JP7359450B2 - cleaning robot - Google Patents

Description

The present invention relates to a cleaning robot. More specifically, the present invention relates to a cleaning robot that cleans the surfaces of solar cell arrays used in solar power generation, condensing mirrors used in solar thermal power generation, and the like.

In recent years, the demand for power generation using renewable energy has been increasing, and in particular, solar power generation and solar thermal power generation using sunlight are attracting a lot of attention.
For example, solar power generation facilities range from facilities with a power generation capacity of about 3 to 4 kilowatts installed in general homes to large-scale power generation facilities with a power generation capacity of over 1 megawatt for commercial use. Furthermore, there are many large-scale solar thermal power generation facilities with a power generation capacity of over 1 megawatt, and they are expected to serve as an alternative power generation facility to thermal power generation and nuclear power generation.

On the other hand, power generation using sunlight, such as solar power generation and solar thermal power generation, generates electricity by receiving sunlight from the sun. For this reason, if the light-receiving surface of a solar cell module or condensing mirror becomes dirty, depending on the degree of dirt, the light transmittance of the cover glass that constitutes the light-receiving surface of the solar cell module decreases in solar power generation. The amount of electricity generated decreases. Furthermore, in solar power generation, the amount of power generated decreases as the reflectance of the condensing mirror decreases. In other words, in photovoltaic power generation and solar thermal power generation, if the light-receiving surfaces of the solar cell module or collector mirror are dirty, the power generation performance will be significantly reduced.
Therefore, it is important to properly clean the solar cell array and the like in order to remove dirt from the light receiving surface of the solar cell array and the like.

If the equipment is installed in an ordinary house, it is possible for people to clean it regularly. On the other hand, in the case of large-scale solar power generation equipment, the surface area thereof is very large, so it is substantially difficult for humans to clean and remove dirt from the surface of the solar cell array. For example, assume that a 1-megawatt solar power generation facility is composed of solar cell modules each generating a power output of 100 watts. In this case, the total number of solar cell modules in the entire solar power generation facility is 10,000. If the area of one solar cell module is 1 square meter, the area to be cleaned reaches 10,000 square meters. In the case of solar power generation equipment, a plurality of solar cell arrays each including a plurality of solar cell modules are provided. The area of this solar cell array varies depending on various site conditions, but is approximately 50 square meters to 1000 square meters. Therefore, in large-scale solar power generation facilities, cleaning robots that automatically or remotely move over solar cell arrays and panel frames to clean them are an effective cleaning method.

Patent Documents 1 to 4 disclose cleaning robots that travel along a row of solar cell arrays in a facility in which a plurality of solar cell arrays are arranged in one row (or multiple rows). It is described that these cleaning robots can clean the surface of the solar cell array with a brush or the like by moving one row (or multiple rows) of the solar cell array along the row.

US2012/0125367A1 JP2014-223564A Japanese Patent Application Publication No. 2015-178088 JP 2017-144413 Publication

Although the cleaning robots disclosed in Patent Documents 1 to 4 can clean the solar cell array while running on their own, there are cleaning robots that can more effectively clean the surface of the solar cell array and cleaning robots that can also effectively perform tasks other than cleaning. is required.

Further, in the case of a cleaning robot that uses a brush to clean the solar cell array, if the length in the direction orthogonal to the direction along the rows of the solar cell array increases, the length of the brush must be increased. As a result, the brush becomes susceptible to deflection due to its own weight, and if deflection occurs, the brush will swing around when it rotates. Then, the bearing that supports the rotation of the brush is likely to be damaged due to whirling. On the other hand, if the rigidity of the brush is increased, whirling becomes less likely to occur, but this increases the weight of the brush and the manufacturing cost.

In view of the above circumstances, an object of the present invention is to provide a cleaning robot that can effectively perform tasks such as cleaning a solar cell array.

<Invention of the brush>
A cleaning robot according to a first aspect of the invention is a robot that cleans the surface of a solar cell array having a plurality of solar cell modules installed side by side, and includes a cleaning section that is equipped with a brush that cleans the surface of the solar cell module. The frame includes a frame, and a running part provided on the frame for causing the frame to run in a direction intersecting with a rotational axis direction of the brush of the cleaning part, and the frame has a running part that runs the frame in a direction intersecting with the rotating axis direction of the brush of the cleaning part. The present invention is characterized in that a bearing portion including a bearing rotatably holds the end portion is provided, and the bearing portion rotatably holds the shaft end portion of the brush of the cleaning portion.
A cleaning robot according to a second aspect of the invention is characterized in that, in the first aspect, the cleaning unit includes two brushes.
In the cleaning robot according to a third aspect of the invention, in the second aspect, the frame includes a first end and a second end that are spaced apart in the direction of the rotation axis of the brush of the cleaning section, and the frame a first frame portion having an end portion, a second frame portion having the second end portion, and a connecting portion connecting the first frame portion and the second frame portion; Of the two brushes, the first brush has one end held at the first end of the first frame part, the other end held at the second end, and the first brush. The second brush has one end held by the second end of the second frame part, and the other end of the second brush when viewed from the direction in which the frame runs by the running part. It is characterized in that it is held on the first end side so as to overlap with the end.
A cleaning robot according to a fourth invention is characterized in that in the first, second, or third invention, the bearing is a spherical bearing.
A cleaning robot according to a fifth aspect of the present invention, in any one of the first to fourth aspects, includes a control section that controls the operation of the cleaning section and the traveling section, and the control section is configured to control the tip of the brush of the cleaning section. The operation of the traveling section and/or the cleaning section is controlled such that the circumferential speed of the frame is faster than the traveling speed of the frame by the traveling section.
<Frame configuration>
A cleaning robot according to a sixth aspect of the present invention is a robot that cleans the surface of a solar cell array having a plurality of solar cell modules installed side by side, and includes a frame, and a cleaning robot provided on the frame to connect the frame to the surface of the solar cell array. The frame includes a running section that runs along the surface and a cleaning section that cleans the surface of the solar cell module, and the frame is relatively movable along a direction perpendicular to the running direction of the running section. a first frame portion and a second frame portion provided on the first frame portion; the cleaning portion includes two brushes; a first brush of the two brushes is provided on the first frame portion; The second brush of the two brushes is provided in the second frame portion.
In the cleaning robot according to a seventh aspect of the invention, in the sixth aspect , the first brush and the second brush are arranged such that one end of the first brush and the second brush overlap each other when viewed from the direction in which the frame is run by the running section. It is characterized by being provided in.
A cleaning robot according to an eighth aspect of the invention is characterized in that in the sixth or seventh aspect , the first frame part and the second frame part are connected to each other so as to be relatively movable and separable by a connecting mechanism. .
<Handle>
A cleaning robot according to a ninth aspect of the invention is characterized in that, in any one of the first to eighth aspects , the frame includes a first handle provided at a first end of the frame, and a first handle provided at a second end of the frame. A second handle is provided, and the first handle has a grip portion of the frame that is bent toward a side facing the solar cell array when the frame is placed on the solar cell array. It is characterized by
In the cleaning robot according to a tenth aspect of the invention , in the ninth aspect, the second handle is bent to a side opposite to a surface of the frame that faces the solar cell array when the frame is placed on the solar cell array. It is characterized by having a grip part.
<Bridge>
A cleaning robot according to an eleventh invention , in any one of the first to tenth inventions , includes a communication member disposed on the solar cell module and passed between adjacent solar cell modules, and the communication member is arranged in a longitudinal direction. The present invention is characterized in that it includes a main body portion whose length is longer than the gap between the solar cell modules, and an end member that is bendable with respect to an end portion in the longitudinal direction of the main body portion.
A cleaning robot according to a twelfth aspect of the invention is characterized in that, in the eleventh aspect , the main body portion and the end member include a traveling portion disposed on a solar cell module, and a fixing portion fixing the traveling portion to a panel frame of the solar cell module. It is characterized by having the following.
<Lifting mechanism>
A cleaning robot according to a thirteenth invention is provided with a lifting mechanism for lifting the cleaning robot according to any one of the first to twelfth inventions , and the lifting mechanism includes an engaging member provided at an end of the frame and the engaging member. a lift member detachably connected to the mating member, the lift member includes a main body, a handle provided at one end of the main body to be held by an operator, and a handle provided at one end of the main body; It is characterized in that it has an engaging part provided at the other end and connected to the engaging member.
In the cleaning robot according to a fourteenth aspect of the invention, in the thirteenth aspect , the lift member includes an upper engaging part in which an upper engaging groove having an opening in the lower surface is formed, and is spaced apart from the upper engaging part, and the axial direction is a lower engaging part in which a lower engaging groove is formed that is parallel to the axial direction of the upper engaging groove of the upper engaging part and has an opening on the upper surface, and the engaging member is arranged above the lift member. an upper insertion part that is inserted into the upper engagement groove of the engagement part; a lower insertion part that is provided at a position apart from the upper insertion part and inserted into the lower engagement groove of the lower engagement part of the lift member; , is provided.
In the cleaning robot of a fifteenth aspect of the invention, in the fourteenth aspect , the upper insertion part of the engagement member is formed in a shape that can swing when inserted into the upper engagement groove of the upper engagement part of the lift member. In the lift member, the length of the upper engagement groove of the upper engagement part from the inner bottom surface to the upper surface of the lower engagement part is longer than the length from the upper insertion part to the lower insertion part. The lower engaging groove of the lower engaging part is formed such that the length from its inner bottom surface to the lower surface of the upper engaging part is shorter than the length from the upper insertion part to the lower insertion part. It is characterized by being

<Invention of the brush>
According to the first invention, even if the brush of the cleaning section whirls around when rotated, damage to the brush and the frame can be suppressed.
According to the second invention, cleaning efficiency can be increased.
According to the third invention, since the length of each brush can be shortened, whirling around when the brush rotates can be suppressed. Moreover, since the second end of the first brush and the second end of the second brush overlap when viewed from the direction in which the frame runs, leakage of cleaning can be suppressed.
According to the fourth invention, the structure of the bearing portion can be simplified.
According to the fifth invention, the surface of the solar cell module can be reliably cleaned by the cleaning section.
<Frame configuration>
According to the sixth invention , since the length of the frame can be adjusted according to the size of the solar cell array, one robot can clean a plurality of panels.
According to the seventh invention , even if the length of the frame is changed, the second end of the first brush and the second end of the second brush overlap when viewed from the direction in which the frame runs. Can prevent cleaning leaks.
According to the eighth invention , the robot can be easily carried and stored.
<Handle>
According to the ninth and tenth inventions , it becomes easy to mount the cleaning robot on the tilted solar cell module and to lower the cleaning robot from the tilted solar cell module.
<Bridge>
According to the eleventh invention , even if there is a gap between adjacent solar cell modules, the cleaning robot can be moved between adjacent solar cell modules.
According to the twelfth invention , the communication member can be stably arranged in the solar cell module.
<Lifting mechanism>
According to the thirteenth invention , the cleaning robot can be lifted or lowered to a place out of reach of the worker using the lift member. Furthermore, by removing the lift member from the engagement member, it is possible to prevent the lift member from interfering with the movement of the cleaning robot.
According to the fourteenth invention , by simply inserting the upper insertion portion and the lower insertion portion of the engagement member into the upper engagement groove of the upper engagement portion and the lower engagement groove of the lower engagement portion, the engagement with the lift member is achieved. The lift member and the engagement member can be connected and separated easily.
According to the fifteenth invention , the lift member and the engaging member can be easily connected and separated, and the cleaning robot can be stably lifted and lowered by the lift member.

It is a schematic perspective view of cleaning robot 1 of this embodiment. It is a schematic plan view of cleaning robot 1 of this embodiment. It is a schematic bottom view of cleaning robot 1 of this embodiment. It is a schematic left side view of cleaning robot 1 of this embodiment. It is a schematic right view of cleaning robot 1 of this embodiment. (A) is a VIA-VIA cross-sectional view of FIG. 2, and (A) is a VIB-VIB cross-sectional view of FIG. It is a schematic explanatory diagram of travel control in cleaning robot 1 of this embodiment. It is a schematic explanatory view of the communication member 100 of the cleaning robot 1 of this embodiment. FIG. 3 is a schematic explanatory diagram of the operation of crossing a gap using the communication member 100. It is a schematic explanatory diagram of the solar power generation facility SP in which the cleaning robot 1 of this embodiment performs work such as cleaning. It is a schematic explanatory diagram of attitude control in cleaning robot 1 of this embodiment. It is a schematic explanatory view of the cleaning robot 1 provided with the brush cover 15, (A) is a top view, (B) is a side view. FIG. 3 is a schematic cross-sectional view when a baffle plate 16 is provided inside the brush cover 15. FIG. 2 is a schematic explanatory diagram when the blowing section 17 is provided on the brush cover 15, (A) is a schematic sectional view when the blowing section 17 is provided on the upper second cover 15b, and (B) is a schematic sectional view when the blowing section 17 is provided on the upper second cover 15b. It is a view taken along the line B-1 and B-2 in (A) in the case where it is provided on the second upper cover 15b, and (C) it is a view in FIG. FIG. 3 is a view taken along C-1 line and C-2 line. It is a schematic explanatory view of the cleaning robot 1 of this embodiment in which the engagement member 71 of the lifting mechanism 70 was provided, Comprising: (A) is a top view, (B) is a side view. (A) is a schematic front view of the lift member 75 of the lifting mechanism 70, (B) is a schematic side view of the lift member 75, and (C) is a top view of the pair of engaging portions 78, 79 of the lift member 75. FIG. 7 is a schematic explanatory diagram of a state in which the insertion portion 73 and the lower insertion portion 74 are engaged. FIG. 7 is a schematic explanatory diagram of the operation of connecting the lift member 75 and the engagement member 71 of the lifting mechanism 70. (A) is a schematic explanatory diagram of a state in which the cleaning robot 1 of the present embodiment, which is provided with a state detection mechanism 80, is retracted to the evacuation section EA, and (B) is a schematic explanatory diagram of the temperature detection section 82. (C) is a schematic explanatory diagram when a state detection unit 81 is provided to measure the color and intensity (gloss) of the surface of the solar cell module P. It is a schematic block diagram of cleaning robot 1 of this embodiment.

The cleaning robot of the present invention is a robot that cleans the surfaces of solar cell modules arranged side by side while running along the direction in which the solar cell modules are arranged, and is capable of cleaning the surfaces of the solar cell modules efficiently and stably. The feature is that it can be cleaned by hand.

Furthermore, in this specification, the "surface of the solar cell module" means the surface of the power generation region in the solar cell module that generates power. For example, in the case of a frameless solar cell module, almost the entire surface becomes the power generation area, but in the case of a solar cell module with a panel frame, the power generation area is the part other than the panel frame (the part surrounded by the frame in plan view). become.
Furthermore, in this specification, in a solar cell array formed by arranging a plurality of solar cell modules, "the surface of the solar cell array" means "the surface of the solar cell module." In the case of "on a solar cell array", in the case of a "solar cell array" formed of solar cell modules having a panel frame, the concept includes both the "surface of the solar cell module" and the "panel frame".

<Solar power generation equipment SP>
First, before explaining the cleaning robot 1, the solar power generation facility SP in which the cleaning robot 1 of this embodiment performs work such as cleaning will be briefly described. As shown in FIG. 10, the solar power generation facility SP has multiple rows of solar cell arrays LP each including a plurality of solar cell modules P (two rows in FIG. 10). The solar cell array LP is an array in which the solar cell modules P are arranged so that their side end surfaces face each other, and their upper and lower edges are aligned in substantially the same straight line. be. The plurality of solar cell modules P constituting this solar cell array LP have their surfaces exposed to sunlight that is irradiated onto the ground surface at the location where the plurality of solar cell modules P are installed (hereinafter simply irradiated onto the ground surface). It is installed so that it is non-parallel to the sunlight (sometimes referred to as sunlight). Furthermore, the plurality of solar cell modules P are arranged so that the angles that their surfaces make (hereinafter simply referred to as the angles that the surfaces make) with respect to the sunlight irradiated onto the earth's surface are approximately the same. .

