WO2021070960A1 - Work device - Google Patents

Abstract

[Problem] To provide a work device capable of moving a solar cell array and working. [Solution] A work device 1 that executes work on a surface of a solar cell array LP having a plurality of solar cell modules P lined up therein. The work device comprises: a work instrument 10 that implements work on the surface of the solar cell array LP; and a travel unit 20 that moves the work instrument 10 along the direction in which the solar cell modules P are lined up. The travel unit 20 comprises a towing mechanism that pulls and moves the work instrument 10.

Description

Working equipment

The present invention relates to a working device. More specifically, the present invention relates to a work device for cleaning the surface of a solar cell array used for photovoltaic power generation.

In recent years, the demand for power generation using renewable energy has been increasing, and in particular, solar power generation using sunlight has attracted a great deal of attention. In such photovoltaic power generation, since solar power is generated by receiving sunlight from the sun, if the light receiving surface of the solar cell array (that is, the solar cell module) becomes dirty, the light transmittance of the cover glass constituting the light receiving surface decreases. , The amount of power generated is reduced. Therefore, in order to remove dirt on the light receiving surface of the solar cell array or the like, it is important to appropriately clean the solar cell array or the like.

Cleaning of a solar cell array or the like can be performed by a worker using a brush or the like, but in a large-scale photovoltaic power generation facility, the burden on the worker is heavy and a large number of workers are required.
Therefore, a cleaning device having various structures for self-propelling and cleaning the surface (light receiving surface) of the solar cell array in a large-scale photovoltaic power generation facility has been developed. (See, for example, Patent Documents 1 to 5).

Japanese Unexamined Patent Publication No. 2014-223564 JP-A-2015-178808 JP-A-2017-144413 Japanese Unexamined Patent Publication No. 2016-26861 Japanese Unexamined Patent Publication No. 2018-528071

In this way, many devices have been developed that self-propelledly clean the surface of the solar cell array, and the mechanization of the work performed by the workers is progressing. However, even the above-mentioned devices require the support of workers, and in large-scale power generation facilities, further improvement of the functions of the cleaning device is required in order to reduce the work performed by the workers.

In addition to cleaning the surface of the solar cell array, workers are currently inspecting for defects in the solar cell module, but in order to reduce the burden on the workers, the mechanization of such inspections should be further promoted. Is required.

In view of the above circumstances, an object of the present invention is to provide a working device capable of moving on a solar cell array for cleaning.

<Tow type work equipment>
The working device of the first invention is a working device that performs work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side, and includes a working device that performs work on the surface of the solar cell array. A moving portion for moving the working device along the direction in which the solar cell modules are lined up is provided, and the moving portion includes a moving mechanism for moving the working device using a cord-shaped member. It is characterized by being.
In the first invention, the working apparatus of the second invention includes the cord-shaped member connected to the working device and a drive mechanism for moving the cord-shaped member, and the cord-shaped member is provided. The member is characterized in that one end and the other end are connected to the working device to form an endless loop.
In the first invention, the working apparatus of the third invention includes the cord-shaped member connected to the working device and a driving mechanism for moving the traction member, and the cord-shaped member is provided. Is an endless member.
The working device of the fourth invention is characterized in that, in the first, second or third invention, the cord-like member is provided so as to be in non-contact with the surface of the solar cell array.
The working device of the fifth invention is the first, second, third or fourth invention in which the cord-like member is a shadow of the cord-like member on the surface of the solar cell array in the power generation state of the solar cell array. Is arranged at a position where is not formed.
In the first invention, the moving portion of the working apparatus of the sixth invention drives the cord-shaped member stretched along the surface of the solar cell array and a roller rolling on the surface of the cord-shaped member. It is characterized by having a drive mechanism.
The working device of the seventh invention is characterized in that, in the sixth invention, the drive mechanism includes a pair of rollers arranged so as to sandwich the cord-like member.
In any one of the first to seventh inventions, the work apparatus of the eighth invention is the work of the work device outside one end of the solar cell array in the direction in which the work device is moved by the movement mechanism of the moving part. It is characterized by having a retracting portion for retracting the vessel from the surface of the solar cell array.
In the eighth aspect of the invention, the working apparatus of the ninth invention includes a reaching detection unit that detects that the working device has reached an end portion of the solar cell array on the side opposite to the side where the retracting portion is provided. It is characterized by being.
<Self-propelled robot>
The working device of the tenth invention is a working device that performs work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side, and is a moving means for self-propelled operation and a surface of the solar cell array. A work robot having a work unit for carrying out work on the solar cell array, and a retracting unit for retracting the work robot from the surface of the solar cell array are provided, and the work robot moves to the retracted unit. It is characterized in that it moves to the edge of the solar cell array and then moves to the retracted portion along the edge of the solar cell array.
The working apparatus of the eleventh invention is characterized in that, in the tenth invention, the retracting portions are provided at a plurality of places.
<Transport path>
The working device of the twelfth invention is a working device for performing work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side along the axial direction of a swing axis, and is a moving device for self-propelled operation. Provided between a working robot having means and a working portion for performing work on the surface of the solar cell array, and adjacent solar cell arrays arranged side by side along the axial direction of the swing axis. The transport path is provided with a transport path on which the work robot can travel, and the transport path is around an axis whose first end is parallel to the surface of the solar cell array with respect to one of the adjacent solar cell arrays. The second end of the solar cell array is mounted on one of the adjacent solar cell arrays.
The working device of the thirteenth invention is a working device for performing work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side along the axial direction of a swing axis, and is a moving device for self-propelled operation. It is provided with a work robot having means, a work unit for performing work on the surface of the solar cell array, and a transport path provided between adjacent solar cell arrays on which the work robot can travel. The transport path is installed so that the upper surface thereof is substantially horizontal and the surface of the solar cell array is substantially horizontal so that the surface of the solar cell array and the upper surface thereof are substantially the same height. It is characterized by being.
In the thirteenth invention, the working apparatus of the fourteenth invention is provided such that the transport path is provided so as to connect adjacent solar cell arrays arranged side by side along the axial direction of the swing shaft. It is characterized in that it is arranged so as to be located outside the axial end of the swing axis of the solar cell array.
<Status detection>
In any one of the first to the fourteenth inventions, the working apparatus of the fifteenth invention includes a state detection mechanism for detecting the state of the solar cell array, and the state detection mechanism detects the state of the solar cell array. It is characterized by including a state detection unit for determining the state of the solar cell array and a determination unit for determining the state of the solar cell array based on the information detected by the state detection unit.
The working apparatus of the 16th invention is characterized in that, in the 15th invention, the state detecting unit includes a temperature detecting unit that detects the temperature of the solar cell array.
In the fifteenth invention, the working apparatus of the seventeenth invention includes a light irradiation unit in which the state detection unit irradiates the surface of the solar cell array with light, and the light irradiated by the light irradiation unit is the surface of the solar cell array. It is provided with a light receiving unit that receives the reflected light reflected by the above, and the determination unit has a function of determining dirt on the surface of the solar cell array based on the reflected light received by the light receiving unit. It is characterized by.

<Tow type work equipment>
According to the first invention, since the moving mechanism is moved by using the cord-shaped member, the working device can be stably moved along the surface of the solar cell array.
According to the second to fifth inventions, since the working device does not have a moving mechanism, the weight of the working device can be reduced. Moreover, since the work device is moved by the drive mechanism that moves the cord-shaped member, the work can be performed at a desired timing regardless of the inclination angle of the surface of the solar cell array or the like. It is possible to prevent the work equipment and the drive mechanism from adversely affecting the power generation of the solar cell module, such as lowering the power generation efficiency.
According to the sixth and seventh inventions, since the working device can be moved along the cord-like member, the working device can be stably moved along the surface of the solar cell array.
According to the eighth invention, the movement of the work equipment can be appropriately controlled, and the number of devices required for control can be reduced.
<Self-propelled robot>
According to the ninth invention, since the working robot returns to the evacuation section along the edge of the solar cell array, the working robot can be stably returned to the evacuation section.
According to the tenth invention, the time for returning the working robot to the evacuation unit can be shortened.
<Transport path>
According to the twelfth to fourteenth inventions, since the working robot can be shared by a plurality of solar cell arrays, the working apparatus can be simplified.
<Status detection>
According to the fifteenth invention, since the state of the solar cell array can be appropriately grasped, the work can be performed according to the state of the solar cell array.
According to the sixteenth invention, the work can be performed according to the temperature of the solar cell array.
According to the seventeenth invention, since the dirt on the surface of the solar cell array can be detected, the work can be carried out according to the state of the dirt.

