[0138] According to some embodiments, the MCU (5100) may be further configured for automatic detection and mitigation/repairing of malfunctions in operation of the EPS (900), the cleaning facility (502), the storage facility (503), and/or the repairing facility (504).

[0139] Fig. 8 shows optional software, electronic, digital and/or hardware-based components of the MCU (5100): (i) a communication module (5110), configured to control/manage communication with multiple sensors/detectors/devices of the system (5000), with the EPS (900) and optionally also with other end devices of the system or of end users; (ii) an analysis module (5120) configured to receive and process/analyze data arriving from the sensors, measuring devices and or detectors of the system (5000) for each SPU of the SPUs facility (500) such as updated/current measured power production rate of each SPU, and optionally also external information analyze the received data and information to identify malfunctions in SPUs of the facility (500) and determine corresponding maintenance actions per SPU based on identified malfunction(s); (iii) a maintenance module (5130) configured to execute determined maintenance actions per SPU of the facility (500) by operating and controlling UVs for removing, installing and transporting of each SPU selected for maintenance action requiring transporting thereof; (iv) a data storage unit (5140); and (v) (optionally) a messages module (5150) configured at least for transmitting information associated with maintenance of SPUs in the facility (500) to none or more end users via end user’s end devices such as mobile phones, computers, laptops, tablets etc. [0140] Fig. 8 shows a process of managing of a solar facility using UVs control, according to some embodiments. The process may include, for each SPU of the facility:

- receiving SPU data indicative of the specific SPU updated state (81) (e.g. by receiving detected/sensed/measured one or more SPU characteristics);

- analyzing the received SPU data (82) to identify one or more malfunctions of the SPU (the SPU current state) (83);

- if one or more malfunctions have been identified for the SPU (83) - determine one or more required maintenance actions for SPU (84);

- if one or more of the determined required maintenance actions also requires a removal/transport/replacement is required for the SPU (85) - controlling a UV having a panel connector for removing transporting the SPU (86); and

- reinstalling or replacing the SPU (87) once the maintenance action(s) has/have been performed.

[0141] In some cases and depending on sunlight direction, the ground reflects some of the radiation from below the SPU towards a back side of the SPU. This may be exploited by adding an additional solar panel at an opposite side of the SPU enabling harvesting energy also from reflected light that would otherwise be lost and absorbed by the ground.

[0142] Reference is now made to Figs. 9A and 9B showing a PDS (330) of a solar panel system, according to some embodiments. The panel system may be a part of a solar system that uses SPUs such as SPU (70) with two solar panels (71a) and (71b) facing opposite sides of the SPU (70) such that one can face the sky and the other faces the ground, for enabling collection of light reflected from the ground and optionally also for enabling flipping of the SPU (70) while enabling SPU (70) functioning when flipped (e.g., if the upper solar panel (71a) of the SPU (70) is malfunctioned or dirty).

[0143] According to these embodiments, the PDS (330) may include a bar part (331) connected to a frame (73) of the SPU (70), the bar part (331) may attach to two protrusions (332a) and (332b) each connected at a different edge side of the bar part (331); and a receptacle (335), connected to a PSS (90), and configured to hold the bar part (331) therein while allowing easy removal/lifting of the SPU (70). The PDS (330) may also include a capping mechanism (337) similar in configuration to the capping subsystem (130), as described above.

[0144] According to some embodiments, the PSS (90) may include a side holder (96) at least for holding one or more electrical connectors such as connectors (97 a and 97b) each located at opposite sides of the side holder (96) for electrically connecting the first solar panel (71a) (facing upwards/the sky) and the second solar panel (71b) (facing downward/the ground “G’). The side holder (96) is located at a side of the SPU (70) to prevent it from obscuring light that is reflected from the ground G and therefore enable maximum reflected light to reach/impinge the second ground-facing solar panel (71b), for maximal (optimal) utilization of sunlight for energy conversion thereof.

[0145] The present invention further provides a supplementary panel support structure (PSS) (800), for installment of solar panel units (SPUs) over an existing PSS, the supplementary PSS comprising: (i) an upper-section onto which said SPUs are mounted, (ii) a lower-section designed to anchor said supplementary PSS to the existing PSS such that once installed, the existing PSS resides in between the upper-and lower-sections, and once SPUs are installed on said supplementary PSS, they are positioned over SPUs that are installed on the existing PSS; and (iii) an electrical connector for connecting each one of the SPUs to an electricity line irrespectively to electrical connectors of the existing PSS.