Note that the solar cell array LP may be configured by arranging the solar cell modules P in a line (see FIG. 11), or may be formed by arranging the solar cell modules P in multiple stages vertically (see FIGS. 2 and 3). An LP may also be configured. Note that "arranging the solar cell modules P vertically" means arranging the lower end surface of the solar cell module P located above the solar cell module P and the upper end surface of the solar cell module P located below. It means arranging them.

Moreover, the angle formed by the surface of the plurality of solar cell modules P may be fixed, or the angle formed by the surface may be changed. When the angles formed by the surfaces of a plurality of solar cell modules P change, it is desirable that the angles formed by the surfaces of all the solar cell modules P in the solar cell array LP change by the same angle at the same time. . For example, as shown in FIG. 10, the plurality of solar cell modules P of the solar cell array LP are connected to one rotation shaft SS ( or multiple rotating shafts that rotate simultaneously). Then, by rotating the rotation axis SS, the angle formed by the surfaces of the plurality of solar cell modules P of the solar cell array LP can be changed by the same angle at the same time.

In addition, "the upper edge and the lower edge of the solar cell module P" means the line of intersection between the surface of the solar cell module P and the surface (upper end surface or lower end surface) that intersects with the surface of the solar cell module P. There is.

Furthermore, "the upper and lower edges of the solar cell modules P are arranged in substantially the same straight line" means that the upper edges (or the lower edges) of the adjacent solar cell modules P are perfectly straight. This includes a case in which they are lined up and a case in which the upper edges (or lower edges) of adjacent solar cell modules P are slightly shifted from each other. A case where the upper edges (or lower edges) of adjacent solar cell modules P are slightly misaligned means that the upper edges (or lower edges) of adjacent solar cell modules P are almost parallel to each other, but the height is slightly different. If there is a deviation in the horizontal position (for example, about 0 to 30 mm) or if the upper edges (or lower edges) of adjacent solar cell modules P are slightly tilted (for example, about 0 to 3 degrees), Contains.

Furthermore, "the angles formed by the surfaces of a plurality of solar cell modules P are almost the same" is a concept that includes cases where the angles formed by the surfaces of adjacent solar cell modules P differ by about 0 to 1 degree. This also applies to the case where the angles formed by the surfaces of the plurality of solar cell modules P of the solar cell array LP are changed by the same angle at the same time.
Note that even if the angles formed by the surfaces of adjacent solar cell modules P differ by more than the above range, the angles formed by the surfaces of all solar cell modules P may be said to be approximately the same when viewed as a whole. . For example, this applies when the angle formed by the surfaces of all the solar cell modules P is within 0 to 3 degrees with respect to the average angle formed by the average angle formed by the surfaces of all the solar cell modules P.

Further, as shown in FIG. 10, when the solar cell module P is inclined, the edge (upper edge) located upward in the inclination direction is the "first edge of the solar cell module P" in the claims. It corresponds to "edge". The edge (lower edge) of the solar cell module P located below in the inclination direction, in other words, the edge opposite to the first edge is the "second edge of the solar cell module P" in the claims. Equivalent to.
Note that when the inclination angle of the solar cell module P (that is, the solar cell array LP) changes, the edges located above and below in the inclination direction of the solar cell module P change. In such a case, when the solar cell module P receives sunlight and generates electricity, the solar cell module P should be positioned upward in the inclination direction with the most efficient power generation state (inclination angle). The edge that is formed becomes the "first edge of the solar cell module P."

When the solar cell array LP is in one row, the upper edge (first edge) and lower edge (second edge) of the solar cell module P are aligned in substantially the same straight line. The edges become the first edge and second edge of the solar cell array LP. On the other hand, when the solar cell array LP has multiple rows in which a plurality of solar cell modules P are lined up, the upper edge (first edge) of the solar cell module P located at the uppermost position is aligned in substantially the same straight line. The edges formed so as to be aligned are the first edges of the solar cell array LP. Moreover, the edge formed by aligning the lower edge (second edge) of the solar cell module P located at the lowest position so as to be lined up in substantially the same straight line becomes the second edge of the solar cell array LP.

Furthermore, "the first edge of the solar cell array LP" and "the second edge of the solar cell array LP" refer to the "first edge of the solar cell array LP" even if the solar cell module P that constitutes the solar cell array LP is a frameless solar cell module P. For example, it means a line of intersection between a surface (first end surface or second end surface) that intersects with the surface of the solar cell array LP at the upper end and the lower end and the surface of the solar cell array LP.

On the other hand, if the solar cell module P constituting the solar cell array LP is a solar cell module P having a panel frame, the side surfaces of the panel frame that intersect with the upper surface of the panel frame at the upper and lower ends are the first end surface or This becomes the second end surface. At the upper end and the lower end, the intersection line where the upper surface of the panel frame intersects with the first end surface or the second end surface is the "first edge of the solar cell array LP" or the "second edge of the solar cell array LP". becomes.

In addition, in the case of an individual "solar cell module P", in the case of a frameless solar cell module P, a surface (first end surface or second The line of intersection between the solar cell array LP (end surface) and the surface of the solar cell array LP becomes the "first end edge (second end edge) of the solar cell module P." In the case of a solar cell module P having a panel frame, the line of intersection between the top surface of the panel frame at the top and bottom ends of the solar cell module P and the side surface of the panel frame that intersects the top surface of the panel frame is The first edge (second edge) of the battery module P.

<Cleaning robot 1>
Hereinafter, the cleaning robot 1 of this embodiment will be explained based on the drawings.
Note that in the drawings, some parts are omitted as appropriate to make the structure easier to understand.

The cleaning robot 1 of this embodiment runs along a solar cell array LP including a plurality of solar cell modules P in a solar power generation facility SP and cleans the surfaces of the plurality of solar cell modules P. be. Specifically, the surface of the plurality of solar cell modules P is cleaned while traveling along the upper edge of the plurality of solar cell modules P of the solar cell array LP.

In addition, in the following description, the cleaning robot 1 used when the solar cell array LP is comprised of two stages of solar cell module rows will be explained.

As shown in FIGS. 1 to 5, the cleaning robot 1 includes a frame 2, a running section 20 for running the frame 2 on the solar cell array LP, and a running section 20 for moving the frame 2 on the solar cell array LP. It includes a guide section 50 that guides the running direction. The cleaning robot 1 also includes a cleaning section 10 that cleans the surface of the solar cell array LP when the traveling section 20 runs over the solar cell array LP. The cleaning robot 1 includes a control section 30 (not shown) that controls the operations of the cleaning section 10, the traveling section 20, and the guide section 50.

<Frame 2>
As shown in FIGS. 1 to 5, the frame 2 is a member whose axial direction (vertical direction in FIGS. 2 and 3) is longer than its width (horizontal direction in FIGS. 2 and 3). A cleaning section 10, a running section 20, a guide section 50, and a control section 30 are attached to this frame 2.

Note that the guide section 50 is not necessarily provided, and the cleaning robot 1 may include the cleaning section 10, the traveling section 20, and the control section 30 on the frame 2. Even in this case, the cleaning robot 1 can run on the solar cell array LP and clean the surface of the solar cell array LP. By providing the guide section 50, the running of the cleaning robot 1 can be stabilized, as will be described later.

Further, the frame 2 is not limited to the one formed by combining shaft-like members as shown in FIGS. 1 to 5, and can adopt various structures. For example, the frame 2 may be formed into a box shape by combining plate materials and shaft-like members, or the frame 2 may be formed into a box shape using only plate materials. Furthermore, a simple plate material or shaft-like member can also be used as the frame.

<Travel section 20>
A first traveling mechanism 21 of a traveling section 20 and a second traveling mechanism 21 and a second traveling mechanism 21 and a second traveling mechanism 21 and A second traveling mechanism 22 is provided respectively.

The first traveling mechanism 21 includes a pair of wheels 21a and a drive source (not shown) such as a motor that drives the pair of wheels 21a and the wheels 21a. The pair of wheels 21a are provided on the lower surface side of the frame 2, that is, on the surface facing the surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP. In other words, when the frame 2 is placed on the solar cell array LP, the pair of wheels 21a and the wheels 21a are connected to the upper end of the upper solar cell module P in the solar cell array LP (if the solar cell module P has a panel frame). (see FIGS. 2 and 3). The first traveling mechanism 21 is provided with a pair of wheels 21a such that their rotational axes are parallel to the axial direction of the frame 2. Moreover, the pair of wheels 21a and 21a are provided so as to be lined up in the width direction of the frame 2. Moreover, the pair of wheels 21a, 21a are provided such that, when viewed from the axial direction of the frame 2, the rotating shaft of the brush 12 of the cleaning section 10, which will be described later, is located between the pair of wheels 21a, 21a. (See Figure 6(A)).
Note that "the wheels 21a are provided on the lower surface side of the frame 2" as used herein means that when the frame 2 is placed on the solar cell array LP, the lower end of the wheel 21a is placed on the solar cell before the frame 2. This means contacting the surface of the array LP. The same applies to the description of the wheels 22a and 23a below.

Similarly, the second traveling mechanism 22 includes a pair of wheels 22a and a drive source (not shown) such as a motor that drives the pair of wheels 22a and the wheels 22a. The pair of wheels 22a is provided on the lower surface side of the frame 2, that is, on the surface side facing the surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP. In other words, when the frame 2 is placed on the solar cell array LP, the pair of wheels 22a and the wheels 22a are connected to the lower end of the lower solar cell module P in the solar cell array LP (if the solar cell module P has a panel frame). (see Figures 2 and 3). The second traveling mechanism 22 is provided with a pair of wheels 22a such that their rotational axes are parallel to the axial direction of the frame 2. Moreover, the pair of wheels 22a and 22a are provided so as to be lined up in the width direction of the frame 2. Moreover, the pair of wheels 22a, 22a are also provided so that the rotating shaft of the brush 12 of the cleaning section 10, which will be described later, is located between the pair of wheels 22a, when viewed from the axial direction of the frame 2. There is.

Note that the traveling section 20 may include a third traveling mechanism 23 having a pair of wheels 23a and a pair of wheels 23a between the first end and the second end of the frame 2. Specifically, when the frame 2 is placed on the solar cell array LP, the lower edge of the upper solar cell module P in the solar cell array LP (lower panel frame if the solar cell module P has a panel frame) And/or the third traveling mechanism 23 may be provided at a position corresponding to the upper edge of the lower solar cell module P (the upper panel frame if the solar cell module P has a panel frame) (FIG. 2, (See 3). If such a third traveling mechanism 23 is provided, when the frame 2 is placed on the solar cell array LP, the pair of wheels 23a, the wheels 23a will be attached to the lower edge of the upper solar cell module P (and/or the lower solar cell module (top edge of P). That is, the frame 2 is disposed on the solar cell array LP while being supported at three locations in the axial direction of the frame 2 by the wheels 21a to 23a. Then, even if the rigidity of the frame 2 is reduced, the frame 2 can be stably arranged on the solar cell array LP, so that the weight of the frame 2 can also be reduced. This third traveling mechanism 23 can be provided, for example, on the lower surface side of the frame 2, and has a pair of wheels 23a whose rotating shafts are parallel to the axial direction of the frame 2. In this case, it is desirable that the pair of wheels 23a and 23a are provided so as to be lined up in the width direction of the frame 2. Further, the pair of wheels 23a, 23a may be provided such that the brush 12 of the cleaning section 10, which will be described later, is located between the pair of wheels 23a, when viewed from the axial direction of the frame 2. Desirable (see FIG. 6(B)).

The diameters and widths of the wheels 21a to 23a are not particularly limited, and the wheels 21a, 22a, and 23a may all have the same diameter and width, or may have different diameters and widths. However, when the solar cell module P has a panel frame, the width of the wheels 21a to 23a is the width of the panel frame of the solar cell module P, more specifically, the width of the upper panel frame or the lower panel frame of the solar cell module P. It is desirable that it be wider than the width. If the widths of the wheels 21a to 23a are as described above, the cleaning robot 1 can move toward the upper edge (first edge) and lower edge (second edge) of the solar cell module P, as described later. Even if the wheels 21a to 23a are tilted, it is easier to position the wheels 21a to 23a on the panel frame of the solar cell module P. In other words, it becomes easier to prevent the wheels 21a to 23a from falling from the panel frame of the solar cell module P, which is preferable.

<Guide section 50>
A guide portion 50 is provided at the first end of the frame 2 . When the cleaning robot 1 travels using the traveling section 20, the guide section 50 allows the cleaning robot 1 to move along the upper edge (first edge) of the solar cell array LP (in FIGS. 2 and 3, the upper edge of the solar cell array LP). It has a function of guiding the vehicle to travel along the upper edge of the solar cell module P. For example, the guide section 50 includes a pair of edge rollers 51, 51. The pair of edge rollers 51, 51 are provided so that they can come into contact with the upper end surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP. That is, the pair of edge rollers 51, 51 are entirely or at least partially located below the lower end of the pair of wheels 21a, wheels 21a (on the side of the solar cell module P when the frame 2 is placed on the solar cell array LP). ) (see FIG. 6(A)). The pair of edge rollers 51, 51 are configured so that their rotational axes are perpendicular to the axial direction of the frame 2 and perpendicular to the surface of the solar cell module P when the frame 2 is placed on the solar cell array LP. It is provided. Further, the pair of edge rollers 51, 51 are provided so as to be lined up in a direction substantially parallel to the pair of wheels 21a and the direction in which the wheels 21a are lined up.

Note that the pair of edge rollers 51, 51 may be free rollers that can rotate freely, but like the wheels 21a, 22a of the traveling mechanisms 21, 22 described above, a drive source is provided in the guide section 50, and the pair of edge rollers 51 , 51 may be driven. In this case, the operation of the drive source of the guide section 50 is controlled so that the circumferential speeds of the wheels 21a, 22a of the traveling mechanisms 21, 22 and the circumferential speeds of the pair of edge rollers 51, 51 are the same.
Furthermore, instead of providing the guide section 50 with a drive source, the guide section 50 may be provided with a transmission mechanism that transmits the drive source of the travel mechanism 21 to the pair of edge rollers 51, 51. In this case, since the drive source for the pair of wheels 21a of the traveling mechanism 21 and the wheels 21a and the pair of edge rollers 51, 51 is shared, an advantage is obtained that the weight of the cleaning robot 1 can be reduced. Moreover, if the transmission mechanism is used to make the circumferential speed of the wheels 21a to 23a of the traveling mechanisms 21 to 23 the same as the circumferential speed of the pair of edge rollers 51, 51, slips of the wheels 21a to 23a and the edge roller 51 can be prevented. Since this can be prevented, the running of the cleaning robot 1 can be stabilized. The configuration of such a transmission mechanism is not particularly limited and any known transmission mechanism may be employed, but for example, the driving force may be transmitted using a gear mechanism or a belt mechanism.

<Cleaning section 10>
The cleaning section 10 includes a pair of rotating brushes 12, 12. The pair of brushes 12, 12 includes a shaft portion and a brush portion provided around the shaft portion, and are provided so that their rotation axes are parallel to each other and parallel to the axial direction of the frame 2. Moreover, the pair of brushes 12, 12 have substantially the same structure, and are provided so that the distances from the rotation axis to the lower surface of the frame 2 are approximately the same. The cleaning unit 10 has a drive source such as a motor, and the pair of brushes 12, 12 are rotated by this drive source. Therefore, by rotating the pair of brushes 12, 12, the cleaning unit 10 can sweep and clean the surface of the solar cell array LP.