It is a schematic explanatory view of the state which the working apparatus 1 of 1st Embodiment was installed in the solar cell array LP, (A) is a plan view, and (B) is a sectional view taken along line BB of (A). It is a schematic explanatory view of the state in which the working apparatus 1 of the 1st Embodiment is installed in the solar cell array LP in which the solar cell modules P are arranged in two stages, (A) is a plan view, (B) is (A). It is a cross-sectional view taken along the line BB. It is a schematic explanatory view of the work apparatus 10 in the work apparatus 1 of the 1st Embodiment, (A) is a plan view, and (B) is the BB line arrow view of (A). It is a schematic explanatory drawing in the case where the working apparatus 1 of 1st Embodiment is made movable between solar cell array LPs. It is a schematic explanatory drawing of the photovoltaic power generation equipment SP which has a plurality of solar cell array LPs. It is a schematic plan view of the work robot 101 of the work apparatus 1 of the 2nd Embodiment. It is the schematic explanatory drawing of the operation of the work robot 101 of the work apparatus 1 of the 2nd Embodiment. It is a schematic explanatory drawing of the work robot 101 of the work apparatus 1 of the 2nd Embodiment which performs a cleaning work. It is a schematic front view of the work robot 101 of the work apparatus 1 of the 2nd Embodiment which performs a cleaning work. It is the schematic explanatory drawing of the operation of the work robot 101 of the work apparatus 1 of the 2nd Embodiment traveling on the solar cell array LP which has a groove G. It is a schematic plan view of the work robot 101 of another embodiment. It is a schematic plan view of the work robot 101 of another embodiment. It is a schematic plan view of the work robot 101 of another embodiment. FIG. 5 is a schematic plan view of a work robot 101 including an edge detection unit 131 in which the outer detection unit 132 and the inner detection unit 133 have a plurality of sensors. It is the schematic explanatory drawing of the situation which the working robot 101 of the working apparatus 1 of the 2nd Embodiment moves along the edge SE of the solar cell array LP. FIG. 5 is a schematic explanatory view of a photovoltaic power generation facility SP in which the work robot 101 of the work device 1 of the second embodiment performs work such as cleaning. It is explanatory drawing of the operation of the work robot 101 of the work apparatus 1 of the 2nd Embodiment, (A) is the explanatory view of the movement path of the work robot 101 in cleaning work, (B) is the work robot 101 in the evacuation part 30. It is explanatory drawing of the movement path at the time of returning. It is a schematic plan view of the work apparatus 1 of the 2nd Embodiment provided with the transport path DR. It is a schematic explanatory view of the state in which the working apparatus 1 to which the cord-like member 22 is fixed is installed in the solar cell array LP, (A) is a plan view, and (B) is a side view. It is a schematic explanatory drawing in the case where the working apparatus 1 of 1st Embodiment is made movable between the solar cell array LP arranged in series. It is a schematic explanatory drawing in the case where the working apparatus 1 of the 2nd Embodiment is made movable between the solar cell array LP arranged in series. It is a schematic explanatory view of the solar cell array LP provided with the swinging transport path DR, and (A) is the schematic explanatory view of the state where the other end of the transport portion Db of the transport path DR is placed on the holding plate LM. (B) is a schematic explanatory view of a state in which the angles of the surfaces of the adjacent solar cell arrays LP1 and LP2 are greatly deviated from each other.

The working device of the present embodiment is a working device that performs work while moving the surface of a solar cell array having a plurality of solar cell modules arranged side by side along the direction in which the plurality of solar cell modules are arranged. ..

The solar cell array in which the work is carried out by the working device of the present embodiment and the solar cell modules constituting the solar cell array are not particularly limited. A tracking type solar cell array in which a plurality of solar cell modules having a panel frame are arranged side by side, or a solar cell array having a plurality of fixed solar cell modules having a panel frame (in other words, a non-tracking type solar cell array, non-tracking). Can also be used for type). It can also be used in solar cell arrays (including tracking type and non-tracking type) in which frameless solar cell modules are arranged side by side.

Further, in the present specification, the “surface of the solar cell module” means the surface of the power generation region where power is generated in the solar cell module. For example, in the case of a frameless solar cell module, almost the entire surface is the power generation area, but in the case of a solar cell module having a panel frame, the part other than the panel frame (the part surrounded by the frame in a plan view) is the power generation area. become.
The "surface of the solar cell array" means the "surface of the solar cell module". The term "on the solar cell array" is a concept that includes both the "surface of the solar cell module" and the "panel frame" in the "solar cell array" formed of the solar cell module having the panel frame.

The work performed by the work device of this embodiment is not particularly limited. For example, cleaning the surface of a solar cell array to which the work equipment moves, inspecting defects on the surface, measuring the surface shape and thickness of members, measuring the surface temperature, measuring the surface roughness, measuring the light reflectance and glossiness on the surface. Measurement, measurement of other physical quantities, etc. correspond to the work performed by the work apparatus of this embodiment. In addition, collection and observation of substances on the surface of the solar cell array, peeling of deposits and paint on the surface, painting and surface treatment before that, and coating work also correspond to the work performed by the working apparatus of this embodiment. .. Further, sticking of a film or the like to the surface of the solar cell array, polishing, marking, etc. can also be mentioned as the work performed by the working apparatus of the first embodiment. Then, communication by presenting information and the like can be mentioned as the work to be carried out by the work device of the first embodiment.

Hereinafter, a case will be described in which the working device of the present embodiment cleans the surface of a tracking type solar cell array formed by arranging a plurality of solar cell modules having a panel frame.

When the work device of the present embodiment performs work other than cleaning, a work device, a sensor, an instrument, or the like is provided at a position where the cleaning member 15 described later is provided. For example, the work performed by the work apparatus of the present embodiment is a flat surface defect inspection, a surface shape or member thickness measurement, a temperature measurement, a surface roughness measurement, a light reflectance or glossiness measurement on a surface, or the like. In the case of physical quantity measurement, various sensors used for each measurement are provided. Further, when the work performed by the work apparatus of the present embodiment is a coating work or a painting work on the surface of the solar cell array, an instrument such as a spray nozzle is provided. Further, if the work carried out by the working apparatus of the present embodiment is a peeling treatment such as a deposit or coating on the surface of the solar cell array, a polishing treatment, or a base treatment before coating or the like, shot blasting, rotary type, or vibration is performed. A type of polishing device is provided. When the work performed by the work apparatus of the present embodiment is to attach a film or the like to the surface of the solar cell array, a roller or the like is provided. When communication or the like by presenting information is performed by the working device of the present embodiment, a display, an LED, a speaker, or the like is provided.

<Solar power generation equipment SP>
First, before explaining the work device 1 of the present embodiment, the photovoltaic power generation facility SP in which the work device 1 of the present embodiment performs work such as cleaning will be briefly described. As shown in FIG. 5, the photovoltaic power generation facility SP has a plurality of rows of solar cell array LPs including a plurality of solar cell modules P. The solar cell array LP is connected by the swing axis SS of the gantry MT in a state where the end edges of the plurality of solar cell modules P are aligned so as to be lined up in substantially the same straight line. More specifically, in the solar cell array LP, a plurality of solar cell modules P are arranged so that their surfaces are substantially flush with each other and connected by a swing axis SS of a gantry MT. The solar cell array LP can swing a plurality of solar cell modules P at the same time and at the same angle by rotating the swing shaft SS. Therefore, the solar cell array LP can make the plurality of solar cell modules P follow the sun and adjust the inclination of the surface of the plurality of solar cell modules P so as to optimize the power generation efficiency.

Normally, the solar cell array LP has both ends (first end portion P1) in a direction orthogonal to the direction in which a plurality of solar cell modules P are arranged along the swing axis SS in a state where the surface thereof is horizontal. And the intermediate line between the second end P2) is connected to the swing shaft SS so as to be located approximately vertically above the central axis of the swing shaft SS (including the case where a deviation of up to about 80 mm occurs). There is.