[0146] The use of such supplementary PSS enables to improve existing solar farms that use outdated solar panels, without the need to physically remove the existing solar panels, which is both time consuming, complicated and requires expensive disposal procedures (such as special damping thereof). When using the supplementary PSS, it is possible to simply install new and improved solar panels thereon while leaving the existing solar panels. Moreover, when using the supplementary PSS of the invention together with the panel docking subsystem (PDS) of the invention, it is possible to transform an existing outdated solar panel to an innovative solar panel that enables easy, fast and simple removal, installation and transporting of SPUs, thereby enabling maintaining the solar farm in good working order as well as renewing it by replacing old SPUs with new SPUs whenever desired.

[0147] Notably, the existing SPUs of the existing PSS remain connected to the power grid and continue providing electricity as long as they remain operational. This is since they are not dismantled and still receive some light. This actually further increases the power generation by the solar farm.

[0148] Figs. 10A-10B illustrate one possible “C”-shaped configuration of the supplementary PSS of the invention, and Fig. 10C illustrates another possible configuration. As illustrated, the lower section comprises anchors (810) for anchoring and securing the supplementary PSS to the frame of the existing PSS. Once the supplementary PSS is connected to the existing PSS, its upper section is positioned above SPUs that are connected to the existing PSS. Accordingly, in certain embodiments, the supplementary PSS according to any of the embodiments above further comprises at least two connectors (810) (anchors) at least on its lower-section designed for anchoring said supplementary PSS to said existing PSS. The number and location of such connectors (810) can vary according to the design of the supplementary PSS and of the existing PSS. For instance, as illustrated in Fig. 10A, both connectors (810) may be orientated to connect the supplementary PSS to the supporting frame of the existing PSS. Alternatively, or additionally, as illustrated in Fig. 10C, one (or more) of the connectors may be oriented to connect the supplementary PSS to the frame of the existing PSS.

[0149] Also illustrated in Figs. 10A-10C are straightening beams located in the inner-section of the C-shaped PSS, designed to provide additional support. Such beams can be in any design and form, and can be made from any suitable material, either the same or different from the material the supplementary PSS is made of. Notably, such beams are optional, and if additional straightening would be required, it can be achieved using any suitable means, such as cables or extra thickness of the supplementary PSS itself.

[0150] Figs. 11A-11D illustrate the “C”-shaped supplementary PSS (800) of Fig. 10 when mounted onto an existing PSS holding existing SPUs. As illustrated, the supplementary PSS may comprise a connectable element (332) of a panel docking subsystem (PDS) designed to assist in the installment of the SPUs. Also illustrated is a bar (333) designed to assist in the reversible locking and securing each SPU thereto. As can be seen, once the supplementary PSS (800) is mounted onto the existing PSS, its upper-section resides above the existing SPUs without touching them or using them for support. However, in certain embodiments, the supplementary PSS may be constructed such that the lower surface of the upper-section or of the supporting beams resides on the existing SPUs, e.g., for extra support and stability. [0151] Accordingly, in certain embodiments, the supplementary PSS according to any of the embodiments above, further comprises a connectable element (332) of a panel docking subsystem (PDS) configured to mechanically assist in positioning the SPU when installing thereof to the supplementary PSS, at a position that allows connection of an electrical connector of the SPU to the corresponding electrical connector of the supplementary PSS, for connecting the respective SPU to an electricity line, wherein the PDS comprises at least one pair of connectable elements, which comprises at least: a first element comprising a socket (331), and a second element comprising a protruding element (332) configured to fit into the socket of the first element, one element connected to the SPU, and the other element to the supplementary PSS, wherein once the first element connects to the second element the movement of the SPU in respect to the PSS is limited to only enable rotation of the SPU around a single rotation axis.

[0152] Figs. 12A-12D illustrate one possible configuration of a SPU (80) with a PDS according to some embodiments of the invention. As illustrated, the PDS comprises an element creating a socket (331) at the bottom rear section of the SPU (80) and a holding member (23) at the SPU’ s upper section, wherein the holding member (23) is associated with a securing mechanism (233), such that a vehicle can carry the SPU (80) using the holding member (23), place it in position by placing the socket (331) over the bar (333), lower the SPU (80) onto the supplementary PSS, and subsequently lock and secure the SPU (80) by moving the securing mechanism (233) over the bar (333). This procedure is illustrated in more details in Figs. 13A-13E. Notably, this is an exemplary process only that can be modified according to the holding member (23) being used, and/or according to the securing mechanism (233) if present.