One end of the pair of brushes 12, 12 is rotated by a bearing on the lower surface of the first end of the frame 2. Possibly held. On the other hand, the other end of the first brush 12a is a portion of the frame 2 between the first end and the second end, and is provided with a bearing on the lower surface of the portion closer to the second end than the first end. It is rotatably held.

On the other hand, of the pair of brushes 12, 12, the other brush 12 (the left brush 12 in FIG. 3, hereinafter referred to as the second brush 12b) has one end attached to the lower surface of the second end of the frame 2 with a bearing. is rotatably held by the On the other hand, the other end of the second brush 12b is located on the lower surface of a portion of the frame 2 between the first end and the second end, which is closer to the first end than the second end of the frame 2. It is rotatably held by a bearing. Moreover, the other end of the second brush 12b is mounted on a bearing portion so that there is a portion that overlaps with the other end of the first brush 12a when viewed from the running direction of the frame 2 (that is, the running direction of the cleaning robot 1). (See FIGS. 4 and 5).

In this way, if the other end of the first brush 12a and the other end of the second brush 12b overlap when viewed from the running direction of the cleaning robot 1, the cleaning robot 1 can be moved. When this occurs, there is a portion on the surface of the solar cell array LP that the brush 12 does not contact. Then, leakage of cleaning on the surface of the solar cell array LP can be suppressed, so that cleaning efficiency of the surface of the solar cell array LP by the cleaning robot 1 can be increased.

In addition, when suppressing cleaning leakage on the surface of the solar cell array LP, the other end of the first brush 12a and the other end of the second brush 12b may be overlapped to a certain extent as described above. For example, the end of the brush portion of the first brush 12a located closest to the second end of the frame 2, and the end of the brush portion of the second brush 12b located closest to the first end of the frame 2. , may be provided at approximately the same distance from the first end or the second end. Even in this case, when the cleaning robot 1 runs, it is possible to prevent the formation of a portion on the surface of the solar cell array LP that the brush 12 does not come into contact with.

Furthermore, the rotational speed of the two brushes 12a and 12b of the cleaning section 10 is not particularly limited. However, in order to ensure that the surface of the solar cell array LP is cleaned by the two brushes 12a and 12b of the cleaning section 10, the speed at which the cleaning robot 1 travels on the solar cell array LP by the traveling section 20 is lower than the speed at which the cleaning robot 1 travels on the solar cell array LP. It is desirable that the circumferential speed of the tips of the two brushes 12a, 12b is fast. In other words, it is desirable that the speed at which the tips of the brush portions of the brushes 12a and 12b move along the surface of the solar cell array LP is faster than the speed at which the cleaning robot 1 travels on the solar cell array LP using the traveling section 20. . That is, the control section 30 may control the operation of the traveling section 20 or the cleaning section 10, or the operation of both the traveling section 20 and the cleaning section 10, so as to achieve the above state.

Further, the rotational axes of the two brushes 12a and 12b of the cleaning unit 10 do not necessarily have to be provided parallel to the axial direction of the frame 2, and may be slightly inclined with respect to the axial direction of the frame 2. Further, the two brushes 12a and 12b do not have to have the same structure, and their rotation axes do not have to be parallel to each other.

Further, the cleaning unit 10 does not necessarily need to be provided with two brushes 12, and may be provided with one brush or three or more brushes.

<Brush cover 15>
The cleaning unit 10 is configured to sweep dust and the like from the surface of the solar cell array LP by rotating a brush 12. When the brush 12 sweeps the surface of the solar cell array LP, dust and the like on the surface of the solar cell array LP will fly up. In order to collect this raised dust and remove it from the surface of the solar cell array LP, a brush cover 15 that covers the brush 12 may be provided in the cleaning section 10. When the brush cover 15 is provided, the dust swept by the brush 12 is retained within the brush cover 15, so if left as is, there is a possibility that it will be deposited again on the surface of the solar cell array LP. Therefore, when the brush cover 15 is provided, it is desirable to adopt the following configuration.

Note that the brush cover 15 will be explained below based on FIGS. 12 to 14. In FIGS. 12 to 14, the configuration of the cleaning robot 1 is shown in a simplified manner in order to make the configuration of the brush cover 15 easier to understand.

<Baffle plate 16>
As shown in FIGS. 12 and 13, the brush cover 15 is a hollow member having a lower end opening and extending in the axial direction of the brush 12, and is provided to cover the brush 12 from above. Specifically, the brush cover 15 closes the space between a pair of wall members provided to sandwich the brush 12 from the front and back of the cleaning robot 1 in the running direction (left and right directions in FIG. 13) and the upper end of this wall member. It is formed by a ceiling member provided as shown in FIG. The brush 12 comes into contact with the surface of the solar cell array LP through this lower end opening. This brush cover 15 is provided so that its lower edge (the lower edge of the pair of wall members described above) is located near the surface of the solar cell array LP. A baffle plate 16 is provided inside this brush cover 15. The baffle plate 16 is provided above the brush 12 so as to be located vertically above the rotation axis of the brush 12 or in front of the rotation axis of the brush 12 in the traveling direction. Note that FIG. 13 shows a case where the cleaning robot 1 moves from left to right, and the baffle plate 16 is arranged vertically above the rotation axis of the brush 12. Moreover, this baffle plate 16 is provided so as to block a gap between the upper end of the brush 12 and the inner surface of the brush cover 15 (the lower surface of the ceiling member mentioned above).

The brush 12 rotates so that the tip of the brush moves on the surface of the solar cell array LP toward the front in the running direction of the cleaning robot 1 (rightward in FIG. 13, hereinafter simply referred to as the front in the running direction). There is. Therefore, by providing such a baffle plate 16, the dust swept by the brush 12 can be collected ahead of the brush 12 in the traveling direction. In other words, as the brush 12 rotates, an airflow is formed above the brush 12 toward the rear in the traveling direction. Therefore, the dust swept by the brush 12 tends to move behind the brush 12 along with the airflow generated by the rotation of the brush 12. However, if the baffle plate 16 is provided, the airflow generated above the brush 12 and directed backward in the running direction can be converted by the baffle plate 16 into a flow directed forward in the running direction. Therefore, even if the dust and the like swept by the brush 12 move together with the airflow generated by the rotation of the brush 12, the dust and the like can be prevented from moving further back than the brush 12 in the running direction. Then, the dust and the like swept by the brush 12 will be deposited on the solar cell array LP ahead of the brush 12 in the traveling direction. Therefore, when the brush 12 moves as the cleaning robot 1 moves, dust and the like on the solar cell array LP can also be moved together with the brush 12 in the direction in which the cleaning robot 1 moves. Then, when the cleaning robot 1 moves to the edge of the solar cell array LP ahead in the traveling direction, dust etc. can be removed from the edge of the solar cell array LP. In other words, the dust swept by the brush 12 can be removed from the solar cell array LP without scattering it around.

Here, "the baffle plate 16 blocks the gap between the upper end of the brush 12 and the inner surface of the brush cover 15" means that the baffle plate 16 blocks the airflow generated by the rotation of the brush 12 from flowing backward in the running direction. means to inhibit. "The baffle plate 16 blocks the gap between the upper end of the brush 12 and the inner surface of the brush cover 15" means that the baffle plate 16 blocks the gap between the upper end of the brush 12 and the inner surface of the brush cover 15. This includes both a case where there is no gap (for example, a state where the brush 12 and the baffle plate 16 are in contact) and a case where there is a slight gap between the baffle plate 16 and the brush 12.

In addition, in the brush cover 15 having the above configuration (that is, the brush cover 15 having the baffle plate 16), the end portion in the axial direction may be closed or open. However, if the axial ends are closed, the effect of collecting dust and the like in front of the brush 12 can be increased.
Further, in FIG. 13, the ceiling member of the brush cover 15 is formed in a substantially semi-cylindrical shape and the pair of wall members are formed of flat plates, but the cross-sectional shape of the brush cover 15 is not particularly limited. The entire brush cover 15 may have a semi-cylindrical shape. Further, the brush cover 15 may be formed into a rectangular shape with an open bottom end and a flat ceiling member.

<Blower section 17>
In the example in which the baffle plate 16 described above is provided, the dust swept by the brush 12 is moved along with the brush 12 in the running direction of the cleaning robot 1, and is removed from the edge of the solar cell array LP in front of the cleaning robot 1 in the running direction. I'm trying to drain it.

On the other hand, dust and the like may be discharged from the edge (first edge or second edge) of the solar cell array LP in a direction perpendicular to the traveling direction of the cleaning robot 1. In this case, it is desirable that the brush cover 15 has the following configuration.

As shown in FIGS. 12 and 14, the brush cover 15 includes a first cover 15a provided to cover the brush 12 from above. Specifically, the first cover 15a includes a pair of wall members provided to sandwich the brush 12 from front and back in the running direction of the cleaning robot 1 (left and right directions in FIG. 12), and a space between the upper end of this wall member. and a ceiling member provided to close the wall, and an opening (lower end opening) is formed between the lower end portions of the pair of wall members. The brush 12 comes into contact with the surface of the solar cell array LP through this lower end opening. This first cover 15a is provided so that its lower edge (the lower edge of the above-mentioned pair of wall members) is located near the surface of the solar cell array LP.

The first cover 15a is designed such that the length in the axial direction of the brush 12 (in other words, the direction intersecting the running direction of the cleaning robot 1) is longer than the length between the first and second edges of the solar cell array LP. is formed. In other words, the first cover 15a is formed such that the axial end of the first cover 15a is located outward from the first and second edges of the solar cell array LP. A pair of second covers 15b, 15b that close both ends of the first cover 15a are provided at both ends of the first cover 15a. Therefore, when cleaning robot 1 is placed on solar cell array LP and viewed from the back of solar cell array LP, the brush cover extends outward from the first and second edges of solar cell array LP. No. 15 opening (lower end opening) becomes visible. That is, an opening surrounded by the pair of wall members of the first cover 15a, the second cover 15b, and the edge of the solar cell array LP is formed outward from the first and second edges of the solar cell array LP. It looks like there is.

Note that the first cover 15a may have an arcuate upper portion (ceiling member) when viewed in cross section (see FIG. 13), but the cross-sectional shape of the first cover 15a is not particularly limited. For example, it may have a rectangular shape with an open bottom end or a polygonal shape with an open bottom end.

As shown in FIGS. 14(A) and 14(B), the second cover 15b (upper second cover 15b) located at the first edge of the solar cell array LP is provided with an opening h. A blower section 17 is provided in the opening h. The blowing section 17 is, for example, a blowing fan, and is capable of introducing outside air into the brush cover 15 from the outside. The air blower 17 is provided so that an airflow (see the arrow in FIG. 14(A)) is formed within the brush cover 15 along the axial direction thereof. For example, if the blowing section 17 is a blowing fan, the rotation axis of the fan is provided parallel to the axial direction of the brush cover 15.

If such an air blower 17 is provided, an airflow is formed in the brush cover 15 along the axial direction of the brush cover 15 from the upper second cover 15b toward the other second cover 15b (lower second cover 15b). be done. That is, air entering from the upper second cover 15b flows inside the first cover 15a along the axial direction of the brush cover 15, and from the space between the lower second cover 15b and the solar cell array LP, the air enters the first cover 15a. It is discharged to the outside through the lower end opening (see arrow in FIG. 14(A)). Then, dust and the like kicked up from the surface of the solar cell array LP by the brush 12 can be moved toward the lower second cover 15b by the airflow formed by the blower section 17. Dust and the like that have reached the lower second cover 15b can then be discharged to the outside of the brush cover 15 and dropped from the lower edge (second edge) of the solar cell array LP.

Note that the blower section 17 may be provided on the lower second cover 15b. In this case, by forming an air current in the direction opposite to the arrow in FIG. 14(A), dust etc. that have reached the upper second cover 15b are discharged to the outside of the brush cover 15, and the upper end of the solar cell array LP is It can be dropped from the edge (first edge). However, since it is more efficient to exhaust dust, etc. to the outside from the lower edge (second edge) of the solar cell array LP, in the case of the above configuration, it is better to provide the air blower 17 on the upper second cover 15b. is desirable.

Alternatively, as shown in FIG. 14(C), only the opening h may be provided in the upper second cover 15b, and the air blower 17 may be provided in the lower second cover 15b. In this case, the blower section 17 is operated to exhaust the air inside the brush cover 15 to the outside. In this case as well, the airflow formed from the upper second cover 15b toward the lower second cover 15b discharges dust and the like that have reached the lower second cover 15b to the outside of the brush cover 15, so that the dust and the like are discharged from the bottom of the solar cell array LP. It can be dropped from the edge (second edge).
Note that the second upper cover 15b may be provided with the air blower 17, and the second lower cover 15b may be provided with an opening h. In this case, the airflow formed from the lower second cover 15b toward the upper second cover 15b discharges dust and the like that have reached the upper second cover 15b to the outside of the brush cover 15, and the solar cell array LP is It can be dropped to the outside from the upper edge (first edge). However, since it is more efficient to exhaust dust etc. to the outside from the lower edge (second edge) of the solar cell array LP, in the case of the above configuration, the opening h is provided in the upper second cover 15b, It is more desirable to provide the air blower 17 on the lower second cover 15b.

In addition, as mentioned above, when providing the air blowing part 17 on either the upper second cover 15b or the lower second cover 15b, the second The cover 15b does not necessarily need to be provided. That is, the end of the first cover 15a where the air blower 17 is not provided may be open.

Further, the shape of the second cover 15b is not particularly limited. It is sufficient that dust and the like can be discharged from between the second cover 15b and the edge of the solar cell array LP. For example, the second cover 15b may be formed by using a plate-shaped member and simply installing the plate-shaped member so as to close the end of the first cover 15a. In addition, as the second cover 15b at the end where the air blowing part 17 is not provided, the lower end thereof is located below the back surface of the solar cell array LP, and the lower end is bent toward the back surface side of the solar cell array LP. It may also have a shape.

Furthermore, the lower end of the second cover 15b may be formed into a tubular shape, and the lower end may extend below the back surface of the solar cell array LP. With this configuration, dust and the like can be discharged to the outside along with the air inside the brush cover 15 at a portion closer to the ground than the solar cell array LP. This reduces the possibility that the discharged dust and the like will return to the surface of the solar cell array LP. Further, since scattering of discharged dust and the like can be suppressed, deterioration of the environment around the solar cell array LP can be prevented.

Alternatively, the blower portions 17 may be provided in both second covers 15b, and a vent hole may be provided in the axial center of the first cover 15a to introduce outside air into the first cover 15a. In this case, both blowers 17 are operated to exhaust the air inside the brush cover 15 to the outside. Then, it is possible to generate an airflow inside the first cover 15a that flows from the vent at the center of the first cover 15a in the axial direction toward both the second covers 15b. Then, the dust and the like that have reached each second cover 15b can be discharged to the outside of the brush cover 15 and dropped from both ends of the solar cell array LP.

Note that when providing vents or openings in the first cover 15a or the second cover 15b, the positions and number of vents or openings, and the shape of the vents or openings are not particularly limited.

Furthermore, even when the blower section 17 is provided, the baffle plate 16 described above may be provided inside the first cover 15a.

Furthermore, when a plurality of brushes 12 are provided, a brush cover 15 may be provided for each brush 12, or the brush cover 15 may be provided to cover all of the plurality of brushes 12. As described above, in the case of having a plurality of brushes 12 that are shorter than the axial length of the frame 2, if dust etc. are to be discharged from the vertical edges of the solar cell array LP, the axial length of the frame 2 A brush cover 15 is provided so as to cover all of the plurality of brushes 12 lined up in the direction.

<Seal member 15s>
In order to prevent the dust etc. swept by the brush 12 from scattering to the surroundings, the surface of the solar cell array LP is placed at the lower end of the brush cover 15, that is, at the edge of the brush cover 15 facing the surface of the solar cell array LP. It is desirable to provide a sealing member 15s for sealing the gap between the two (FIG. 13). This can enhance the effect of accumulating dust and the like in front of the brush 12 when the baffle plate 16 is provided, and the effect of forming an airflow along the axial direction of the brush cover 15 when the blower section 17 is provided. .