The solar cell array LP may have a plurality of solar cell modules P arranged in a row or may have a plurality of rows in which a plurality of solar cell modules P are arranged (see FIG. 2). In the present specification, the "first end portion P1 and second end portion P2 of the solar cell array LP" are the ends of the solar cell module P located on the outermost side in the direction orthogonal to the axial direction of the swing axis SS. It shall mean a part. For example, when the solar cell array LP has only one row in which a plurality of solar cell modules P are arranged, both ends of the solar cell module P are "first end portions P1 and second of the solar cell array LP". It becomes "end P2". Further, when the solar cell array LP has two rows of upper and lower solar cell modules P in which a plurality of solar cell modules P are arranged, the upper end portion of the upper solar cell module P and the lower end portion of the lower solar cell module P are "suns". It corresponds to the first end portion P1 and the second end portion P2 of the battery array LP.
In each "solar cell module P", both ends in a direction orthogonal to the axial direction of the swing axis SS are "first end portion P1 and second end portion P2 of the solar cell module P".

Further, "the edge of the first end portion P1 of the solar cell array LP (first end edge)" and "the edge edge of the second end portion P2 of the solar cell array LP (second end edge)" are the solar cells. If the solar cell module P constituting the array LP is a frameless solar cell module P, a surface (first end surface or first surface) intersecting the surface of the solar cell array LP at the first end portion P1 and the second end portion P2. It means the intersection line between the two end faces) and the surface of the solar cell array LP.
On the other hand, in the case where the solar cell module P constituting the solar cell array LP is a solar cell module P having a panel frame, the panel frame intersecting the upper surface of the panel frame at the first end portion P1 and the second end portion P2. The side surface becomes the first end surface or the second end surface. Then, at the first end portion P1 and the second end portion P2, the line of intersection of the upper surface of the panel frame and the first end surface or the second end surface is "the end edge (first) of the first end portion P1 of the solar cell array LP. Edge edge) ”or“ edge edge (second edge edge) of the second end portion P2 of the solar cell array LP ”.
In each "solar cell module P", in the case of the frameless solar cell module P, the surface intersecting the surface of the solar cell module P at the first end P1 and the second end P2 of the solar cell module P ( The intersection line between the first end surface or the second 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 the solar cell module P having a panel frame, the upper surface of the panel frame at the first end P1 and the second end P2 of the solar cell module P intersects with the side surface of the panel frame intersecting the upper surface of the panel frame. The intersection is the "first end edge (second end edge) of the solar cell module P".

Further, "the first end edge (or the second end edge) of the solar cell array LP (or the solar cell module P) is aligned so as to be arranged in substantially the same linear shape" means that the first end edge of the solar cell array LP (or the solar cell module P) is aligned. When the first end edges (or the second end edges) of the adjacent solar cell modules P forming the edge (or the second edge) are completely aligned, and when the first end edge (or the second edge) is aligned completely. This includes the case where there is a slight deviation between the first end edges (or the second end edges) of the adjacent solar cell modules P forming the two end edges). When there is a slight deviation between the first end edges (or the second end edges) of the adjacent solar cell modules P forming the first end edge (or the second end edge), the first end edge (or the second end edge) is formed. When the first end edges (or the second end edges) of the adjacent solar cell modules P forming the second edge) are almost parallel, but there is a slight deviation in height or in the horizontal direction (for example, about 0 to 5 mm). ) And the case where the position of the solar cell module P in the direction along the surface is deviated (for example, about 0 to 20 mm). Further, the case where the first end edges (or the second end edges) of the adjacent solar cell modules P forming the first end edge (or the second end edge) are relatively inclined is included. For example, when it is tilted by about 0 to 1 degree in a plane parallel to the surface of the solar cell module P, or when it is tilted by about 0 to 2 degrees in a plane parallel to the first end surface (second end face) of the solar cell module P. Includes cases where

Further, "the surfaces of a plurality of solar cell modules P are substantially flush with each other" is a concept including a case where the angles formed by the surfaces of adjacent solar cell modules P are displaced by about 0 to 1 degree. It also includes the case where there is a slight difference in height between the surfaces of the adjacent solar cell modules P (for example, about 0 to 5 mm).

<Working device 1>
Hereinafter, the working device 1 of the present embodiment will be described with reference to the drawings.
In the drawings, some parts are omitted as appropriate to make the structure easier to understand.

In the working device 1 of the present embodiment, the working device 10 is moved along the solar cell array LP on the solar cell array LP provided with the plurality of solar cell modules P in the photovoltaic power generation facility SP, and the plurality of suns are moved. The surface of the battery module P is cleaned by the working device 10. Specifically, while moving the work equipment 10 along the direction in which the plurality of solar cell modules P of the solar cell array LP are arranged, in other words, along the axial direction of the swing axis SS of the gantry MT, the plurality of solar cell modules P are arranged. The surface of the solar cell module P is cleaned by the working device 10.

As shown in FIG. 1, the work apparatus 1 of the present embodiment includes the above-mentioned work device 10, a moving unit 20 for moving the work device 10, and a retracting unit 30 for retracting the work device 10 from the solar cell array LP. , Is equipped.

<Moving part 20>
First, the moving unit 20 moves the working device 10 on the solar cell array LP along the solar cell array LP. Specifically, the solar cell modules P are moved along the direction in which the plurality of solar cell modules P are arranged, in other words, along the axial direction of the swing axis SS of the gantry MT. The moving portion 20 includes a traction mechanism 21, and the traction mechanism 21 has a cord-like member 22 connected to the work device 10 and a drive mechanism 25 for moving the cord-like member 22.

<Towing mechanism 21>
As shown in FIG. 1, the traction mechanism 21 has a pair of cord-shaped members 22, 22. The pair of cord-shaped members 22, 22 are all arranged so as to be located outside the first end portion P1 and the second end portion P2 of the solar cell array LP. Moreover, in the power generation state (state in which sunlight is received) of the solar cell array LP, the pair of cord-shaped members 22, 22 are arranged at positions so as not to be shadowed on the power generation region of the solar cell array LP. There is. That is, the pair of cord-shaped members 22 and 22 are installed at positions where the power generation efficiency of the solar cell array LP does not decrease even if the pair of cord-shaped members 22 and 22 are provided.

Each of the pair of cord-shaped members 22 and 22 is formed in an endless loop shape so as to move in parallel with the axial direction of the swing shaft SS of the gantry MT. For example, one end and the other end of each cord-like member 22 are connected to the chassis frame 11 of the work equipment 10 to form an endless loop, and the pulley 22p, sprockets, etc. are formed near both ends of the swing shaft SS of the gantry MT. It is wrapped around.

As shown in FIG. 1, the traction mechanism 21 includes a drive mechanism 25. The drive mechanism 25 is capable of orbiting each cord-like member 22. That is, the drive mechanism 25 is configured so that each cord-shaped member 22 can be moved along the axial direction thereof, in other words, the axial direction of the swing shaft SS of the gantry MT. For example, when a motor is adopted as the drive source of the drive mechanism 25, a structure in which the main shaft of the motor is connected to the pulley 22p and the rotation shaft of the sprocket can be adopted. Then, if the pair of cord-shaped members 22, 22 are moved in the opposite direction, the working device 10 can be moved in the direction in which the pair of cord-shaped members 22, 22 move. That is, the work equipment 10 can be moved along the axial direction of the swing shaft SS of the gantry MT.

When a general electric motor is used as the drive source of the drive mechanism 25, it is necessary to supply electric power. In this case, electric power may be supplied from the outside, or a part of the electric power generated by the solar cell array LP may be stored in a battery or a capacitor and operated by the electric power. Further, a power generation device (solar panel or the like) for the work device may be provided, and the electric power generated by the power generation device may be stored.

Further, a hydraulic motor or a pneumatic motor may be used as the motor used as the drive source of the drive mechanism 25. In this case, a hydraulic source or a pneumatic source for driving the hydraulic motor or the pneumatic motor may be provided.

Further, the electric power generated by the solar cell array LP or the like may be converted into mechanical energy by an actuator and stored, and the pair of cord-shaped members 22, 22 may be moved by the stored energy. The method of converting into mechanical energy is not particularly limited. For example, the spring may be contracted or extended to store energy, or the weight may be lifted to store energy.