[0153] Accordingly, in certain embodiments of the supplementary PSS according to any of the embodiments above, the PDS further comprises a securing mechanism (233) for reversibly locking and securing each SPU to the supplementary PSS after installing thereof. Notably, the securing mechanism may be positioned on the SPU itself or constitute a part of the supplementary PSS. Although the figures illustrate a securing mechanism that latches over a bar, it is to be understood that any suitable securing mechanism can be used, such as clip-ons that snap over a protrusion, spring or spring-like mechanisms, etc. In either configuration, the securing mechanism is such that it enables quick and simple locking of the SPU to the supplementary PSS during installment, as well as quick and simple release thereof during replacement of the SPU.

[0154] Figs. 14A-14B illustrate a solar farm looks like after assembly of a supplementary PSS on an existing PSS and after instalment of all the SPUs thereon.

[0155] The present invention further provides a method for managing removal, installation and transporting of multiple solar panel units (SPUs) from and to an existing panel support structure (PSS), the method comprising at least: (i) providing a supplementary PSS (800) for installment of the SPUs over the existing PSS, the supplementary PSS comprising: (i) an upper-section onto which said SPUs are mounted, (ii) a lower-section designed to anchor said supplementary PSS to the existing PSS such that once installed, the existing PSS resides in between the upper-and lower-sections, and once SPUs are installed on said supplementary PSS, they are positioned over SPUs that are installed on the existing PSS; and (iii) an electrical connector for connecting each one of the SPUs to an electricity line irrespectively to electrical connectors of the existing PSS; (ii) mounting said supplementary PSS onto said existing PSS; (iii) providing at least one vehicle; (iv) providing at least one panel connector comprising at least: a first part configured for connection of the panel connector to the vehicle, and a second part configured to releasably grab a SPU, wherein the panel connector being configured to be carried by the vehicle and to releasably grab a SPU for enabling the vehicle to remove or install a SPU at least from and to the supplementary PSS by transporting the grabbed SPU, grabbed by the panel connector, which connects to the vehicle; (v) providing multiple panel docking subsystem (PDS) each associated with a specific SPU of the multiple SPUs, each PDS being configured to mechanically assist in positioning the SPU when installing thereof to the supplementary PSS, at a position that allows connection of an electrical connector of the SPU to a corresponding electrical connector of the supplementary PSS, for connecting the respective SPU to an electricity line; and (vi) controlling removal, installation and transporting of each of the SPUs at least by controlling of the at least one vehicle connected to a specific panel connector for approaching a designated location of a specific SPU or a support structure thereof, for removal or installation of the specific SPU. [0156] In specific embodiments of the above method, the vehicle is an unmanned vehicle (UV), which is remotely controllable, partially autonomous and/or fully autonomous, said UV is optionally an unmanned aerial vehicle (UAV).

[0157] In further or alternative embodiments, the above method further comprises a step of determining maintenance required for a specific SPU and controlling removal and/or installation of said specific SPU based at least on a designated location of the specific SPU, wherein determining maintenance required is done by: (i) measuring one or more characteristics of each of the multiple SPUs, using one or more measuring devices; (ii) receiving and analyzing output data of the one or more measuring devices to detect malfunctioning SPUs from the multiple SPUs; and (iii) controlling maintenance of detected malfunctioning SPUs at least by controlling removal and/or installation thereof via the one or more vehicles.

[0158] The present invention further provides a panel docking subsystem (PDS) as described herein for installment of a SPU to a PSS, configured for holding and supporting the SPU, the PDS comprising at least: a receptacle portion forming the socket that has a shape and size that fit the shape, and size of the protruding element; and a frame portion configured to assist in guiding the protruding element of the second element into the socket of the receptacle portion and limit movement of the SPU, wherein the receptacle portion is attached to the PSS or to the SPU, and the frame portion respectively connects to the SPU or to the PSS.

[0159] In certain embodiments, the panel-systems, systems and methods, according to any of the embodiments above, are suitable for use with any SPU, having any size, shape and type. For instance, one SPU of a specific type and size can be replaced by another SPU of a different type and/or size. This can be done by a simple adjustment of the panel connector and/or the panel docking subsystem (PDS).