The seal member 15s is not particularly limited. For example, if a brush-like member is provided as the sealing member 15s, the gap between the lower end of the brush cover 15 and the surface of the solar cell array LP can be sealed.

"Sealing the gap" here does not mean completely sealing the gap (preventing air from leaking), but it does mean being able to prevent air, dust, etc. from leaking to some extent. are doing.

<Cleaning member>
If the dust or the like is very fine, there is a possibility that the dust or the like will adhere to the brush portion of the brush 12 as the brush 12 sweeps the surface of the solar cell array LP. If dust etc. adheres to the brush part, the effect of removing dust etc. will be reduced even if the surface of the solar cell array LP is swept. There is a possibility that it will stick.

Therefore, when the brush 12 rotates, a cleaning member such as a wire or a blade that comes into contact with the brush portion may be provided to remove dust and the like attached to the brush 12. In this case, the cleaning member is preferably provided above the brush 12 and located vertically above the rotation axis of the brush 12 or in front of the rotation axis of the brush 12 in the running direction. For example, if the baffle plate 16 described above is provided so that its lower end is in contact with the brush 12, the baffle plate 16 can also function as a cleaning member.

<About other cleaning sections 10>
Further, the structure of the cleaning section 10, that is, how the cleaning section 10 cleans the surface of the solar cell array LP is not particularly limited. For example, the brush 12 may be one in which a brush is provided on the rotating shaft, a plate-shaped blade erected on the surface of the rotating shaft, or one in which the entire or part of the surface of the rotating shaft is covered with a sponge-like member. It is also possible to use a rotating shaft with cloth attached to the entire surface or part of the rotating shaft. Further, the cleaning unit 10 may be provided with a water sprinkler (such as a spray nozzle) and a wiper blade (squeegee) in place of the brush 12. Further, the cleaning unit 10 may be provided with a vacuum cleaner (suction type cleaner) instead of or in addition to the brush 12. Furthermore, the cleaning section 10 may be provided with an air nozzle that blows out gas. Even when these cleaning parts 10 are provided, the brush cover 15 described above, a cover having a shape similar to the brush cover 15 described above, the baffle plate 16, or a member having the same function as the baffle plate 16 may be provided as necessary. That's fine.

<Bearing part>
The structure of the bearing is not limited as long as it can rotatably hold the ends of the brush 12, that is, the ends of the first and second brushes 12a, 12b. In particular, it is desirable that the ends of the first and second brushes 12a, 12b be held swingably. With this configuration, even if whirling occurs when the first and second brushes 12a, 12b of the cleaning section 10 rotate, the bearing portion can absorb vibrations and deformation caused by the whirling. This can prevent the bearing, the first and second brushes 12a and 12b, the frame 2, and the like from being damaged by the first and second brushes 12a and 12b touching each other. For example, if a general bearing is held as a bearing part by a gimbal structure or the like, the ends of the first and second brushes 12a, 12b can be held swingably. In particular, if a spherical bearing is used as the bearing, the ends of the first and second brushes 12a, 12b can be swingably held without the need for the structure of the bearing itself to be a gimbal structure as described above. In other words, there is an advantage that the structure of the bearing section can be simplified.

<About frame 2>
The frame 2 may be formed entirely in one piece, but it may also be formed from a plurality of members. For example, as shown in FIG. 1, the frame 2 is made up of a plurality of members so as to have a first end, a second end, and a part connecting the part between the first end and the second end. may be formed.

That is, the frame 2 includes a first frame part 3 having the above-mentioned first end and provided with the first running mechanism 21 of the running part 20, and a second frame part 3 having the above-mentioned second end and provided with the first running mechanism 21 of the running part 20. A second frame portion 4 provided with a traveling mechanism 22 is provided. Then, the frame 2 may be formed by connecting the first frame part 3 and the second frame part 4 by a connecting mechanism 5.

In this case, it is desirable that the relative positions of the first frame part 3 and the second frame part 4 along the axial direction of the frame 2 can be adjusted by the coupling mechanism 5. Then, if the connection between the first frame part 3 and the second frame part 4 by the connection mechanism 5 is released, the first frame part 3 and the second frame part 4 are moved along the axial direction of the frame 2, and the frame 2 The length can be adjusted. That is, the position of the second traveling mechanism 22 of the traveling section 20 provided at the second end (in other words, the distance from the first traveling mechanism 21 to the second traveling mechanism 22) is adjusted along the axial direction of the frame 2. can.
On the other hand, if the first frame part 3 and the second frame part 4 are connected by the connection mechanism 5, the movement of both can be fixed, so that the frame 2 can be maintained at a predetermined length.
Then, even if the length between the first and second ends of the solar cell array LP changes, the first frame part 3 and the second frame part 4 can be moved relatively along the axial direction of the frame 2. For example, the length of the frame 2 can be adjusted to a length suitable for the solar cell array LP.

Although the configuration of the coupling mechanism 5 is not particularly limited, for example, a structure as shown in FIGS. 1 to 5 can be adopted.

Specifically, as the first frame portion 3, a first connecting end portion 3b is provided at an end portion of the main body portion 3a opposite to the first end portion. The first connecting end 3b is formed by narrowing the width of the main body 3a so that a space is formed on the side (on the right side in FIG. 2) of the first connecting end 3b.
Further, as the second frame portion 4, a second connecting end portion 4b is provided at an end portion of the main body portion 4a opposite to the second end portion. This second connecting end portion 4b is also formed by narrowing the width of the main body portion 4a, so that a space is formed on the side (left side in FIG. 2) of the second connecting end portion 4b.
The first frame is arranged so that the second connecting end 4b is located in the space on the side of the first connecting end 3b, and the first connecting end 3b is located in the space on the side of the second connecting end 4b. part 3 and second frame part 4 are arranged. In this state, the first connecting end 3b and the second connecting end 4b are connected by the connecting member 6 of the connecting mechanism 5.

With this structure, the first connecting end 3b and the second connecting end 4b can be fixed by the connecting member 6 so that the first frame part 3 and the second frame part 4 do not move. Moreover, if the connection between the first connection end 3b and the second connection end 4b by the connection member 6 is released, the first frame part 3 and the second frame part 4 can be relatively moved in the axial direction of the frame 2. be able to.

The structure of the connecting member 6 is such that the first connecting end 3b and the second connecting end 4b can be fixed and released, and in the released state, the first frame part 3 and the second frame part 4 are aligned in the axial direction of the frame 2. There are no particular limitations as long as the structure can be moved.

Further, when the first frame part 3 and the second frame part 4 have the above-described structure, the first frame part 3 is provided with the first brush 12a, and the second frame part 4 is provided with the second brush 12b. .
The first brush 12a has one end attached to the first end of the main body 3a of the first frame section 3 via a bearing, and the other end attached to the second connecting end 4b via a bearing.
The second brush 12b has one end attached to the second end of the main body 4a of the second frame section 4 via a bearing, and the other end attached to the second connecting end 3b via a bearing.
Moreover, even if the first frame part 3 and the second frame part 4 are moved in the axial direction of the frame 2, the first brush 12a and the second brush 12b are always connected to the other end of the first brush 12a and the second brush. The cleaning robot 1 is provided so that the other end portion of the cleaning robot 1 overlaps with the other end portion of the cleaning robot 1 when viewed from the traveling direction of the cleaning robot 1.
Then, when the length between the first and second edges of the solar cell array LP (the length in the vertical direction in FIGS. 2 and 3) changes, the first frame part 3 and the second frame part 4 are moved relative to each other. Even if the brush 12 is moved, there will be no portions on the surface of the solar cell array LP that the brush 12 does not come into contact with. Then, leakage of cleaning on the surface of the solar cell array LP can be suppressed, so that cleaning efficiency of the surface of the solar cell array LP by the cleaning robot 1 can be increased. A case where the length between the first and second edges of the solar cell array LP changes means that the length of the solar cell module P that constitutes the solar cell array LP (the length between the upper edge and the lower edge) changes. Examples include cases where the number of solar cell modules P arranged above and below the solar cell array LP changes, cases where the width of the gap between the solar cell modules P in the vertical direction changes, etc.

Note that the first frame part 3 and the second frame part 4 of the frame 2 may be separably connected by a connecting mechanism 5, or may be connected so that they cannot be separated but are movable in the axial direction of the frame 2. may have been done. If the first frame part 3 and the second frame part 4 are separably connected, each part can be transported when the cleaning robot 1 is transported, which facilitates the transport work. Also, if you disassemble it into individual parts, you can reduce the storage space.

<About brush 12>
When the frame 2 is formed of a plurality of members or when its length varies, it is desirable to provide the same number of brushes 12 as the members constituting the frame 2, as described above.
However, even if the frame 2 is formed of a plurality of members or its length changes, the number of brushes 12 may be one. In this case, it is sufficient to provide a brush 12 that matches the length of the frame 2, etc., and replace the brush 12 depending on the length of the frame 2, etc. Furthermore, a brush 12 whose length in the axial direction can be adjusted may be used.
Similarly, only one brush cover 15 may be provided even if the frame 2 is formed of a plurality of members or the length thereof changes. In this case, a plurality of brush covers 15 corresponding to the length of the frame 2, etc. may be prepared in advance, and the brush covers 15 may be replaced according to the length, etc. of the frame 2. Furthermore, a brush cover 15 whose length in the axial direction can be adjusted may be used.

<Control unit 30>
The control section 30 has a function of controlling the operation of the traveling section 20 and controlling the traveling of the cleaning robot 1. For example, when each of the traveling mechanisms 21 and 22 of the traveling section 20 is provided with a drive motor as a drive source, the operation of the drive motor is controlled to control the traveling direction and traveling speed of the frame 2, that is, the cleaning robot 1 This controls the running direction and speed of the vehicle. For example, when each drive motor is operated so that the traveling speeds of the wheels 21a and 22a of the traveling mechanisms 21 and 22 (specifically, the number of revolutions (rotational speed) x the circumference of the wheels) are the same, The cleaning robot 1 can travel straight. On the other hand, when the drive motor is operated so that a difference in running speed occurs between the wheels 21a and 22a of the traveling mechanisms 21 and 22, the first end of the cleaning robot 1 may be placed ahead of the second end. , the second end may precede the first end. That is, the posture of the frame 2 of the cleaning robot 1 can be adjusted.

<Posture detection unit 45>
As shown in FIG. 19, the control unit 30 includes an attitude detection unit 45 that detects the attitude of the cleaning robot 1, that is, the attitude of the frame 2. In the cleaning robot 1 of this embodiment, the guide section 50 is provided only at one end of the frame 2. Therefore, depending on the running state of the cleaning robot 1, the frame 2 may be attached to the upper edge (first edge) of the solar cell array LP, in other words, the upper edge (first edge) of the solar cell module P forming the solar cell array LP. There is a possibility that the angle made with respect to the edge) may change. Therefore, by providing a posture detection section 45 as described later, the angle of the frame 2 with respect to the upper edge of the solar cell array LP can be suppressed within a certain range. In other words, even if the angle that the frame 2 makes with respect to the upper edge of the solar cell array LP deviates from a predetermined angle, the deviation can be suppressed to a certain angle or less. Then, it is possible to prevent the wheels from coming off due to the frame 2 being tilted. Note that the above-mentioned "predetermined angle" is an angle formed by the axial direction of the frame 2 and the upper edge of the solar cell array LP, which are substantially perpendicular to each other. In addition, in this specification, when the frame 2 is tilted with respect to the upper edge of the solar cell array LP, it means that the angle between the axial direction of the frame 2 and the upper edge of the solar cell array LP is the above-mentioned "predetermined angle". It means to deviate from.

In the following example, since the attitude (tilt) of the frame 2 is determined based on the upper edge (first edge) of the solar cell array LP, the first attitude detection unit 46 of the attitude detection unit 45 is A second attitude detection section 47 is provided at the second end of the frame 2 . On the other hand, the attitude (tilt) of the frame 2 may be determined based on the lower edge (second edge) of the solar cell module P forming the solar cell array LP. In this case, the first attitude detection section 46 of the attitude detection section 45 is provided at the second end of the frame 2, and the second attitude detection section 47 is provided at the first end of the frame 2.

The posture detecting section 45 includes a first posture detecting section 46 provided at a first end of the frame 2 and a second posture detecting section 47 provided at a second end of the frame 2.

First, the first attitude detection section 46 includes a pair of sensors 46a, 46a. This pair of sensors 46a, 46a detects the upper edge of the solar cell array LP. The pair of sensors 46a, 46a are arranged outward from the pair of wheels 21a, 21a of the first traveling mechanism 21 of the traveling section 20, respectively, in the traveling direction of the cleaning robot 1. Moreover, in a state where the pair of edge rollers 51, 51 of the guide section 50 are in contact with the upper end surface of the solar cell array LP, the solar cell array LP (specifically, the portion inward from the upper end edge of the solar cell module P) is detected. It is located where possible. Then, a pair of sensors 46a, 46a is installed at a position where either one of the pair of sensors 46a, 46a cannot detect the solar cell array LP when the frame 2 is tilted at a first inclination angle or more with respect to the upper edge of the solar cell array LP. Sensors 46a, 46a are provided. Specifically, as shown in FIG. 11, when the lower end of the frame 2 tilts to the right at a first inclination angle θ1 or more (state IB in FIG. 11B), the sensor 46a located on the right side detects the solar cell array LP. If the sensor 46a located on the left side becomes unable to detect the solar cell array LP and the lower end of the frame 2 tilts to the left by the first inclination angle θ1 or more (state IA in FIG. 11(B)), the sensor 46a located on the left side is Sensors 46a, 46a are provided.

Further, the second attitude detection section 47 includes a pair of sensors 47a, 47a. This pair of sensors 47a, 47a detects the lower edge (second edge) of the solar cell array LP. The pair of sensors 47a, 47a are disposed outward from the pair of wheels 22a, 22a of the second traveling mechanism 22 of the traveling section 20, respectively, in the traveling direction of the cleaning robot 1. Moreover, in a state where the pair of edge rollers 51, 51 of the guide section 50 are in contact with the upper edge of the solar cell array LP, the solar cell array LP (specifically, the portion inward from the lower edge of the solar cell module P) is detected. It is located in a position where it does not. When the frame 2 is tilted with respect to the upper edge of the solar cell array LP by a second inclination angle or more that is larger than the first inclination angle, one of the pair of sensors 47a, 47a detects the solar cell array LP. A pair of sensors 47a, 47a are arranged at the positions. Specifically, as shown in FIG. 11, when the lower end of the frame 2 is tilted to the right by the second inclination angle θ2 or more (state IB in FIG. 11(C)), the sensor 47a located on the right side is connected to the solar cell array LP. is detected, and as shown in FIG. 11, when the lower end of the frame 2 tilts to the left by the second inclination angle θ2 or more (state IA in FIG. 11(C)), the sensor 47a located on the left side detects the solar cell array LP. A pair of sensors 47a, 47a are arranged for detection.
Note that the second inclination angle is a state in which the wheels 22a of the second traveling mechanism 22 of the traveling section 20 fall from the panel frame of the solar cell module P when the frame 2 is tilted with respect to the upper edge of the solar cell array LP. The angle is set to be smaller than the angle.

The control unit 30, to which the signals from the sensors 46a and 47a of the first attitude detection unit 46 and the second attitude detection unit 47 of the attitude detection unit 45 as described above are transmitted, controls the operation of the traveling unit 20 as follows. do.