In the above example, the case where the pair of cord-shaped members 22 and 22 is provided has been described, but the cord-shaped members 22 may be one or three or more. In the case of one, if the cord-like member 22 is arranged between the first end P1 and the second end P2 of the solar cell array LP, the work device 10 can be mounted on the axis of the swing axis SS of the gantry MT. It can be moved stably along the direction. In this case, the shadow of the cord-shaped member 22 may be formed on the power generation region of the solar cell array LP. However, in the case of a solar cell array LP in which the solar cell modules P are arranged on both sides of the swing axis SS, if the cord-like member 22 is arranged so as to be located in the vicinity of the swing axis SS, the solar cell array It is possible to prevent the shadow of the cord-shaped member 22 from being formed on the power generation region of the LP (FIG. 2).

Further, if the cord-shaped member 22 is in contact with the solar cell module P, the solar cell module P and the cord-shaped member 22 may be damaged when the cord-shaped member 22 moves. Therefore, it is desirable that the cord-shaped member 22 is arranged so as to be in non-contact with the solar cell module P.

Further, in the above example, the case where both ends of the cord-like member 22 are connected to the chassis frame 11 of the work device 10 to form an endless loop has been described. However, the cord-like member 22 itself may be formed of an endless loop (such as an endless belt or an endless chain). Even in this case, the chassis frame 11 of the work tool 10 and the cord-shaped member 22 may be connected via the connecting tool. In particular, if a sprocket, a pulley, or the like is provided on the work equipment 10 so that the cord-like member 22 is wound around the sprocket or the like, the moving force of the cord-like member 22 is applied to the wheels provided on the chassis frame 11 of the work equipment 10. It can be used as a driving force for rotating 12. When a brush is used as the cleaning member 15, the moving force of the cord-shaped member 22 can be used as a driving force for rotating the brush. "The moving force of the cord-shaped member 22 is used as a driving force for rotating the wheel 12 provided on the chassis frame 11 of the work device 10" means that the moving force of the cord-shaped member 22 is transmitted to the wheel 12 by the transmission mechanism. This includes both the case where the wheel 12 is rotated by the wheel 12 and the case where the wheel 12 is rotated by friction with the solar cell module P simply by pulling the chassis frame 11.

Further, the cord-shaped member 22 is not formed in an endless loop shape, but the cord-shaped member 22 is provided on both sides of the work device 10, and each cord-shaped member 22 is moved by an individual (or one) drive source of the drive mechanism 25. You may let it.

Further, the cord-shaped member 22 is not particularly limited as long as it has a tensile strength capable of generating sufficient tension when the work device 10 is moved. For example, a wire, a string, a fishing line, a rope, a chain, a belt (for example, a flat belt, a round belt, a V-belt, a toothed belt, etc.) can be used as the cord-like member 22. Further, the material of the cord-shaped member 22 is not particularly limited. For example, metal, synthetic resin, synthetic fiber, rubber, or the like can be adopted. In particular, those having little decrease in flexibility and strength even when exposed to sunlight or the like are preferable.

<Evacuation section 30>
The working device 1 of the present embodiment is provided with a retracting unit 30 for retracting the working device 10 from the solar cell array LP in a state where the working device 10 does not perform work such as cleaning. The retracting portion 30 is arranged at one end of the solar cell array LP on the outer side in the axial direction of the swing shaft SS (the left end in FIGS. 1 and 2). The upper surface of the retracting portion 30 is arranged substantially horizontally. Further, the height of the retracting portion 30 is provided so as to be substantially the same as the height of the surface of the solar cell array LP when the surface of the solar cell array LP is horizontal. Therefore, if the surface of the solar cell array LP is made horizontal, the working device 10 can be moved from the retracting unit 30 onto the solar cell array LP, or the working device 10 can be retracted from the solar cell array LP to the retracting unit 30. ..

The retracting unit 30 may swing together with the solar cell array LP. In this case, if the evacuation portion 30 is arranged so that the upper surface thereof is substantially the same plane as the surface of the solar cell array LP, the work device 10 can be moved to the solar cell array LP regardless of the inclination of the solar cell array LP. Can be moved between and the retracting unit 30. In this case, since the work equipment 10 always swings together with the solar cell array LP, it is necessary to provide the above-mentioned traction mechanism 21 so as to swing together with the solar cell array LP.

When the solar cell array LP is a non-tracking type (fixed type), it is desirable that the upper surface of the retracting portion 30 is located on the same plane as the surface of the solar cell array LP.

<Control device 40>
The control device 40 controls the operation of the drive mechanism 25 of the traction mechanism 21 to control the movement of the work equipment 10. For example, the movement of the work equipment 10 is controlled by directly detecting the position of the work equipment 10 or by detecting the movement of the cord-like member 22 of the traction mechanism 21. The control device 40 may be installed in the vicinity of the solar cell array LP such as the evacuation unit 30, or may be installed in a management building or the like away from the solar cell array LP.

The control device 40 has an evacuation detection unit that detects whether or not the work device 10 is arranged in the evacuation unit 30. Further, when the work device 10 is not arranged in the retracted portion 30, that is, when it is arranged on the solar cell array LP, the work device 10 reaches the end opposite to the retracted portion 30 in the solar cell array LP. It has a arrival detection unit that detects whether or not it has been done.

First, as the evacuation detection unit for detecting whether or not the work device 10 is arranged in the evacuation unit 30, a sensor for detecting the presence or absence of the work device 10 may be provided in the evacuation unit 30 to serve as the evacuation detection unit. .. In this case, as the sensor, a limit switch, a photo interrupter, a proximity sensor, an ultrasonic sensor, a photoelectric switch, or the like can be adopted.

Further, as a reach detection unit for detecting whether or not the work device 10 has reached the end on the opposite side of the retracted portion 30 in the solar cell array LP, the end on the opposite side of the retracted portion 30 in the solar cell array LP is used. , A method in which a sensor for detecting the work device 10 is provided as a arrival detection unit can be adopted. When the sensor detects the work device 10, the control device 40 controls the operation of the drive mechanism 25 of the traction mechanism 21 to stop the movement of the work device 10 or move it toward the retracting unit 30. Then, it is possible to prevent the working device 10 from falling from the end portion of the solar cell array LP opposite to the retracted portion 30.

On the other hand, the drive mechanism 25 of the traction mechanism 21 may be provided with a function of detecting the movement of the cord-like member 22 of the traction mechanism 21 to serve as the arrival detection unit. In this case, if the moving distance of the cord-shaped member 22 is measured by a tachometer such as an encoder or a potentiometer or a range finder, the working device 10 is a retracted portion in the solar cell array LP based on the moving amount of the cord-shaped member 22. It is possible to detect whether or not the end on the opposite side of 30 has been reached. In this configuration, the control device 40 not only determines whether the work device 10 has reached the opposite end, but also the cord-like member 22 based on the information supplied from the arrival detection unit. The position of the work device 10 may be grasped based on the amount of movement of the work device 10.

Then, when measuring the moving distance of the cord-shaped member 22, the control device and the drive device of the work device 1 can be easily arranged in a centralized manner, so that maintainability and the like can be improved. For example, devices such as a drive mechanism 25, a control device 40, and the above sensors are collectively arranged in the vicinity of the evacuation unit 30 or the like. Then, since the work such as maintenance can be performed in the vicinity of the evacuation unit 30, the work efficiency of the maintenance can be improved and the burden on the operator can be reduced. Further, since it is not necessary to provide a sensor or the like at the end of the retracting portion 30 or the solar cell array LP on the opposite side of the retracting portion 30, the structure of the working device 1 can be simplified.

<Operation of work device 1>
Since the working device 1 has the above configuration, the surface of the solar cell array LP can be cleaned by the working device 10.

First, in the non-cleaning state, the work equipment 10 is arranged on the evacuation unit 30.
When cleaning the surface of the solar cell array LP, first, the surface of the solar cell array LP is arranged horizontally. Then, since the surface of the solar cell array LP and the upper surface of the retracted portion 30 are at the same height, the control device 40 operates the drive mechanism 25 of the traction mechanism 21, and the working device 10 moves the solar cell array from the retracted portion 30. The cord-like member 22 is moved so as to move on the LP.

When the work device 10 moves onto the solar cell array LP, the drive mechanism 25 of the traction mechanism 21 further sets the cord-like member 22 so that the work device 10 faces the opposite end of the retracted portion 30 of the solar cell array LP. Move. At this time, the surface of the solar cell module P is cleaned by the cleaning member 15, and dust and the like are moved toward the opposite end of the retracted portion 30 of the solar cell array LP.