[0160] Such adjustments can be done at the SPU, the PDS and/or the panel support structure (PSS).

[0161] Although the above description discloses a limited number of exemplary embodiments of the invention, these embodiments should not apply any limitation to the scope of the invention, but rather be considered as exemplifications of some of the manners in which the invention can be implemented.

[0162] The method and/or processes described herein may be implemented by any one or more software, and/or hardware, element apparatus, device, mechanism, electronic and/or digital computerized system, unit, processing module, device, machine, engine, etc.

[0163] The system, module, unit, device etc. or parts thereof, may be programmed to perform particular functions pursuant to computer readable and executable instructions, rules, conditions etc. from programmable hardware and/or software-based execution modules that may implement one or more methods or processes disclosed herein, and therefore can, in effect, be considered as disclosing a “special purpose computer” particular to embodiments of each disclosed method/process.

[0164] Additionally, or alternatively, the methods and/or processes disclosed herein may be implemented as a computer program that may be tangibly or intangibly embodied by a special purpose computer readable signal medium. A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a non-transitory computer or machine-readable storage device and that can communicate, propagate, or transport a program for use by or in connection with apparatuses, systems, platforms, methods, operations and/or processes discussed herein.

[0165] The terms “non-transitory computer-readable storage device” and “non-transitory machine-readable storage device” may also include distribution media, intermediate storage media, execution memory of a computer, and any other medium or device capable of storing for later reading by a computer program implementing embodiments of a method disclosed herein. A computer program product can be deployed to be executed on one computer or on multiple computers at one site or distributed across multiple sites and interconnected by one or more communication networks.

[0166] The computer readable and executable instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

[0167] A module, a device, a mechanism, a unit and or a subsystem may each comprise a machine or machines executable instructions (e.g., commands). A module may be embodied by a circuit or a controller programmed to cause the system to implement the method, process and/or operation as disclosed herein. For example, a module may be implemented as a hardware circuit comprising, e.g., custom very large-scale integration (VLSI) circuits or gate arrays, an Application-Specific Integrated Circuit (ASIC), off-the-shelf semiconductors such as logic chips, transistors, and/or other discrete components. A module may also be implemented in programmable hardware devices such as field programmable gate arrays, programmable array logic, programmable logic devices and/or the like.

[0168] It is important to note that the methods/processes and/or systems/devices/subsystems /apparatuses etc., disclosed in the above Specification, are not to be limited strictly to flowcharts and/or diagrams provided in the Drawings. For example, a method may include additional or fewer processes or steps in comparison to what is described in the figures. In addition, embodiments of the method are not necessarily limited to the chronological order as illustrated and described herein.

[0169] It is noted that terms such as “processing”, “computing”, “determining”, “analyzing”, “identifying”, “detecting” and/or the like, may refer to operation(s) and/or process(es) of a computer, a computing platform, a computing system, or other electronic computing device(s), that manipulate and/or transform data represented as physical (e.g., electronic or optical signal) quantities within the computer's registers and/or memories into other data similarly represented as physical quantities within the computer's registers and/or memories or other information storage medium that may store instructions to perform operations and/or processes.

[0170] Unless otherwise stated, the use of the expression “and/or” between the last two members of a list of options for selection indicates that a selection of one or more of the listed options is appropriate and may be made i.e. enabling all possible combinations of one or more of the specified options. Further, the use of the expression “and/or” may be used interchangeably with the expressions “at least one of the following”, “any one of the following” or “one or more of the following”, followed by a listing of the various options.

[0171] It is appreciated that certain features of the invention, which are, for clarity, described in the context of separate embodiments or example, may also be provided in combination in a single embodiment. Conversely, various features of the invention, which are, for brevity, described in the context of a single embodiment, example and/or option, may also be provided separately or in any suitable sub -combination or as suitable in any other described embodiment, example or option of the invention. Certain features described in the context of various embodiments, examples and/or optional implementation are not to be considered essential features of those embodiments, unless the embodiment, example and/or optional implementation is inoperative without those elements.

[0172] It is noted that the terms “in some embodiments”, “according to some embodiments”, “for example”, “e.g.” and “optionally” may herein be used interchangeably.

[0173] The number of elements shown in the figures should by no means be construed as limiting and is for illustrative purposes only.