First, in a state in which the traveling section 20 is traveling along the upper edge of the solar cell array LP (the state shown in FIG. is detecting the solar cell array LP, and the pair of sensors 47a, 47a of the second attitude detection section 47 is not detecting the solar cell array LP. In this state, the control unit 30 controls the first traveling mechanism 21 and the first traveling mechanism 21 so that the pair of wheels 21a, 21a of the first traveling mechanism 21 and the pair of wheels 22a, 22a of the second traveling mechanism 22 have the same peripheral speed. The drive parts 21b and 22b of the second traveling mechanism 22 are activated. Note that even if the frame 2 is tilted, the above state is maintained if the tilt angle is smaller than the first tilt angle.

On the other hand, when the frame 2 is tilted at the first tilt angle θ1 or more, a signal indicating that the solar cell array LP could not be detected is transmitted to the control unit 30 from either of the pair of sensors 46a, 46a of the first attitude detection unit 46. be done. Then, the control unit 30 controls the first traveling mechanism 21 so that there is a difference between the peripheral speed of the pair of wheels 21a, 21a of the first traveling mechanism 21 and the peripheral speed of the pair of wheels 22a, 22a of the second traveling mechanism 22. The driving parts 21b and 22b of the traveling mechanism 21 and the second traveling mechanism 22 are operated. Specifically, the drive units 21b and 22b of the first traveling mechanism 21 and the second traveling mechanism 22 are operated so that the inclination of the frame 2 becomes smaller than the first inclination angle θ1.

For example, assume that the cleaning robot 1 is running to the left in FIG. In this case, if the frame 2 is tilted at a first inclination angle of θ1 or more so that the lower end of the frame 2 is located forward in the traveling direction (state IA in FIG. 11(B)), the first attitude detection portion is located forward in the traveling direction. Since the 46th sensor 46a (the left sensor 46a in FIG. 11) is no longer able to detect the solar cell array LP, its signal is transmitted to the control unit 30. Then, the control unit 30 controls the first traveling mechanism 21 so that the peripheral speed of the pair of wheels 22a, 22a of the second traveling mechanism 22 is smaller than the peripheral speed of the pair of wheels 21a, 21a of the first traveling mechanism 21. And the drive parts 21b and 22b of the second traveling mechanism 22 are operated. Then, the frame 2 moves so that its lower end moves backward in the running direction, so that the inclination of the frame 2 can be made smaller than the first inclination angle θ1.

On the other hand, when the frame 2 is tilted at the first inclination angle θ1 or more so that the lower end of the frame 2 is located at the rear in the running direction (state IB in FIG. 11(B)), the first attitude detection unit 46 is located at the rear in the running direction. Since the sensor 46a (the right sensor 46a in FIG. 11) cannot detect the solar cell array LP, its signal is transmitted to the control unit 30. Then, the control unit 30 controls the first traveling mechanism 21 so that the peripheral speed of the pair of wheels 22a, 22a of the second traveling mechanism 22 is greater than the peripheral speed of the pair of wheels 21a, 21a of the first traveling mechanism 21. And the drive parts 21b and 22b of the second traveling mechanism 22 are operated. Then, the lower end of the frame 2 moves forward in the running direction, so that the inclination of the frame 2 can be made smaller than the first inclination angle θ1.

Further, even if the operations of the drive units 21b and 22b of the first traveling mechanism 21 and the second traveling mechanism 22 are controlled as described above, the frame 2 may not be tilted back, and the frame 2 may tilt further. In this case, when the frame 2 is tilted at the second tilt angle θ2 or more, a signal indicating that the solar cell array LP has been detected is sent to the control unit 30 from either of the pair of sensors 47a, 47a of the second attitude detection unit 47. Sent. Then, the control section 30 stops the operation of the drive sections 21b and 22b of the first traveling mechanism 21 and the second traveling mechanism 22, and stops the cleaning robot 1 from traveling. Then, the pair of wheels 22a, 22a of the second traveling mechanism 22 can be prevented from falling from the panel frame of the solar cell module P.

Note that the attitude (tilt) of the frame 2 may be determined based on the lower edge of the solar cell module P forming the solar cell array LP.

Further, the posture detection section 45 may be provided only at the first end of the frame 2 or only at the second end of the frame 2. However, as described above, if the attitude detection section is provided at both the first end of the frame 2 and the second end of the frame 2, it is easier to avoid derailment etc. when the attitude of the frame 2 changes. Become. In particular, when the solar cell module P has a panel frame and the wheels 21a to 23a are mounted on the panel frame, it is possible to effectively prevent the wheels 21a to 23a from coming off the panel frame. can.

<Edge detection>
Further, the control unit 30 may include an edge detection unit 31 that detects an end of the solar cell array LP (an end located in front of the cleaning robot 1 in the traveling direction). In this case, if the control section 30 controls the operation of the traveling section 20 based on the signal detected by the edge detection section 31, it is possible to prevent the cleaning robot 1 from falling from the solar cell array LP.

As shown in FIGS. 1 to 5, the edge detection section 31 includes a first detection section 32 and a second detection section 33.
In addition, in FIGS. 1 to 5, the first detection section 32 and the second detection section 33 are both provided so as to be located at the intermediate part in the axial direction of the frame 2 of the cleaning robot 1, but the axial direction of the frame 2 The positions in which the first detection section 32 and the second detection section 33 are provided in the direction are not particularly limited.

The first detection section 32 is provided so as to be located in front of the traveling section 20 in the traveling direction of the cleaning robot 1 . Preferably, the first detection unit 32 is provided so as to be located furthest forward of the cleaning robot 1 in the traveling direction of the cleaning robot 1.
On the other hand, in the running direction of the cleaning robot 1, the second detection unit 33 is provided so as to be located behind the first detection unit 32 in the running direction and ahead of the running unit 20 in the running direction.
In addition, when the cleaning robot 1 reciprocates, the first detection section 32 and the second detection section 33 are provided in any direction during the reciprocation. For example, when the cleaning robot 1 moves in either the left or right direction in FIG. 2, as shown in FIG. is provided.
Furthermore, "forward of the traveling section 20 in the traveling direction" means in front of the wheels 21a to 23a of each traveling mechanism 21 to 23. More specifically, this refers to the position ahead of the position where the wheels 21a to 23a of each of the traveling mechanisms 21 to 23 in the traveling section 20 are in contact with the solar cell module P. In this case, the reference wheels 21a to 23a are not particularly limited, but wheels that come into contact with the solar cell module P at the most forward position in the traveling direction of the cleaning robot 1 are desirable.

<Traveling control method>
In the following, the control unit 30 controls the operation of the traveling unit 20 based on the signals detected by the first detection unit 32 and the second detection unit 33 to prevent the cleaning robot 1 from falling from the solar cell array LP. A method for doing this will be explained based on FIG. In addition, in FIG. 7, a case will be described in which the cleaning robot 1 moves from the right side to the left side. Moreover, in the following description, the end of the solar cell array LP means the end in front of the cleaning robot 1 in the running direction.

First, as shown in FIG. 7, it is assumed that the cleaning robot 1 is running while cleaning the solar cell array LP. In this case, if the cleaning robot 1 has not reached the end of the solar cell array LP (FIG. 7(A)), both the first detection section 32 and the second detection section 33 of the edge detection section 31 The presence of the solar cell array LP below is detected. Then, based on the signals (ON signal, OFF signal) sent from the first detection section 32 and the second detection section 33, the control section 30 determines that the cleaning robot 1 is in a stable state where it can run and perform work stably. Understand things.

As the cleaning robot 1 further travels from the state shown in FIG. 7(A), it eventually reaches the end of the solar cell array LP (FIG. 7(B)). In this case, the first detection unit 32 detects that the solar cell array LP is not present below, and transmits the signal (hereinafter sometimes referred to as an OFF signal) to the control unit 30.

On the other hand, since the solar cell array LP exists below the second detection section 33, a signal (hereinafter referred to as an ON signal) indicating that the solar cell array LP exists below the second detection section 33 is transmitted. ) will be sent. Then, the control unit 30 understands that the end of the solar cell array LP exists between both the detection units 32 and 33. However, since the second detection section 33 is located further forward in the traveling direction than the traveling section 20, the control section 30 determines that there is no risk of falling and allows the cleaning robot 1 to continue traveling and cleaning.

In addition, the control unit 30 that has grasped the above situation may cause the cleaning robot 1 to run at the same speed as before, or may control the operation of the running unit 20 so as to reduce the speed slightly.

In addition, if there is a special structure at the end of the solar cell array LP, or if a special operation is required at the end of the solar cell array LP, the control unit 30, which is aware of the above situation, instructs the cleaning unit 10 to perform a special run or operation at the end of the solar cell array LP.

Furthermore, when the cleaning robot 1 travels, the second detection unit 33 also reaches the end of the solar cell array LP (FIG. 7(C)). Then, not only the first detection section 32 but also the second detection section 33 detects that the solar cell array LP is not present below, and transmits the signal to the control section 30. Then, the control unit 30 understands that the object has reached the end of the solar cell array LP, and that if it advances any further, there is a possibility that it will fall from the end of the solar cell array LP. Then, the control section 30 controls the operation of the traveling section 20 to stop the cleaning robot 1 from traveling.

As described above, if the operation of the traveling section 20 is controlled based on the signals from the first detection section 32 and the second detection section 33 of the edge detection section 31, it is possible to prevent the cleaning robot 1 from falling from the solar cell array LP. It can be prevented.

<Other examples of travel control>
The control unit 30 also has a function of receiving signals from the edge sensors of the first detection unit 32 and the second detection unit 33 and controlling the running unit 20 so that the cleaning robot 1 moves as follows. ing. That is, it has a deceleration control function to decelerate the cleaning robot 1 and a stop control function to stop the cleaning robot 1.
Hereinafter, control by each function will be explained based on FIG. 7.

First, as shown in FIG. 7(A), it is assumed that the cleaning robot 1 is running while working on the solar cell array LP. In this case, if the end of the solar cell array LP has not been reached, the first detection section 32 and the second detection section 33 detect that the solar cell array LP is present below. Then, based on the ON signals sent from the first detection section 32 and the second detection section 33, the control section 30 understands that the cleaning robot 1 is in a stable state in which it can run and clean.

As the cleaning robot 1 further travels from the state shown in FIG. 7(A), it eventually reaches the end of the solar cell array LP (FIG. 7(B)). In this case, the first detection unit 32 detects that the solar cell array LP is not present below, and transmits an OFF signal to the control unit 30. On the other hand, since the solar cell array LP exists below the second detection section 33, the ON signal is transmitted from the second detection section 33. Then, the control unit 30 controls the operation of the traveling unit 20 to reduce the traveling speed of the cleaning robot 1 (deceleration control).

Further, when the cleaning robot 1 travels, the solar cell array LP is no longer present below the second detection unit 33 (FIG. 7(C)). When the second detection unit 33 detects that this state has occurred and sends an OFF signal to the control unit 30, the control unit 30 determines that there is a possibility that the cleaning robot 1 will fall from the solar cell array LP if the robot advances any further. Understand what happens. Then, the control unit 30 controls the operation of the traveling unit 20 to stop the cleaning robot 1 (stop control). Then, since the cleaning robot 1 stops before the traveling section 20 reaches the end of the solar cell array LP, it is possible to prevent the cleaning robot 1 from falling from the end of the solar cell array LP.

As described above, if the edge detection section 31 is provided with the first detection section 32 and the second detection section 33, when the cleaning robot 1 approaches the end of the solar cell array LP, the cleaning robot 1 is decelerated once and then stopped. be able to. This makes it possible to shorten the braking distance when stopping, compared to when the vehicle suddenly stops from a normal running speed. In other words, if the cleaning robot 1 is stopped by the above control, even if the cleaning robot 1 travels at a faster speed than before, the distance from the start of braking until it stops can be made to be about the same as before. I can do it. Therefore, the cleaning robot 1 can be run at high speed, and even in that case, the cleaning robot 1 can be prevented from falling from the end of the solar cell array LP.

Moreover, if the braking distance when stopping can be shortened, even if the distance from the edge detection unit 31 to the running unit 20 is short, the cleaning robot 1 can be stopped before the running unit 20 reaches the edge. can. In other words, even if the length of the cleaning robot 1 in the running direction is shortened, the cleaning robot 1 can be prevented from falling from the end of the solar cell array LP, so the cleaning robot 1 can be made compact. I can do it.

Note that in the deceleration control, the traveling speed may be reduced to a constant speed slower than the normal traveling speed and maintained at that state, or the vehicle may be gradually decelerated from the normal traveling speed. Alternatively, control may be a combination of both. In other words, the speed may be significantly reduced at the start of deceleration, and then gradually reduced.

<Groove detection>
In the solar cell array LP, grooves may exist between adjacent solar cell modules P. Then, the first detection section 32 and the second detection section 33 may determine that the groove between the solar cell modules P is the edge of the solar cell array LP. However, if the signals from the first detecting section 32 and the second detecting section 33 are processed as described below, it is possible to determine whether the detected edge is the edge of the groove between the solar cell modules P or the edge of the solar cell array LP. It can be determined whether This can prevent the cleaning robot 1 from stopping because the edge of the groove between adjacent solar cell modules P is mistakenly recognized as the end of the solar cell array LP.

First, while traveling on the solar cell array LP, an ON signal is sent from both the first detection section 32 and the second detection section 33 to the control section to notify that the solar cell array LP exists below them. It was sent on 30th. In this state, the cleaning robot 1 runs normally.

When the cleaning robot 1 reaches the end of the solar cell array LP, the solar cell array LP is no longer present below both the first detection section 32 and the second detection section 33. In this state, both the first detection unit 32 and the second detection unit 33 transmit an OFF signal indicating that there is no solar cell array LP below. Then, the cleaning robot 1 stops running.

On the other hand, when the first detection section 32 is located at the position of the groove between the solar cell modules P in the solar cell array LP, the signal transmitted from the first detection section 32 to the control section 30 is switched from an ON signal to an OFF signal. At this time, since the solar cell module P exists below the second detection section 33, the ON signal is continuously transmitted from the second detection section 33 to the control section 30.

When the cleaning robot 1 further travels, the first detection section 32 passes through the groove, and the solar cell module P is again located below the first detection section 32 . Then, the signal transmitted from the first detection section 32 to the control section 30 is switched from an OFF signal to an ON signal.

On the other hand, when the cleaning robot 1 runs, the second detection section 33 is placed at the groove position, so the signal sent from the second detection section 33 to the control section 30 is switched from an ON signal to an OFF signal.

Here, if the first detection section 32 and the second detection section 33 are arranged so that they do not detect the groove at the same time, the signal sent from the second detection section 33 to the control section 30 becomes an OFF signal. Before that, the signal sent from the first detection section 32 to the control section 30 becomes an ON signal. That is, since the signals sent from both the first detection section 32 and the second detection section 33 to the control section 30 do not become OFF signals, the cleaning robot 1 can continue to run even if there is a groove. In other words, since the edges of the grooves between the solar cell modules P are not mistakenly recognized as the ends of the solar cell array LP, even if the cleaning robot 1 can run stably.

In addition, when carrying out the detection of the groove|channel mentioned above, it is necessary to arrange|position so that both the 1st detection part 32 and the 2nd detection part 33 may not detect a groove|channel at the same time. That is, in the running direction of the cleaning robot 1, it is necessary to appropriately set the distance between the first detection section 32 and the second detection section 33. For example, when the first detection section 32 and the second detection section 33 detect the presence or absence of the solar cell array LP or the solar cell module P using a laser sensor, the first detection section 32 and the second detection section 33 They are arranged so that the distance between them is wider than the width of the groove between the solar cell modules P. Then, since the first detection section 32 and the second detection section 33 do not detect the groove at the same time, even if there is a groove between the solar cell modules P, the cleaning robot 1 does not stop traveling and can continue traveling.