Eventually, when the work device 10 reaches the opposite end of the retracted portion 30 of the solar cell array LP, the control device 40 controls the drive mechanism 25 of the traction mechanism 21 to stop the movement of the cord-like member 22. Stop the movement of the work device 10. At this time, if the cleaning member 15 is made to protrude from the opposite end of the retracting portion 30 of the solar cell array LP, dust and the like that have moved together with the cleaning member 15 (that is, together with the work equipment 10) are removed from the solar cell. It can be dropped from the opposite end of the retracted portion 30 of the array LP.

After that, the control device 40 operates the drive mechanism 25 of the traction mechanism 21 to move the cord-like member 22 in the opposite direction, and moves the work device 10 toward the retracting portion 30. At this time as well, the surface of the solar cell array LP can be cleaned by the cleaning member 15. Then, when the work device 10 reaches the end of the solar cell array LP on the retracted portion 30 side, the control device 40 controls the drive mechanism 25 of the traction mechanism 21 to stop the movement of the cord-shaped member 22, and the work device 10 is used. Stop the movement of 10.

By repeating the above work, the work device 10 can clean the surface of the solar cell array LP.

The operation of the work device 10 may be controlled by a timer provided in the control device 40, or may be supplied to the control device 40 from the outside (for example, a management building) via wireless or wired. It may be controlled based on the operation signal.
Further, the control device 40 is time information obtained based on a global positioning system (GNSS) such as GPS provided in the control device 40 or a standard radio wave (radio wave received by a radio clock). Then, the work device 10 may be operated at a time when the conditions are met with reference to the preset operation time.
The number of times the work device 10 is cleaned by one cleaning operation (that is, the number of times the solar cell array LP is reciprocated once) may be a preset number of times in the control device 40, or an operation transmitted from the outside. It may be carried out based on the information of the number of times.

<When the cord-shaped member 22 is fixed>
In the above example, the work device 10 is connected to the cord-shaped member 22, and the cord-shaped member 22 is moved by the drive mechanism 25 of the traction mechanism 21 to move the work device 10. Instead of this configuration, the cord-shaped member 22 may be fixed so that the working device 10 moves along the cord-shaped member 22.

For example, as shown in FIG. 19, the cord-shaped member 22 is installed above the surface of the solar cell array LP so as to be parallel to the swing axis SS.

On the other hand, the work equipment 10 is provided with a pair of rollers 26, 26 installed so as to sandwich the cord-shaped member 22 from the vertical direction (see FIG. 19B). The pair of rollers 26, 26 is, for example, a pulley or the like, and has a structure capable of accommodating the cord-shaped member 22 in a groove or the like and holding the cord-shaped member 22 so as not to come off from the roller 26.

Of the pair of rollers 26, 26, one or both rollers 26 are connected to a drive source 27 such as a motor by a transmission mechanism (for example, a gear mechanism or the like). That is, when the drive source 27 is driven, one or both rollers 26 are connected to the drive source 27 so that one or both rollers 26 are rotated by the driving force.

With such a configuration, if the drive source 27 is driven, one or both rollers 26 can be rotated. Then, the roller 26 rolls on the surface of the cord-shaped member 22 due to the frictional force between the roller 26 and the cord-shaped member 22, so that the work device 10 provided with the roller 26 is moved along the cord-shaped member 22. You can do it.

Even when the roller 26 is driven to move the work device 10 along the cord-like member 22, the control device is similar to the case where the operation of the drive mechanism 25 of the traction mechanism 21 is controlled to move the work device 10. The movement of the work equipment 10 may be controlled by 40 (not shown in FIG. 19). For example, the evacuation detection unit and the arrival detection unit may be provided, and the control device 40 may grasp the position of the work equipment 10 and control the movement of the work equipment 10 in response to a signal from the evacuation detection unit or the arrival detection unit. .. Further, an encoder or the like may be provided on the rotation shaft of the roller 26 to detect the rotation amount of the roller 26, and the control device 40 may control the movement of the work equipment 10 based on the rotation amount of the roller 26. In this case, the control device 40 may be mounted on the work device 10, or may be installed at a place away from the work device 10 such as the evacuation unit 30, and the drive source 27 or the like of the work device 10 may be operated wirelessly or the like. You may control it.

Further, in the above example, an example in which the pair of rollers 26, 26 are arranged so as to sandwich the cord-shaped member 22 from the vertical direction has been described. It may be sandwiched from the direction. For example, a pair of rollers 26, 26 may be arranged so as to sandwich the cord-shaped member 22 from the horizontal direction, or a pair of rollers 26, 26 may be arranged so as to sandwich the cord-shaped member 22 from an oblique direction with respect to the horizontal direction. May be arranged.

Also, only one roller 26 may be provided. In this case, the roller 26 may be arranged so as to be hooked from above the cord-shaped member 22, or may be arranged so as to push up the cord-shaped member 22 by the roller 26. When the roller 26 is rotated, the roller 26 is brought into contact with the cord-shaped member 22 so that a sufficient frictional force that can move the work device 10 is generated between the cord-shaped member 22 and the roller 26. Just do it.

Further, a toothed belt or the like may be adopted as the cord-shaped member 22. In this case, if a gear is used as the roller 26, the cord-like member 22 and the roller 26 can be in a meshed state, so that the work device 10 can be reliably moved by a length corresponding to the rotation of the roller 26. it can.

<Worker 10>
Hereinafter, the work device 10 for carrying out the above-mentioned work will be described in detail.

As shown in FIG. 3, the work device 10 includes a chassis frame 11 and wheels 12 for moving the work device 10 on the solar cell array LP. Further, the work device 10 includes a cleaning member 15 that cleans the surface of the solar cell array LP when it is moved on the solar cell array LP by the wheels 12. Further, the work device 10 includes a support mechanism 50 that supports the movement of the work device 10 along the axial direction of the swing shaft SS.

<Chassis frame 11>
As shown in FIG. 3, the chassis frame 11 is a member whose axial direction (horizontal direction in FIG. 3B) is longer than its width (vertical direction in FIG. 3B). The chassis frame 11 is provided with wheels 12 and a cleaning member 15. Further, first and second support portions 51 and 52 of the support mechanism 50 are attached to both shaft ends of the chassis frame 11, respectively.

A handle 10f is provided at the central portion of the chassis frame 11 in the axial direction, which is used when the operator needs to lift the work device 10 such as when installing or maintaining the work device (FIG. 3 (FIG. 3). A)). The position where the handle 10f is provided is not particularly limited. It may be provided at both ends of the chassis frame 11 in the axial direction. That is, instead of the handle 10f at the center of the chassis frame 11 in the axial direction, or together with the handle 10f at the center of the chassis frame 11 in the axial direction, the operator puts the work equipment on both ends of the chassis frame 11 in the axial direction. A handle used for lifting the 10 may be provided.

<Wheel 12>
Wheels 12 are provided on the lower surface of the chassis frame 11. The wheels 12 are provided so that the wheels 12 are arranged at predetermined positions of the solar cell module P when the work device 10 is arranged on the solar cell array LP. For example, as shown in FIG. 2, in the case where the solar cell array LP is formed by providing two rows of solar cell modules P, when the work device 10 is arranged on the solar cell array LP, the sun Wheels 12 may be provided so as to be arranged on the upper end and lower end panel frames of each solar cell module P of the battery array LP. Specifically, when the work device 10 is arranged on the surface of the solar cell array LP, the panel frame at the upper end of the solar cell module P located on the upper side and the panel frame at the lower end of the solar cell module P located on the lower side. Wheels 12 (intermediate wheels) may be provided so as to be arranged in the lower panel frame of the solar cell module P located on the upper side and / or the upper panel frame of the upper end of the solar cell module P located on the lower side, respectively. Good. It should be noted that the intermediate wheels do not necessarily have to be provided.

If the solar cell array LP is formed by providing only one stage of the solar cell module P (see FIGS. 1 and 3), when the work device 10 is arranged on the solar cell array LP, The wheels 12 are provided so as to be arranged on the panel frames at the upper end and the lower end (that is, the first end and the second end of the solar cell array LP) of the solar cell module P, respectively.