<Danger detection section 41>
If the edge detection section 31 is provided and the operation of the traveling section 20 is controlled by the control section 30 as described above, if the edge detection section 31 and the control section 30 are operating normally, the cleaning robot 1 Falling from the end of the array LP can be appropriately prevented.

However, if the end of the solar cell array LP, that is, the side edge of the solar cell module P located at the end of the solar cell array LP cannot be properly detected due to a failure of the edge detection unit 31 or the like, the cleaning robot 1 There is a possibility that it may fall from the edge of the solar cell array LP.

Therefore, separate from the edge detection section 31, a danger detection section 41 that detects the edge of the solar cell array LP may be provided. Specifically, as shown in FIGS. 1 to 5, a danger detection unit 41 is provided between the second detection unit 33 of the edge detection unit 31 and the running unit 20 in the running direction of the cleaning robot 1, When the danger detection section 41 detects the end of the solar cell array LP, the control section 30 stops the cleaning robot 1 from running. Then, even if the edge detection section 31 does not detect the end of the solar cell array LP, the danger detection section 41 detects the end of the solar cell array LP before the traveling section 20 reaches the end of the solar cell array LP. can be detected. Therefore, even if the edge detection unit 31 does not detect the end of the solar cell array LP, the cleaning robot 1 can be prevented from falling from the end of the solar cell array LP.

Here, “between the second detection unit 33 of the edge detection unit 31 and the running unit 20” refers to the position where the sensor of the second detection unit 33 of the edge detection unit 31 is provided and each position in the running unit 20. This means between the positions of the wheels 21a to 23a of the traveling mechanisms 21 to 23. More specifically, the location where the sensor of the second detection section 33 of the edge detection section 31 is provided and the wheels 21a to 23a of each of the traveling mechanisms 21 to 23 in the traveling section 20 are in contact with the solar cell module P. It means between the current position. In this case, the reference wheels 21a to 23a are not particularly limited, but wheels that come into contact with the solar cell module P at the most forward position in the traveling direction of the cleaning robot 1 are desirable.

In addition, when the danger detection part 41 is provided, the control part 30 may be provided with a function of notifying the worker or the like that the cleaning robot 1 has stopped running based on a signal from the danger detection part 41. Then, by notifying the worker or administrator that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired. For example, an alarm or an indicator may be used to notify the worker of the malfunction, or a signal may be sent to the worker's mobile terminal, a management center, or the like to transmit information regarding the malfunction.

Furthermore, if the control unit 30 is malfunctioning, the cleaning robot 1 will not stop running even if the edge detection unit 31 detects the end of the solar cell array LP, and the cleaning robot 1 will fall from the solar cell array LP. There is a possibility that it will happen. However, if a danger control section 40 is provided that controls the travel section 20 by a signal from a danger detection section 41 in addition to the control section 30, even if the control section 30 is out of order, the cleaning robot 1 can It is possible to prevent the LP from falling from the edge.

In this case, the danger control unit 40 may be provided with a function to notify the operator etc. that the cleaning robot 1 has stopped running. Then, by notifying the worker or administrator that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired. For example, an alarm or an indicator may be used to notify the worker of the malfunction, or a signal may be sent to the worker's mobile terminal, a management center, or the like to transmit information regarding the malfunction. Furthermore, if the signal from the edge detection section 31 is also input to the danger control section 40, it can be determined whether the edge detection section 31 or the control section 30 is damaged. Then, when repairing the cleaning robot 1, the operator can easily understand the problem, and the time required for recovery can be shortened.

The structure of the danger detection section 41 is also not particularly limited. However, if the danger detection unit 41 has an outer sensor and an inner sensor aligned in the running direction of the cleaning robot 1, the grooves between the solar cell modules P can be mistakenly regarded as the ends of the solar cell array LP. The possibility of detection can be lowered.

Furthermore, even if the danger detection section 41 has only one sensor, if a plurality of danger detection sections 41 are provided and the positions of the plurality of danger detection sections 41 are shifted in the running direction of the cleaning robot 1, grooves, etc. The possibility of erroneously detecting the end portion of the solar cell array LP as the end portion of the solar cell array LP can be reduced.

<Example of sensor>
Note that the sensors used for the edge detection section 31, the danger detection section 41, and the posture detection section 45 are not particularly limited, and any known sensor that can detect the edge of the solar cell array LP or the solar cell module P can be used. . For example, a sensor that detects an edge without contact, such as a laser sensor, an infrared sensor, or an ultrasonic sensor, or a contact sensor, such as a limit switch, can be used as the sensor. Alternatively, the control unit 30 may analyze an image taken using a CCD camera or the like as a sensor to detect edges. Furthermore, it is also possible to use a temperature sensor or a capacitance sensor as a sensor. When these sensors are used, due to the difference in temperature or capacitance between the solar cell array LP or solar cell module P and the part (space, etc.) outside the edge of the solar cell array LP or solar cell module P. , the edges of the solar cell array LP and the solar cell module P can be grasped.

For example, when the sensor is a laser sensor, it is possible to detect whether the solar cell array LP or the solar cell module P is present in the following manner. First, it is assumed that a solar cell array LP and a solar cell module P exist directly below the sensor. In this case, if a laser beam is irradiated from the sensor, the sensor receives the reflected light reflected by the solar cell array LP or the solar cell module P. In other words, it can be determined that the sensor is located inward from the edge. On the other hand, if the sensor cannot receive reflected light, it can be determined that there is no solar cell array LP or solar cell module P directly below the sensor, that is, the sensor is located outside the edge.

<Operation of cleaning robot 1>
In the cleaning robot 1 described above, the control unit 30 controls the operation of the cleaning unit 10, the traveling unit 20, the guide unit 50, and the cleaning work. Therefore, if the operation of the cleaning robot 1 is controlled so that it runs and performs tasks according to the procedures stored in the control unit 30, the surfaces of the plurality of solar cell modules P of the solar cell array LP can be almost automatically cleaned. It can be implemented with

On the other hand, the cleaning robot 1 may be operated by a worker from the outside to control its running, cleaning, and other tasks. For example, the cleaning robot 1 may be remotely controlled using wireless communication using radio waves, infrared rays, or the like. That is, a worker may operate the wireless communication controller to remotely control the cleaning robot 1. Further, a worker may operate the cleaning robot 1 using a controller connected to the cleaning robot 1 by a signal line or the like. If a worker operates the cleaning robot 1 using a controller for wireless communication or a controller connected via a signal line, the worker can carry out work while checking the status of work such as cleaning. Then, the cleaning robot 1 can be made to perform appropriate work in accordance with changes in the surrounding situation.

In this way, even when the operator controls the operation of the cleaning robot 1, it is desirable to have the edge detection function as described above. If the cleaning robot 1 has such a function, even if the operator makes an operation error, the cleaning robot 1 can be appropriately moved to perform the work. Furthermore, even if the operator makes an operational error, the cleaning robot 1 can be prevented from falling from the solar cell array LP.

The cleaning robot 1 may be one that combines both operation by a worker and automatic movement (work). In other words, normally work and travel are performed automatically (that is, controlled only by the control unit 30), but when an operation by a worker is input from a controller etc., the state changes from automatic travel (work) to automatic operation (control by the control unit 30 only). It may be configured to switch to operation. In this case, if there is no input from the controller or the like above a certain level, the state is set to switch to automatic travel (work). This is preferable because even if the operator makes an operational mistake or forgets to switch to the automatic running (work) state, the work can be continued.

<Manual brush BR>
In the cleaning robot 1 of the present embodiment, the wheels of the running unit 20 are disposed outside (that is, in front or behind in the running direction) of the brush 12 of the cleaning unit 10 in the running direction of the cleaning robot 1. Therefore, in the cleaning robot 1 of this embodiment, the brush 12 cannot clean the surface of the solar cell array LP up to the edges. In other words, even if the cleaning robot 1 of this embodiment runs and cleans the surface of the solar cell array LP, there will be areas that cannot be cleaned.

Therefore, the operator may clean the areas that cannot be cleaned using a manual brush BR (not shown). In this case, if the solar power generation facility SP is very large, it will be very burdensome for the worker to carry the manual brush BR to the work place. Therefore, the cleaning robot 1 of this embodiment may be provided with a manual brush holding section that holds the manual brush BR. In this case, even if there is a part that cannot be cleaned by the cleaning unit 10, the operator can clean only that part by hand. Furthermore, since the manual brush BR is held by the cleaning robot 1, the worker does not have to carry the manual brush BR, so the burden on the worker can be reduced.

<Handle>
The cleaning robot 1 of this embodiment is placed on the solar cell array LP and cleans the surface of the solar cell array LP. That is, when cleaning the surface of the solar cell array LP, the cleaning robot 1 of this embodiment must be placed on the solar cell array LP. In that case, the cleaning robot 1 may be placed on the solar array LP by holding the frame 2 itself, but if the frame 2 is provided with a handle etc., the cleaning robot 1 can be carried and placed on the surface of the solar array LP. It becomes easier to carry out things such as loading.

Although the structure of the handle is not particularly limited, when the cleaning robot 1 is mounted on the solar cell array LP with an inclined surface as shown in FIG. 10(B), it is desirable to provide the handle with the following structure. With the following structure, the work of mounting the cleaning robot 1 on the solar cell array LP and lowering the cleaning robot 1 from the solar cell array LP becomes easy.

As shown in FIGS. 1 to 5, a first handle 61 is provided at a first end of the first frame portion 3 of the frame 2. As shown in FIGS. One end of the first handle 61 is connected to the first end of the first frame portion 3 . The first handle 61 is bent downward between one end and the other end. That is, the first handle 61 is bent toward the surface that is placed on the solar cell array LP side when the frame 2 is placed on the solar cell array LP. The first handle 61 is formed such that the other end thereof is located below the lower surface of the first frame portion 3. If the first handle 61 with such a structure is provided, even when the cleaning robot 1 is placed on the solar cell array LP, the other end of the first handle 61 will be located below the solar cell array LP. . Then, since the operator can grasp the first handle 61 at a position relatively lower than the upper end of the solar cell array LP, it becomes easier to lift the cleaning robot 1 when lowering the cleaning robot 1 from the solar cell array LP. Conversely, even when the cleaning robot 1 is placed on the solar cell array LP, even if the height at which the first handle 61 is lifted is lower than the upper end of the solar cell array LP, the cleaning robot 1 is placed above the solar cell array LP. can do. Then, the burden of the work of mounting the cleaning robot 1 on the solar cell array LP can be reduced.

Further, as shown in FIGS. 1 to 5, a second handle 62 is provided at the first end of the second frame portion 4 of the frame 2. As shown in FIGS. One end of the second handle 62 is connected to the first end of the second frame portion 4 . The second handle 62 is bent upward between its one end and the other end. In other words, the second handle 62 is bent toward the surface that is opposite to the solar cell array LP when the frame 2 is placed on the solar cell array LP. If the second handle 62 with such a structure is provided, even if the first end of the second frame portion 4 is at a low position when the cleaning robot 1 is placed on the solar cell array LP, the solar cell array The second handle 62 can be held at a position relatively higher than the lower end of the LP. Then, when the cleaning robot 1 is lowered from the solar cell array LP or when the cleaning robot 1 is placed on the solar cell array LP, the worker does not have to bend his or her waist greatly, so the burden of the work can be reduced.

Note that the portions of the first handle 61 and the second handle 62 on the other end side correspond to the gripping portion as defined in the claims.

Moreover, when the height of the solar cell array LP is high, when the cleaning robot 1 is placed on the solar cell array LP, there is a possibility that the first end of the second frame part 4 is also placed at a high position. . In this case, a handle having the same configuration as the first handle 61 may also be provided at the first end of the second frame portion 4.

Conversely, when the height of the solar cell array LP is low, the first end of the first frame portion 3 of the frame 2 is also placed at a low position when the cleaning robot 1 is placed on the solar cell array LP. there is a possibility. In this case, a handle having the same structure as the second handle 62 may also be provided at the first end of the first frame portion 3.

<Lifting mechanism 70>
By providing the first handle 61 and the second handle 62 as described above, it becomes easier to raise and lower the cleaning robot 1 onto the solar cell array LP whose surface is inclined. However, when the solar cell array LP is arranged at a higher position, it is desirable to provide the following lifting mechanism 70.

As shown in FIGS. 15 and 16, the lifting mechanism 70 is removably attached to an engaging member 71 provided at the first and second ends of the frame 2 of the cleaning robot 1. and a lift member 75 connected to.

<Engagement member 71>
As shown in FIG. 15, the engaging member 71 includes a pair of vertical shaft portions 72, 72, one end of which is connected to a first end and a second end of the frame 2 of the cleaning robot 1. The pair of vertical shaft portions 72, 72 are provided so as to extend downward from one end (that is, to extend toward the solar cell array LP) when the cleaning robot 1 is placed on the solar cell array LP. (See Figure 15(B)).

An upper insertion portion 73 and a lower insertion portion 74 are provided between the pair of vertical shaft portions 72, 72. The upper insertion part 73 and the lower insertion part 74 are rod-shaped members, and are provided at intervals in the axial direction of the pair of vertical shaft parts 72, 72 (the direction in which the pair of vertical shaft parts 72, 72 extend). . Specifically, between the upper insertion part 73 and the lower insertion part 74, the upper insertion part 73 is located closer to one end (upper side) of the vertical shaft part 72 than the lower insertion part 74 is. In other words, of the upper insertion part 73 and the lower insertion part 74, the lower insertion part 74 is located closer to the other end (lower side) of the vertical shaft part 72 than the upper insertion part 73 is. The upper insertion part 73 and the lower insertion part 74 are provided so that their axial directions are parallel to each other. Preferably, the upper insertion part 73 and the lower insertion part 74 are provided so that their axial directions are parallel to the direction in which the cleaning robot 1 runs on the solar cell array LP.

<Lift member 75>
As shown in FIG. 16, the lift member 75 includes a main body 76, a handle 77 provided at one end of the main body 76, a pair of engaging portions 78 provided at the other end of the main body 76, It is equipped with 79 and.

<Main body part 76>
First, when the main body part 76 is engaged with the engaging member 71 and the pair of engaging parts 78 and 79, when the cleaning robot 1 is lifted up or lowered onto the solar cell array LP while holding the handle 77. Any material having sufficient strength may be used. In other words, the main body part 76 may be of any strength as long as it does not break or bend when the cleaning robot 1 is lifted by the lift member 75. For example, a structure in which a shaft-shaped intermediate frame 76b is provided between a pair of main body shafts 76a, 76a can be adopted. Of course, the main body portion 76 may be formed of one shaft-like member or one plate-like member.

<Handle 77>
The handle 77 is a part that is held by a person, and its structure is not particularly limited. Any structure may be used as long as the operator can use the handle 77 of the lift member 75 engaged with the engagement member 71 to apply force so as to lift the cleaning robot 1 . For example, as shown in FIG. 16(A), the handle 77 may be formed of a simple horizontal bar.

<Pair of engaging parts 78, 79>
The pair of engaging portions 78 and 79 are portions that are engaged with the upper insertion portion 73 and lower insertion portion 74 of the engaging member 71, respectively.
Of the pair of engaging portions 78 and 79, the upper engaging portion 78 is located closer to the other end of the main body portion 76 than the lower engaging portion 79 is. The upper engaging portion 78 can engage with the upper inserting portion 73 located above of the upper inserting portion 73 and the lower inserting portion 74 of the engaging member 71 from above. Specifically, the upper engaging portion 78 is provided with an upper engaging groove 78g having an opening on its lower surface (the surface on the handle 77 side). The upper insertion portion 73 can then be inserted into the upper engagement groove 78g.
On the other hand, among the pair of engaging portions 78 and 79, the lower engaging portion 79 is located closer to one end of the main body portion 76 (on the handle 77 side) than the upper engaging portion 78 is. The lower engaging portion 79 is configured to be able to engage with the lower inserting portion 74 located below of the upper inserting portion 73 and the lower inserting portion 74 of the engaging member 71 from below. Specifically, the lower engaging portion 79 is provided with a lower engaging groove 79g having an opening on its upper surface (the surface opposite to the handle 77 side). The lower engagement groove 79g is formed such that its axial direction is parallel to the axial direction of the upper engagement groove 78g of the upper engagement portion 78. The lower insertion portion 74 can then be inserted into the lower engagement groove 79g.