Further, in the case where the solar cell array LP is formed by providing the solar cell modules P in three or more stages, when the work device 10 is arranged on the solar cell array LP, the upper end of each solar cell module P and the upper end of each solar cell module P are formed. The wheels 12 may be provided so as to be arranged in the panel frame at the lower end (or arranged in the panel frame of some solar cell modules P).

Further, in the case where a plurality of frameless solar cell modules P are arranged side by side to form the solar cell array LP, the frameless solar cell module P is deformed when the work device 10 is arranged on the solar cell array LP. It is desirable to provide the wheels 12 at positions where the force to cause them can be reduced.

Further, when the work device 10 is arranged on the solar cell array LP, the wheel 12 has the lower end of the wheel 12 on the solar cell module P (panel frame or the surface of the solar cell module P) before the chassis frame 11. It is provided so as to come into contact with each other.

Further, the diameter and width of the wheel 12 are not particularly limited. In the wheel 12, the cleaning member 15 (for example, in the case of a brush, a part of the tip (a portion located below) of the cleaning member 15) described later is the solar cell array LP in a state where the work device 10 is arranged on the solar cell array LP. It suffices if it is provided so as to come into contact with the surface. Further, all the wheels 12 do not have to have the same diameter and width, but those having the same diameter and width can stabilize the movement of the work equipment 10. In particular, if all the wheels 12 have the same diameter and width, the movement can be more stable.

Also, the structure and material of the wheel 12 are not particularly limited. It is possible to use a material formed of general rubber or a resin material such as urethane resin, or a material provided with rubber or a resin material such as urethane resin in contact with the solar cell array LP. it can. In particular, when the solar cell array LP is formed of the frameless solar cell module P, even if the wheels 12 move on the surface of the solar cell array LP, the portion in contact with the surface of the solar cell array LP is the sun. It is desirable that the battery array LP is made of a material that does not easily damage the surface (glass, surface coating, etc.) or a material that has hardness (flexibility).

<Cleaning member 15>
As shown in FIG. 3A, the cleaning member 15 is provided on the lower surface side of the chassis frame 11. Specifically, the length of the cleaning member 15 in the axial direction is longer than the length between the first and second ends P1 and P2 of the solar cell array LP (the length in the direction orthogonal to the swing axis SS). Is also long. The cleaning member 15 includes a shaft portion and a brush portion having a brush or the like provided around the shaft portion, and the shaft portion is provided so as to be parallel to the axial direction of the chassis frame 11. The shaft portion is attached to the chassis frame 11 so as not to rotate. That is, when the work device 10 is moved by the traction mechanism 21 of the moving portion 20, the cleaning member 15 is provided so that the surface of the solar cell module P can be cleaned by the brush.

When a brush having a shaft portion and a brush portion having a brush or the like provided around the shaft portion as described above is used as the cleaning member 15, the brush is provided so as to rotate with respect to the chassis frame 11. You may. In this case, the brush needs to be rotated by an external driving force or the like. For example, when the wheel 12 rotates, the brush may rotate due to the rotation. Specifically, the rotating shaft of the wheel 12 and the shaft portion of the brush are connected by a gear mechanism, a belt pulley mechanism, or the like. Then, when the work equipment 10 is moved by the moving unit 20 and the wheels 12 are rotated, the brush can be rotated, so that the surface of the solar cell module P can be swept and cleaned by the rotation of the brush. In this case, if the brush is rotated in the direction opposite to the rotation direction of the wheel 12 and at a speed different from the rotation speed of the wheel 12 (preferably a rotation speed faster than that of the wheel 12), the solar cell module P by the brush can be used. The surface cleaning effect can be enhanced.
Further, the cleaning member 15 may move in the axial direction according to the movement of the work device 10 and the rotation of the wheels 12. For example, the cleaning member 15 may move in the axial direction when the wheel 12 rotates by a link mechanism that connects the rotating shaft of the wheel 12 and the shaft of the cleaning member 15.

Further, a drive source such as a motor may be provided in the work device 10, and the cleaning member 15 may be rotated or moved in the axial direction by the drive source. For example, when a motor is used as a drive source, the rotation speed of the brush can be adjusted regardless of the moving speed of the work equipment 10 by the moving unit 20, so that the effect of cleaning the surface of the solar cell module P by the brush can be further enhanced. ..

If the work equipment 10 is provided with an electrically driven drive source (for example, the drive source 27 in FIG. 19 or a motor for driving a brush), it is necessary to supply electric power to the drive source. The method of supplying electric power to the drive source is not particularly limited.

For example, a battery may be provided in the work equipment 10 to supply electric power from the battery to the drive source. Further, the solar cell module may be mounted on the work device 10 and the electricity generated by the solar cell module may be used as the electric power of the drive source. Both the solar cell module and the battery may be placed on the work equipment 10, the battery may be charged with the electric power generated by the solar cell module, and the electric power may be supplied to the drive source.

Further, electric power may be supplied to the work equipment 10 from the outside. In this case, when there is only one traction member (see FIG. 19), the cord-shaped member 22 can be used as one electrode and the solar cell array can be used as the other electrode. In this case, a conductive member such as a conductive brush is provided on the work device 10, and the conductive member is provided so as to come into contact with the solar cell array. For example, when a DC power source is used, if the cord-shaped member 22 is used as an anode and the solar cell array side is used as a cathode (ground electrode), DC power can be supplied to the work equipment 10 from the outside.

When two or more cord-shaped members 22 are used (see FIG. 1), the cord-shaped members 22 are electrically insulated from each other to have different polarities. Power may be supplied to a drive source, a battery, or the like. For example, when a DC power supply is used, if one cord-shaped member 22 is used as an anode and the other cord-shaped member 22 is used as a cathode (ground electrode), power can be supplied by the two cord-shaped members 22. it can.

Further, the solar cell array LP may be provided with two insulated rail-shaped electrodes along the moving direction of the work device 10, and power may be supplied to the work device 10 from the electrodes. For example, the work equipment 10 may be provided with a conductive member such as a conductive brush, and power may be supplied from each electrode to a drive source, a battery, or the like via the conductive member.

Further, when the working device 10 is provided with a battery, the battery may be charged in a state where the working device 10 is retracted to the above-mentioned evacuation section 30. When charging the battery of the work equipment 10 while waiting at the evacuation unit 30, it is desirable that the work equipment 10 and the evacuation unit 30 are provided with the following devices.

First, the work equipment 10 is provided with a device for receiving power supply from the evacuation unit 30. The equipment for receiving the power supply is not particularly limited. For example, a terminal for charging may be provided, and this terminal may be connected (contacted) with the terminal provided in the evacuation unit 30 to receive power supply. In addition, a device that receives power by a non-contact method such as electromagnetic induction may be provided so that the power is supplied in a non-contact manner.

Further, the evacuation unit 30 is provided with a power supply unit for supplying electric power to the work equipment 10. For example, when the work equipment 10 stops at a predetermined position in the evacuation unit 30, a terminal that connects (contacts) with the terminal of the work equipment 10 is provided in the power supply unit, and power is supplied to the work equipment 10 by a connection (contact) method. You may do so. Further, a device for supplying electric power by a non-contact method such as electromagnetic induction may be provided in the power supply unit to supply electric power to the work equipment 10 in a non-contact manner.

When the power supply unit is provided in the evacuation unit 30, it is necessary to supply electric power to the power supply unit or store the electric power in the power supply unit. The method of supplying electric power to the power supply unit is not particularly limited. For example, electric power may be directly supplied to the terminals of the power supply unit or the device for electromagnetic induction from the outside of the evacuation unit 30 by a power cable or the like, or a battery may be provided in the power supply unit to supply the electric power supplied from the outside to the battery. The charged electric power may be supplied to the terminal of the power supply unit or the device for electromagnetic induction. Further, the solar cell module may be provided in the evacuation section 30 to supply the electric power generated by the solar cell module to the power supply section. In this case as well, as in the case of supplying power from the outside, the power may be directly supplied to the terminal of the power supply unit or the device for electromagnetic induction, or a battery may be provided in the power supply unit and supplied from the solar cell module. The electric power generated may be charged to the battery, and the electric power charged to the battery may be supplied to the terminal of the power supply unit or the device for electromagnetic induction.