Furthermore, the pair of engaging portions 78 and 79 are provided on opposite surfaces of the main body portion 76. For example, in FIG. 16(B), the upper engaging part 78 is provided on the left side of the main body part 76, and the lower engaging part 79 is provided on the right side of the main body part 76.

Further, in the upper engagement groove 78g of the upper engagement part 78, the length LA from the inner bottom surface to the upper surface of the lower engagement part 79 is longer than the length LR from the upper insertion part 73 to the lower insertion part 74. It is formed to be.
On the other hand, the length LB from the inner bottom surface of the upper engagement groove 79g of the lower engagement part 79 to the lower surface of the upper engagement part 78 is shorter than the length LR from the upper insertion part 73 to the lower insertion part 74. It is formed to be.

Here, "the length LR from the upper insertion part 73 to the lower insertion part 74" means that the upper insertion part 73 is inserted into the upper engagement groove 78g of the upper engagement part 78, and the lower engagement part 79 This means the length in the axial direction of the main body portion 76 of the lift member 75 in a state in which the lower insertion portion 74 is inserted into the lower engagement groove 79g (hereinafter simply referred to as the engaged state). More specifically, in the engaged state, the length at the position where the length from the upper insertion part 73 to the lower insertion part 74 in the direction along the axial direction of the main body part 76 of the lift member 75 is the longest. It means. For example, in the case of FIG. 17(C), the length from the upper end of the shaft-shaped upper insertion part 73 to the lower end of the shaft-shaped lower insertion part 74 in the direction parallel to the axial direction of the main body part 76 of the lift member 75 It means.

<Description of lifting work by lifting mechanism 70>
Since the lifting mechanism 70 includes the engaging member 71 and the lifting member 75 as described above, the cleaning robot 1 can be lifted onto or lowered from the solar cell array LP by the lifting mechanism 70 as follows. can.

First, the other end of the main body part 76 of the lift member 75 is passed between the upper insertion part 73 and the lower insertion part 74 of the engagement member 71, and the upper engagement part 78 is made to protrude above the upper insertion part 73. Thereafter, the opening of the upper engagement part 78 is approached from above the upper insertion part 73, and the upper insertion part 73 is inserted into the upper engagement groove 78g (FIG. 17(A)).

Next, with the upper insertion portion 73 in contact with the inner bottom surface of the upper engagement groove 78g, the main body portion 76 of the lift member 75 is swung toward the lower insertion portion 74 of the engagement member 71 using the upper insertion portion 73 as a fulcrum. (Fig. 17(B)). The upper engagement groove 78g of the upper engagement part 78 is configured such that the length LA from the inner bottom surface to the upper surface of the lower engagement part 79 is longer than the length LR from the upper insertion part 73 to the lower insertion part. It is formed. Therefore, when the lift member 75 is swung, the lower engagement portion 79 does not come into contact with the lower insertion portion 74, and the upper engagement groove 79g can be disposed below the lower insertion portion 74. In this state, by pushing up the lift member 75 in the direction of the arrow in FIG. 17(B), the lower insertion portion 74 can be inserted into the lower engagement groove 79g.

Here, the distance LB from the inner bottom surface of the upper engagement groove 79g of the lower engagement part 79 to the lower surface of the upper engagement part 78 is shorter than the distance LR from the upper insertion part 73 to the lower insertion part 74. Therefore, when the lower insertion part 74 is inserted into the lower engagement groove 79g, the upper insertion part 73 and the lower insertion part 74 are held in the upper engagement groove 78g and the lower engagement groove 79g, respectively (Fig. 17(C)). In other words, the engagement member 71 and the lift member 75 can be connected in a stable state in which the upper insertion portion 73 does not come off from the upper engagement groove 78g.

If the lift member 75 is lifted in the above state, only a force is applied to the lift member 75 in the direction of the arrow in FIG. 17(C). Then, the lower insertion portion 74 and the lower engagement portion 79 are maintained in a securely engaged state, so that the cleaning robot 1 can be stably lifted together with the lift member 75.

Further, when the engagement member 71 and the lift member 75 are to be disconnected, the lower insertion portion 74 can be removed from the lower engagement portion 79 by pulling the main body portion 76 downward. Once the engagement between the lower insertion section 74 and the lower engagement section 79 is disengaged, the engagement between the upper insertion section 73 and the upper engagement section 78 can also be disengaged by lifting the main body section 76 upward. Therefore, the lift member 75 can be removed from the engagement member 71.

Note that the number of vertical shaft portions 72 is not limited to one pair (two), and may be one or three or more. In the case of one, the upper insertion part 73 and the lower insertion part 74 may be provided upright on the side surface of the vertical shaft part 72.

Further, in the above example, a case has been described in which the axial directions of the upper insertion part 73 and the lower insertion part 74 are provided so as to be parallel to the direction in which the cleaning robot 1 runs on the solar cell array LP. However, the upper insertion part 73 and the lower insertion part 74 can be engaged with the pair of engagement parts 78 and 79 of the lift member 75, and in a state where the upper insertion part 73 and the lower insertion part 74 are engaged with the pair of engagement parts 78 and 79, the cleaning robot 1 is It is sufficient if it can be lifted up and lowered onto the array LP. For example, the upper insertion part 73 and the lower insertion part 74 are provided so that their axial directions are parallel to a direction intersecting (for example, a direction perpendicular to) the direction in which the cleaning robot 1 runs on the solar cell array LP. Good too.

Furthermore, in the above example, a case has been described in which the upper insertion portion 73 and the lower insertion portion 74 are formed of shaft-shaped members. However, the upper insertion part 73 and the lower insertion part 74 do not necessarily have to be formed of shaft-shaped members. The lift member 75 can be disposed between the upper insertion part 73 and the lower insertion part 74, the upper insertion part 73 can be inserted into the upper engagement groove 78g of the upper engagement part 78 of the lift member 75 from above, and the lower insertion part 74 can be inserted into the lower engagement groove 79g of the lower engagement portion 79 of the lift member 75 from below.

For example, the engaging member 71 is formed of a plate-like member and a central through hole is formed. An upper through hole is provided above the central through hole, and a lower through hole is provided below the central through hole. Then, by passing the lift member 75 through the center through hole, the part between the upper through hole and the center through hole can function as the upper insertion part, and the part between the lower through hole and the center through hole can be used as the lower insertion part. It can function as an insertion section.

In the above example, when the upper insertion part 73 is inserted into the upper engagement groove 78g of the upper engagement part 78, if the lift member 75 is swung about the upper insertion part 73 as a fulcrum, the lower engagement part The case where the lower insertion portion 74 can be inserted into the upper engagement groove 79g of the lower insertion portion 79 has been described. Such a structure has the advantage that the engagement member 71 and the lift member 75 can be easily connected. On the other hand, the upper engagement part 78 and the lower engagement part 79 are made to be able to swing or be fixed relative to the main body part 46, so that the upper insertion part 73 and the lower insertion part 74 are connected to the upper engagement part 78. It may be inserted into the matching groove 78g or the lower engaging groove 79g of the lower engaging part 79. In other words, when the upper engaging portion 78 and the lower engaging portion 79 swing relative to the main body portion 46, the length between the lower surface of the upper engaging portion 78 and the upper surface of the lower engaging portion 79 becomes longer. It's okay. With this configuration, both the upper insertion part 73 and the lower insertion part 74 are engaged in a state in which they are in contact with the inner bottom surfaces of the upper engagement groove 78g of the upper engagement part 78 and the lower engagement groove 79g of the lower engagement part 79. The joining member 71 and the lift member 75 can be connected. Then, the engagement member 71 and the lift member 75 can be connected in a more stable state.

Further, the structure for connecting the engaging member 71 and the lift member 75 is not limited to the above-mentioned structure. Any structure is acceptable as long as it is easy to connect and uncouple the two, and allows stable lifting and lowering of the cleaning robot 1 on and off the solar cell array LP while the two are connected. .

Note that the handles 61 and 62 described above may have a function as the engagement member 71. In this case, when the cleaning robot 1 is placed on the solar cell array LP, the cleaning robot 1 can be raised and lowered using the handles 61 and 62 as long as it is at a height that the operator can reach. On the other hand, when the cleaning robot 1 is placed on the solar cell array LP at a height that is beyond the reach of the operator, the cleaning robot 1 can be raised and lowered by the lift member 75. That is, depending on the height of the solar cell array LP, it is not necessary to provide the handles 61 and 62 or the engagement member 71.

<Electrification member DB>
When the brush 12 of the cleaning unit 10 rubs the surface of the solar cell array LP, the solar cell array LP and the brush 12 may be charged with static electricity. When the frame 2 is made of a conductive material, the static electricity charged on the brush 12 may be discharged from the frame 2 when a worker approaches the frame 2. If discharge occurs, problems such as malfunction of the microcontroller etc. will occur, so it is necessary to remove the charged static electricity from the frame 2 etc.

Therefore, it is desirable to provide the frame 2 with a static eliminating member DB (not shown). Specifically, when the cleaning robot 1 is placed on the solar cell array LP or when the cleaning robot 1 moves, the static eliminating member DB is moved so that it comes into contact with the surface of the solar cell array LP, the panel frame, etc. The tip of the DB is provided so that it is slightly separated from the surface of the solar cell array LP, the panel frame, etc. Moreover, the static eliminating member DB is installed behind the brush 12 of the cleaning unit 10 in the running direction of the cleaning robot 1. Then, when the cleaning robot 1 travels and the static eliminator DB comes into contact with the charged surface of the solar cell array LP, the panel frame, etc., or is slightly separated from the charged surface of the solar cell array LP, the cleaning portion 10 is removed by friction with the surface of the solar cell array LP. The static electricity generated on the brush 12 is discharged from the tip of the static eliminating member DB to the solar cell array LP, panel frame, etc. In other words, the static electricity generated in the brush 12 is discharged to prevent the frame 2 from being charged, thereby preventing problems such as malfunction of the microcontroller or the like.

The static eliminator DB may be any member that can drain static electricity from the frame 2 to the outside, and its shape, structure, and material are not particularly limited. For example, a brush-like member provided at the tip of a metal main body can be used. Further, a flexible belt-shaped or string-shaped member can also be employed as the static elimination member DB.

<Communication member 100>
Even if there is a gap between adjacent solar cell modules P in the solar cell array LP, if the gap is small, the cleaning robot 1 of this embodiment can move over the gap. For example, if the gap is smaller than the diameter of the wheels, the cleaning robot 1 of this embodiment can move over the gap. On the other hand, if the gap is wide to some extent, such as between adjacent solar cell arrays LP, the cleaning robot 1 of this embodiment cannot cross the gap.

Therefore, when the gap between adjacent solar cell arrays LP is large, the cleaning robot 1 of this embodiment is arranged between adjacent solar cell arrays LP to enable movement of the cleaning robot 1 of this embodiment. A communication member 100 may also be provided.

As shown in FIG. 8, the communication member 100 includes a main body 101 and a pair of end members 102, 102 provided at both ends of the main body 101 in the longitudinal direction.

The main body part 101 includes a running part 101a that drives wheels 21a and 22a of the first running mechanism 21 and the second running mechanism 22 of the running part 20 of the cleaning robot 1. This running portion 101a is a long plate-like member, and is formed so that its length is longer than the gap between adjacent solar cell arrays LP. A fixing part 101b is provided on the back surface of this running part 101a. The fixed portion 101b is a plate-shaped member that stands upright on one end edge of the running portion 101a in the longitudinal direction. That is, the main body part 101 is formed by the running part 101a and the fixed part 101b so that the cross section perpendicular to the longitudinal direction thereof has a substantially L-shape (FIG. 8(C)).

Note that the width of the running portion 101a of the main body portion 101 (length in the vertical direction in FIG. 8(A)) and the width of the fixed portion 101b (length in the vertical direction in FIG. 8(B)) are not particularly limited; The width of the portion 101a is preferably about the same as the width of the wheels 21a and 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling section 20 of the cleaning robot 1 that travels on the traveling section 101a. Further, the width of the fixing portion 101b is desirably longer than the height of the panel frame of the solar cell module P.

The pair of end members 102, 102 also includes a running portion 102a and a fixed portion 102b. One end of the running portion 102a of the pair of end members 102, 102 is bendably connected to the longitudinal end of the running portion 101a of the main body portion 101 by a hinge or the like. Preferably, the end member 102 is connected so that it can be bent only in a direction in which the surface of the running portion 102a overlaps the surface of the running portion 101a of the main body portion 101. The pair of end members 102, 102 also have a cross section that intersects with the longitudinal direction of the running section 101a of the main body section 101 due to the running section 102a and the fixed section 102b having substantially the same shape as the main body section 101 (in other words, the cross section is approximately It is formed in an L-shape.

Note that the width of the running portion 102a of the end member 102 (the length in the vertical direction in FIG. 8(A)) and the width of the fixed portion 102b (the length in the vertical direction in FIG. 8(B)) are not particularly limited. It is desirable that the width of the portion 102a is approximately the same as the width of the wheels 21a and 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling section 20 that travel on the traveling section 102a. Further, the width of the fixing portion 102b is desirably longer than the height of the panel frame of the solar cell module P.

Note that the fixing part 101b and the fixing part 102b may be provided with a connecting mechanism that connects the panel frame of the solar cell module P and the fixing part 101b and the fixing part 102b. Then, the connecting member 100 can be stably fixed to the panel frame of the solar cell module P.

When the cleaning robot 1 of this embodiment crosses the gap between adjacent solar cell modules P using the communication member 100 having the above-described structure, the operation can be performed as follows.

First, when the cleaning robot 1 of this embodiment travels to the vicinity of the edge of the solar cell array LP that forms the gap to be overcome, it once travels (retreats) away from the edge (FIG. 9(A)). Specifically, when the communication member 100 is placed in the gap between the solar cell arrays LP, the cleaning robot 1 retreats to a position where it does not get in the way.

When the cleaning robot 1 retreats away from the edge, two communication members 100 are placed in the gap between adjacent solar cell arrays LP (FIG. 9(B)). Specifically, the communication member 100 is arranged so that both ends of the main body part 101 of the communication member 100 are arranged on the solar cell module P with a gap between them. More specifically, the main body 101 of the communication member 100 is arranged between the panel frames at the upper and lower ends of the solar cell module P with a gap in between. Thereafter, the pair of end members 102, 102 are extended to place the pair of end members 102, 102 on the surface of the solar cell module P. At this time, the fixing part 101b of the main body part 101 and the fixing part 102b of the end member 102 are arranged so as to contact the side surface of the panel frame of the solar cell module P. In addition, when the fixed part 101b of the main body part 101 and the fixed part 102b of the end member 102 have a coupling mechanism, the fixed part 101b of the main body part 101 and the fixed part 102b of the end member 102 are connected by the coupling mechanism. Fix it to the panel frame.

When the communication member 100 is placed between the solar cell modules P with a gap in between, the cleaning robot 1 is caused to travel toward the gap (FIG. 9(C)). Then, the wheels 21a and 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling section 20 can be made to run on the surfaces of the traveling sections 101b and 102b of the main body part 101 and the end member 102 of the communication member 100. Therefore, the cleaning robot 1 can be moved from one solar cell module P to the other solar cell module P that forms the gap.

When the movement of the cleaning robot 1 is completed, the communication member 100 is removed from the solar cell module P, and the work is completed.

Note that a cushioning member such as rubber or urethane may be provided on the back surface of the running portions 101a and 102a of the main body portion 101 and the end member 102, that is, the surface that is brought into contact with the surface of the solar cell module P. Then, when the communication member 100 is placed on the solar cell module P, damage to the solar cell module P can be prevented.
Moreover, the main body part 101 and the end member 102 do not necessarily need to be provided with the fixing parts 101b and 102b, as long as the cleaning robot 1 of this embodiment can run stably.
Further, the pair of end members 102 may not be provided, and may be provided only at one end of the main body portion 101.
Further, the communication member 100 may be carried by a worker to a location when the cleaning robot 1 moves between adjacent solar cell arrays LP, or the communication member 100 may be placed on the cleaning robot 1. Then, the worker does not have to carry the communication member 100, so the burden on the worker can be reduced. Of course, the communication member 100 may be installed in advance at a location where a gap is formed.

<About work control>
Further, the cleaning robot 1 may include a state detection mechanism 80 that measures the surface of the solar cell module P to detect the state of the surface of the solar cell module P. If such a state detection mechanism 80 is provided, the surface of the solar cell array LP can be appropriately grasped, so that work such as cleaning can be carried out depending on the state of the surface of the solar cell array LP.

As shown in FIG. 19, the state detection mechanism 80 includes a state detection section 81 that detects the state of the solar cell module P, and determines the state of the surface of the solar cell module P based on information detected by the state detection section 81. The determination unit 85 can be configured from a determination unit 85. Both the state detection section 81 and the judgment section 85 may be provided in the cleaning robot 1, or only the state detection section 81 may be provided in the cleaning robot 1 and the judgment section 85 may be provided in the administration building or the like. Further, the state detection section 81 may be provided in the solar cell module P or the like, and the determination section 85 may be provided in the administration building or the like. If the determination unit 85 is provided in a management building or the like, commands such as operation timing will be transmitted from the management building to the cleaning robot 1.

The state detection unit 81 is not particularly limited, but may include, for example, a temperature detection unit 82 that detects the temperature of the surface of the solar cell module P. In this case, depending on the temperature of the surface of the solar cell module P detected by the temperature detection unit 82, the cleaning robot 1 can be caused to perform an operation suitable for the temperature.

For example, when the surface of the solar cell module P has a temperature below the dew point temperature, dew condensation occurs on the surface of the solar cell module P, and the condensation can be used for cleaning. Therefore, when the cleaning robot 1 has a rubber blade as the cleaning unit 10, when the temperature detection unit 82 detects a state below the dew point temperature, the control unit 30 moves the cleaning robot 1 to perform cleaning. It is desirable that the

On the other hand, if the cleaning robot 1 has a cleaning unit 10 that is suitable for cleaning in a dry state, such as a brush or cloth, the cleaning unit 10 can be cleaned while the surface of the solar cell module P is above the dew point temperature. It is desirable to do so. Therefore, in the case where the cleaning robot 1 has such a cleaning section 10, when the temperature detection section 82 detects a state where the temperature is higher than the dew point temperature, the control section 30 moves the cleaning robot 1 to perform cleaning. It is desirable that the

Note that the temperature detection unit 82 may be installed in the solar cell module P or in the cleaning robot 1. For example, when installed in the solar cell module P, the temperature detection section 82 can be provided on the panel frame of the solar cell module P or the like. In addition, when the solar cell array LP is provided with an evacuation part EA, the cleaning robot 1 is placed in the evacuation part EA, and the cleaning robot 1 is placed in a position where the temperature of the surface of the solar cell module P can be measured. 1 may be provided with a temperature detection section. For example, as shown in FIG. 18(B), a method may be adopted in which a temperature detection section 82 is provided on a stay S or the like that protrudes outward from the cleaning robot 1.

The temperature of the solar cell module P to be detected is not necessarily limited to the temperature of the surface, but also the temperature of the solar cell module P in a predetermined area of the solar cell module P, the front surface thereof, the vicinity of the predetermined area or the back surface thereof, and the temperature of the solar cell module P in the predetermined area. The internal temperature may also be measured. When measuring the temperature on the back surface of the solar cell module P, a temperature detection section may be provided on the back surface of the solar cell module P.

In particular, by measuring the temperature of the solar cell module P, it can be determined whether a hot spot is formed in the solar cell module P. In other words, if the temperature detection unit 82 is provided to measure the temperature of each cell that constitutes the solar cell module P, hot spots can be detected on the solar cell module P by running the cleaning robot 1 on the solar cell array LP. It is possible to detect whether or not it is formed. Then, while cleaning, the cleaning robot 1 can also detect that damage (such as a short circuit) has occurred to the solar cell module P, thereby improving the maintainability of the solar cell module P that constitutes the solar cell array LP. can.

For example, the temperature detection section 82 is provided on the stay S protruding outward from the cleaning robot 1, the bottom surface of the cleaning robot 1, etc. along a direction intersecting (preferably perpendicular to) the traveling direction of the cleaning robot 1. Specifically, the same number of temperature sensors as the number of cells of the solar cell array LP in the direction connecting the first edge and the second edge of the solar cell array LP are installed in a direction perpendicular to the running direction of the cleaning robot 1. They are provided on the cleaning robot 1 so as to be lined up along the same line. That is, the cleaning robot 1 is provided with the same number of temperature sensors as the number of cells lined up in the direction connecting the first edge and the second edge of the solar cell array LP at positions corresponding to each cell of the solar cell module P. . Then, by running the cleaning robot 1, the temperature of each cell of the solar cell module P can be detected, so hot spots can be detected and their positions can be known. Therefore, it is possible to quickly and reliably identify damaged locations in the solar cell modules P constituting the solar cell array LP, thereby improving the maintainability of the solar cell array LP.

Furthermore, as the state detection section 81 that detects the state of the surface of the solar cell module P, one that measures the color or intensity (gloss) of the surface of the solar cell module P may be employed. In this case, dirt on the surface of the solar cell module P can be determined by detecting the color and intensity (gloss) of the surface of the solar cell module P.

For example, the cleaning robot 1 is provided with a state detection unit 81 that measures the color and intensity (gloss) of the surface of the solar cell module P. Based on the information detected by the state detection unit 81, if the determination unit 85 determines that a certain amount of dirt remains, the control unit 30 causes the cleaning robot 1 to move back and forth to that position multiple times. Make it work. For example, the control unit 30 operates the cleaning robot 1 so that the cleaning robot 1 reciprocates the area where dirt remains in the solar cell module P multiple times. Then, the effect of removing dirt on the surface of the solar cell module P by the cleaning robot 1 can be enhanced.

Further, if the determination unit 85 determines that dirt remains even though the cleaning robot 1 has reciprocated the area where dirt remains a plurality of times, the control unit 30 allows the operator to move the area where dirt remains. It may also have a function to notify. In this case, by manually cleaning the area (using water or the like), dirt that cannot be removed by the cleaning robot 1 can be removed.
Furthermore, after a predetermined number of reciprocating operations have been performed, cleaning of that area may be stopped and cleaning of another area may be performed. In other words, when the cleaning robot 1 moves back and forth in an area where dirt remains a predetermined number of times, the cleaning robot 1 stops cleaning that area even if the determination unit 85 determines that a certain amount of dirt remains. You can also do this. In this case, unnecessary operation of the cleaning robot 1 can be prevented.

Such a state detection mechanism 80 can employ, for example, the following configuration (see FIG. 18(C)).
As the state detection section 81, a light irradiation section 83 that irradiates the surface of the solar cell module P with light is provided. The light emitted by this light irradiation section 83 is not particularly limited. Further, a light receiving section 84 is provided so that the light emitted by the light irradiating section 83 can receive reflected light that is reflected on the surface of the solar cell module P. If the determining section 85 determines whether the surface of the solar cell module P is dirty based on the signal received by the light receiving section 84, it is possible to determine whether the surface of the solar cell module P is dirty. For example, when the light irradiation unit 83 irradiates the surface of the solar cell module P with light of a predetermined intensity and wavelength, the surface of the solar cell module P is not dirty (or is dirty to an acceptable extent). The determination unit 85 stores the color (reference color) and intensity (reference intensity) of the reflected light at . Then, by comparing the reflected light received by the light receiving section 84 with the reference color and reference intensity, the determining section 85 can determine whether the surface of the solar cell module P is dirty.

Note that the configurations of the light irradiation section 83 and the light reception section 84 are not particularly limited, but a plurality of light irradiation sections 83 and a plurality of light reception sections 84 are arranged along a direction intersecting (for example, perpendicular to) the moving direction of the cleaning robot 1. It is desirable to have a In this case, the area on the surface of the solar cell module P where dirt cannot be detected can be reduced. In particular, if a line sensor is used as the light receiving section 84, it becomes easier to prevent dirt from being omitted from detection.

Note that if the state detection section 81 is provided behind the cleaning section 10 in the moving direction of the cleaning robot 1, the state after cleaning by the cleaning section 10 can be determined. Moreover, if it is provided in front of the cleaning unit 10 in the moving direction of the cleaning robot 1, cleaning by the cleaning unit 10 can be adjusted depending on the state of dirt. In particular, if they are provided both in front and behind the cleaning unit 10 in the moving direction of the cleaning robot 1, both of the above-mentioned functions can be achieved.

Further, the state detection mechanism 80 may include a wind speed sensor that measures wind speed as the state detection section 81. In this case, if the control unit 30 operates the cleaning robot 1 when the wind speed is equal to or higher than a certain wind speed based on the wind speed information measured by the wind speed sensor, the cleaning effect can be enhanced. That is, when the cleaning unit 10 of the cleaning robot 1 kicks up dust, etc., the dust is easily scattered, so that the cleaning effect can be enhanced. Note that when the wind speed exceeds a certain level, the cleaning robot 1 may be damaged or malfunction, so it is desirable that the control unit 30 control the cleaning robot 1 so as not to operate.

The cleaning robot of the present invention is suitable for cleaning solar cell arrays in large-scale solar power generation facilities.

1 Cleaning robot 2 Frame 3 First frame section 4 Second frame section 10 Cleaning section 12 Brush 12a First brush 12b Second brush 20 Traveling section 21 First traveling mechanism 21a Wheel 22 Second traveling mechanism 22a Wheel 21 Third traveling mechanism 23a Wheel 30 Control section 31 Edge detection section 32 First detection section 33 Second detection section 40 Hazard control section 41 Hazard detection section 50 Guide section 51 Edge roller 61 First handle 62 Second handle 80 State detection mechanism 81 State detection section 82 Temperature detection section 83 Light irradiation section 84 Light receiving section 85 Judgment section SP Solar power generation equipment LP Solar cell array P Solar cell module EA Evacuation section

Claims (15)

A robot that cleans the surface of a solar cell array having a plurality of solar cell modules installed side by side,
a cleaning unit equipped with a brush that cleans the surface of the solar cell module;
frame and
a running section provided on the frame that causes the frame to run in a direction intersecting with a rotational axis direction of the brush of the cleaning section;
The frame includes:
A pair of bearing portions each having a bearing for rotatably holding a shaft end portion of the brush of the cleaning portion are provided,
The pair of bearing parts are
A cleaning robot characterized in that each of the cleaning robots holds the shaft end of the brush of the cleaning section so as to be swingable. The cleaning robot according to claim 1, wherein the cleaning unit includes two brushes. The frame is
The brush of the cleaning section has a first end portion and a second end portion spaced apart in the direction of the rotation axis,
The frame is
a first frame portion having the first end portion;
a second frame portion including the second end portion;
a connecting portion connecting the first frame portion and the second frame portion,
Of the two brushes mentioned above,
The first brush is
one end thereof is held by the first end of the first frame part,
the other end is held on the second end side,
The second brush is
one end thereof is held by the second end of the second frame part,
Claim 2, wherein the other end is held on the first end side so as to overlap the other end of the first brush when viewed from the direction in which the frame is run by the running section. The cleaning robot described. The cleaning robot according to claim 1, 2 or 3, wherein the bearing is a spherical bearing. comprising a control unit that controls the operation of the cleaning unit and the traveling unit,
The control unit is
The operation of the running section and/or the cleaning section is controlled such that the circumferential speed of the tip of the brush of the cleaning section is faster than the running speed of the frame by the running section. 4. The cleaning robot according to any one of 4. A robot that cleans the surface of a solar cell array having a plurality of solar cell modules installed side by side,
frame and
a running section provided on the frame and causing the frame to run along the surface of the solar cell array;
A cleaning unit that cleans the surface of the solar cell module,
The frame is
A second frame is provided so as to be relatively movable along a direction orthogonal to the running direction of the running section, and is arranged so that both parts overlap when viewed from the direction in which the frame runs by the running section. It has a first frame part and a second frame part,
The first frame part and the second frame part are provided so that the length of the frame can be changed by moving relatively along a direction perpendicular to the running direction of the running part,
The cleaning section includes two brushes,
A first brush of the two brushes is provided in the first frame portion,
A cleaning robot characterized in that a second brush of the two brushes is provided on the second frame portion. The first brush and the second brush are
7. The cleaning robot according to claim 6, wherein the cleaning robot is provided so that one end of both frames overlaps when viewed from the direction in which the frame is moved by the running section. 8. The cleaning robot according to claim 6, wherein the first frame part and the second frame part are connected to each other so as to be relatively movable and separable by a connecting mechanism. The frame includes:
a first handle provided at the first end of the frame;
a second handle provided at the second end of the frame;
The first handle is
The frame has a grip portion bent toward a surface facing the solar cell array when the frame is placed on the solar cell array,
The cleaning robot is
The cleaning robot according to any one of claims 1 to 8, wherein the cleaning robot is disposed on a solar cell array whose surface is inclined so that the first handle is located on the upper end side. The second handle is
10. The cleaning robot according to claim 9 , wherein the frame has a grip portion bent on a side opposite to a surface facing the solar cell array when the frame is placed on the solar cell array. . It includes a communication member placed on the solar cell module and passed between adjacent solar cell modules,
The communication member is
a main body portion whose length in the longitudinal direction is longer than the gap between the solar cell modules;
The cleaning robot according to any one of claims 1 to 10, further comprising: an end member that is bendably provided to an end in the longitudinal direction of the main body. The main body portion and the end member,
a traveling section placed on the solar cell module;
A fixing part for fixing the traveling part to a panel frame of a solar cell module is provided.
The cleaning robot according to claim 11, characterized in that: Equipped with a lifting mechanism to lift the cleaning robot.
The lifting mechanism is
an engagement member provided at an end of the frame;
a lift member detachably connected to the engagement member;
The lift member is
The main body and
a handle provided at one end of the main body to be held by an operator;
The cleaning robot according to any one of claims 1 to 12 , further comprising an engaging portion provided at the other end of the main body portion and connected to the engaging member. The lift member is
an upper engaging portion in which an upper engaging groove having an opening on the lower surface is formed;
a lower engaging part formed with a lower engaging groove spaced apart from the upper engaging part, the axial direction of which is parallel to the axial direction of the upper engaging groove of the upper engaging part, and having an opening on the upper surface. Ori,
The engagement member is
an upper insertion part inserted into an upper engagement groove of the upper engagement part of the lift member;
14. The cleaner according to claim 13, further comprising: a lower insertion part provided at a position apart from the upper insertion part and inserted into a lower engagement groove of the lower engagement part of the lift member. robot. The upper insertion portion of the engagement member is
The lift member is formed in a shape that can swing when inserted into the upper engagement groove of the upper engagement part,
The lift member is
The upper engagement groove of the upper engagement part has a length from its inner bottom surface to the upper surface of the lower engagement part that is longer than the length from the upper insertion part to the lower insertion part,
The lower engagement groove of the lower engagement part is formed such that the length from its inner bottom surface to the lower surface of the upper engagement part is shorter than the length from the upper insertion part to the lower insertion part. The cleaning robot according to claim 14, characterized in that:

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