Further, as the cleaning member 15, a general brush or broom member may be used, or a simple cloth or blade may be used as the cleaning member. If the tips of these members are in contact with the surface of the solar cell module P, they can be slidably moved along the surface of the solar cell module P. Then, the dust or the like on the surface of the solar cell module P can be pushed by the cleaning member (in other words, together with the cleaning member) to move the dust or the like in the moving direction of the work equipment 10. Then, when the working device 10 reaches the end of the solar cell array LP, dust and the like can be dropped from the surface of the solar cell module P and removed at the end.

The effect of moving dust or the like in the moving direction of the working device 10 and removing the dust or the like from the surface of the solar cell module P at the end of the solar cell array LP can also be obtained by the rotating cleaning member 15. That is, if the cleaning member 15 is rotated in the direction opposite to the rotation direction of the wheel 12 and at a speed different from the rotation speed of the wheel 12, dust and the like can be moved forward in the moving direction of the work device 10. Therefore, the work device 10 can be moved to the end of the solar cell array LP, and dust and the like can be dropped from the surface of the solar cell module P at the end of the solar cell array LP. In this case, even if the part where the cleaning member 15 is in contact with the solar cell module P does not reach the side edge of the solar cell array LP, dust or the like is removed by the rotational force of the cleaning member 15 on the side of the solar cell module P. Can be dropped from the edge. Further, even if the cleaning member 15 is a scraper or the like, dust is provided as long as it has a function of moving the tip of the scraper or the like toward the edge of the solar cell array LP when the movement of the work device 10 is stopped. Etc. can be dropped down from the edge of the solar cell array LP.

<Support mechanism 50>
Since the cord-like member 22 of the traction mechanism 21 of the moving portion 20 moves in parallel with the swing shaft SS, the work device 10 is moved along the swing shaft SS. However, when the work equipment 10 gets over between the solar cell modules P, the posture of the work equipment 10 may be tilted with respect to the swing axis SS. Then, the surface of the solar cell array LP may not be properly cleaned. Therefore, it is desirable to provide a support mechanism 50 that suppresses the inclination of the posture when the work equipment 10 moves along the swing shaft SS.

As shown in FIG. 3, both ends of the chassis frame 11 are provided with a first support portion 51 and a second support portion 52 of the support mechanism 50, respectively.

As shown in FIG. 3, the first support portion 51 includes two free rollers 51a and 51a having the same shape. The two free rollers 51a and 51a are provided so as to be arranged at intervals along the moving direction of the work device 10. Further, the two free rollers 51a and 51a have a rotation axis substantially orthogonal to a plane parallel to both the moving direction of the work equipment 10 and the plane parallel to both the axial direction of the cleaning member 15 (referred to as a reference parallel plane). Have. In other words, the two free rollers 51a and 51a are provided so that their rotation axes are substantially parallel to the normal direction of the surface of the solar cell array LP when the work device 10 is arranged on the solar cell array LP. Has been done. Moreover, in the two free rollers 51a and 51a, the distance from the lower surface of the chassis frame 11 (the surface facing the surface of the solar cell array LP) to the lower end surfaces of the two free rollers 51a and 51a is from the lower surface of the chassis frame 11. It is provided so as to be slightly longer than the distance to the lower end of the wheel 12. That is, when the work device 10 is arranged on the solar cell array LP, the two free rollers 51a and 51a are provided so that their peripheral surfaces face the first end surface of the solar cell array LP. There is.

On the other hand, as shown in FIG. 3, the second support portion 52 also includes two free rollers 52a and 52a having the same shape. The two free rollers 52a and 52a are provided so as to be arranged at intervals along the moving direction of the work device 10. Further, these two free rollers 52a and 52a also have a rotation axis substantially orthogonal to the reference parallel plane. In other words, the two free rollers 52a and 52a are provided so that their rotation axes are substantially parallel to the normal direction of the surface of the solar cell array LP when the work device 10 is arranged on the solar cell array LP. Has been done. Moreover, the two free rollers 52a and 52a also have two free rollers from the lower surface of the chassis frame 11 (the surface facing the surface of the solar cell array LP), similarly to the two free rollers 51a and 51a of the first support portion 51. The distances to the lower end surfaces of the 52a and 52a are provided so as to be slightly longer than the distance from the lower surface of the chassis frame 11 to the lower ends of the wheels 12. That is, when the work device 10 is arranged on the solar cell array LP, the two free rollers 52a and 52a are provided so that their peripheral surfaces face the second end surface of the solar cell array LP. There is.

Then, the first support unit 51 and the second support unit 52 have two free rollers 51a and 51a of the first support unit 51 and two free rollers 52a of the second support unit 52 in the axial direction of the chassis frame 11. The distance between the 52a is set to be longer than the distance between both ends of the solar cell array LP (for example, about 20 to 30 mm longer).

If such a support mechanism 50 is provided, the posture of the work equipment 10 can be returned to the original posture even if the work equipment 10 is tilted with respect to the axial direction of the swing shaft SS. That is, when the work equipment 10 is tilted with respect to the axial direction of the swing shaft SS, either (or two) of the free rollers 51a and 51a of the first support portion 51 or the free rollers 52a and 52a of the second support portion 52. ) Contact the end face of the solar cell array LP, so that the posture of the work device 10 can be corrected in the direction along the edge of the solar cell array LP. Since the edge of the solar cell array LP is usually provided parallel to the axial direction of the swing shaft SS, the work device 10 is moved parallel to the axial direction of the swing shaft SS by the guidance of the support mechanism 50. Can be done. Further, even if the edge of the solar cell array LP is tilted with respect to the axial direction of the swing shaft SS, the work device 10 cannot be tilted more than the state in which the free roller is in contact with the end face of the solar cell array LP. Even if the edge of the solar cell array LP is tilted with respect to the axial direction of the swing shaft SS, it is at most about 0.5 degrees. Therefore, if the support mechanism 50 as described above is provided, the work device 10 can be moved in the direction along the axial direction of the swing shaft SS while correcting the posture of the work device 10.

The two free rollers 51a and 51a may be provided so that their rotation axes intersect with the reference parallel plane, and are not necessarily orthogonal to each other. That is, the two free rollers 51a and 51a come into contact with the end faces of the solar cell array LP and return the posture of the work equipment 10 when the work equipment 10 is tilted obliquely with respect to the axial direction of the swing shaft SS. It suffices if it is provided so that When the rotation axes of the two free rollers 51a and 51a are not orthogonal to the reference parallel plane, the two free rollers 51a and 51a extend from the position farthest from the lower surface of the chassis frame 11 to the lower surface of the chassis frame 11 in the two free rollers 51a and 51a. The distance may be slightly longer than the distance from the lower surface of the chassis frame 11 to the lower end of the wheel 12.

Further, the two free rollers 52a and 52a may not necessarily be orthogonal to each other as long as their rotation axes are provided so as to intersect the reference parallel plane. That is, the two free rollers 52a and 52a come into contact with the end faces of the solar cell array LP and return the posture of the work equipment 10 when the work equipment 10 is tilted obliquely with respect to the axial direction of the swing shaft SS. It suffices if it is provided so that When the rotation axes of the two free rollers 52a and 52a are not orthogonal to the reference parallel plane, the two free rollers 52a and 52a extend from the position farthest from the lower surface of the chassis frame 11 to the lower surface of the chassis frame 11 in the two free rollers 52a and 52a. The distance may be slightly longer than the distance from the lower surface of the chassis frame 11 to the lower end of the wheel 12.

Further, the free rollers 51a and 52a may have a damper mechanism that moves the free rollers 51a and 52a along the direction of the force when a certain force or more is applied from the direction intersecting the rotation axis. That is, the free rollers 51a and 52a may be attached to the chassis frame 11 via a damper mechanism that holds the rotating shafts of the free rollers 51a and 52a so as to be movable along the axial direction of the cleaning member 15. If such a damper mechanism is provided, even if the step between the end faces of the adjacent solar cell modules P becomes larger than expected, the free rollers 51a and 52a can overcome the step between the end faces of the solar cell modules P. Become.

The number of free rollers provided in the first support section 51 and the second support section 52 of the support mechanism 50 is not particularly limited. One free roller may be provided on each of the support portions 51 and 52, or three or more free rollers may be provided on each of the support portions 51 and 52. Further, the number of free rollers provided may be different in each of the support units 51 and 52. For example, when the work device 10 moves on the solar cell array LP in a state where the surface of the solar cell array LP is inclined with respect to the horizontal, two or more support portions on the end side located above are used. On the other hand, only one free roller may be provided on the support portion on the end side located below. This is in contact with the upper end when there is a step (a step in the direction connecting the first end P1 and the second end P2) at the upper end between the adjacent solar cell modules P. This is because it is easier to get over the step if the support unit has two or more free rollers.

The first support section 51 and the second support section 52 of the support mechanism 50 do not have to use the free rollers as described above as long as they can guide the movement along the end face of the solar cell array LP. For example, a plate-shaped member having a small surface sliding resistance may be provided so that its surface faces each end surface of the solar cell module P to form the first support portion 51 and the second support portion 52. In this case, the end portion of the plate-shaped member in the moving direction of the work device 10 is formed so as to be separated from the end face of the solar cell array LP toward the tip end. That is, the plate-shaped member is formed so that the tip is curved like a ski plate. Then, even if it is a plate-shaped member, it becomes easy to get over a step between adjacent solar cell modules P.

As described above, the reference parallel plane is a plane parallel to both the moving direction of the work equipment 10 and the axial direction of the cleaning member 15. On the other hand, when the working device 10 does not have the cleaning member 15, a surface parallel to both the moving direction of the working device 10 and the axial direction of the chassis frame 11 corresponds to a reference parallel surface. In other words, a plane parallel to both the moving direction of the working device 10 and the direction intersecting the moving direction of the working device 10 in a plan view (horizontal direction in FIG. 3) corresponds to a reference parallel plane.

Further, the reference parallel plane becomes a plane substantially parallel to the surface of the solar cell array LP when the solar cell module P does not bend when the work device 10 is arranged on the solar cell array LP. On the other hand, when the surface of the solar cell module P bends when the work device 10 is arranged on the solar cell array LP (in the case of the frameless solar cell module), the reference parallel plane does not bend. It means a plane (target plane) parallel to the surface of the solar cell module P in the case. The reference parallel plane also includes a case where the solar cell module P has a slight inclination (up to about 0.1 degree) with respect to the surface of the solar cell array LP and the target plane when the solar cell module P does not bend.

Further, as described above, the support mechanism 50 may have the first support portion 51 and the second support portion 52 at both ends of the chassis frame 11, but the support portion is one end of the chassis frame 11. It may be provided only in. That is, the support mechanism 50 may be provided with only one of the first support unit 51 and the second support unit 52. For example, when the working device 10 is moved on the solar cell array LP in a state where the surface of the solar cell array LP is inclined with respect to the horizontal as shown in FIG. 5, it is located above the solar cell array LP. The support portion may be provided only at the end portion (in FIG. 5B, the first end portion P1 of the solar cell array LP) side of the chassis frame 11. In other words, when the support portion is provided only on one end of the chassis frame 11, the work equipment 10 is arranged so that the support portion is arranged on the end side located above the solar cell array LP. Just do it. Even in this case, the support unit may adopt the same structure as the first support unit 51 and the second support unit 52 as described above.

<About work control>
Further, the working device 1 may include a state detection mechanism for detecting the state of the surface of the solar cell array LP by measuring the surface of the solar cell array LP or the like. If such a state detection mechanism is provided, the surface of the solar cell array LP can be appropriately grasped, so that work such as cleaning according to the state of the surface of the solar cell array LP can be performed.

The state detection mechanism can be composed of a state detection unit that detects the state of the solar cell array LP and a determination unit that determines the state of the surface of the solar cell array LP based on the information detected by the state detection unit. Both the state detection unit and the determination unit may be provided in the work device 10, or only the state detection unit may be provided in the work device 10 and the determination unit may be provided in the control device 40. Further, the state detection unit may be provided in the solar cell array LP or the like, and the determination unit may be provided in the control device 40.

The state detection unit is not particularly limited, and examples thereof include a temperature detection unit that detects the surface temperature of the solar cell array LP. In this case, depending on the temperature of the surface of the solar cell array LP detected by the temperature detection unit, the work device 10 can be made to perform the work suitable for the temperature.

For example, when the surface of the solar cell array LP is below the dew point temperature, dew condensation occurs on the surface of the solar cell array LP, and the dew condensation can be used for cleaning. Therefore, when the work device 10 has a rubber blade as the cleaning member 15, when the state detection mechanism detects a state below the dew point temperature, the control device 40 moves the work device 10 to perform cleaning. It is desirable that it is like this.

On the other hand, when the working device 10 has a cleaning member 15 such as a brush or a cloth suitable for cleaning in a dry state, the cleaning member 15 is cleaned with the surface of the solar cell array LP having a dew point temperature or higher. It is desirable to do. Therefore, when the working device 10 has such a cleaning member 15, when the state detecting mechanism detects a state of the dew point temperature or higher, the control device 40 moves the working device 10 to perform cleaning. It is desirable to have.

The temperature detection unit may be installed in the solar cell array LP or in the work equipment 10. For example, when it is installed in the solar cell array LP, the temperature detection unit can be provided in the panel frame or the like of the solar cell array LP. Further, when the work equipment 10 is provided, the temperature detection unit may be provided at a position where the temperature of the surface of the solar cell array LP can be measured while the work equipment 10 is arranged in the retracting unit 30. For example, a method such as providing a temperature detection unit on a stay or the like projecting laterally from the width direction of the chassis frame 11 can be adopted.

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

Further, as a state detection unit for detecting the state of the surface of the solar cell array LP, a device that measures the color and intensity (gloss) of the surface of the solar cell array LP may be adopted. In this case, the dirt on the surface of the solar cell array LP can be determined by detecting the color and intensity (gloss) of the surface of the solar cell array LP.

For example, the work equipment 10 is provided with a state detection unit for measuring the color and intensity (gloss) of the surface of the solar cell array LP. Then, when the determination unit determines that a certain amount of dirt remains based on the information detected by the state detection unit, the control device 40 operates the work device 10 so as to reciprocate the position a plurality of times. To do so. For example, the drive mechanism 25 is operated so that the working device 10 reciprocates the solar cell array LP a plurality of times. Then, the effect of removing the dirt on the surface of the solar cell array LP by the working device 10 can be enhanced.

Further, when the determination unit determines that the dirt remains even though the work device 10 reciprocates the solar cell array LP a plurality of times, the control device 40 has a function of notifying the operator of the position where the dirt remains. May have. In this case, if the operator manually cleans the position (using water or the like), dirt that cannot be removed by the work device 10 can be eliminated.
Further, when the reciprocating work is performed a predetermined number of times, the cleaning at that position may be stopped and the cleaning at another position may be performed. That is, when the work device 10 reciprocates the solar cell array LP a predetermined number of times, even if the determination unit determines that a certain amount of dirt remains, the cleaning of the solar cell array LP is stopped. It may be. In this case, unnecessary operation of the work device 10 can be prevented. Then, as will be described later, when one working device 1 is shared by a plurality of solar cell array LPs, even if there is an area on the surface of one solar cell array LP where dirt cannot be removed, another solar cell The working device 1 can be moved to the array LP. Then, the working device 1 does not stay in one solar cell array LP for a long time in order to eliminate the dirt that cannot be removed by the working device 10, so that the working efficiency can be improved.

For example, the following configuration can be adopted for such a state detection unit.
As a state detection unit, a light irradiation unit that irradiates the surface of the solar cell array LP with light is provided. The light emitted by the light irradiation unit is not particularly limited. Further, a light receiving unit is provided so that the light emitted by the light irradiation unit can receive the reflected light reflected on the surface of the solar cell array LP. Then, if the determination unit determines the dirt on the surface of the solar cell array LP based on the signal received by the light receiving unit, the dirt on the surface of the solar cell array LP can be determined. For example, when the light irradiation unit irradiates the surface of the solar cell array LP with light of a predetermined intensity and wavelength, the surface of the solar cell array LP is not contaminated (or is contaminated to an acceptable degree). The color (reference color) and intensity (reference intensity) of the reflected light in the present state) are stored. Then, by comparing the reflected light received by the light receiving unit with the reference color and the reference intensity, the determination unit can determine the dirt on the surface of the solar cell array LP.

The configuration of the light irradiation unit and the light receiving unit is not particularly limited, but a plurality of light irradiation units and a plurality of light receiving units are provided along a direction intersecting the moving direction of the work device 10 (for example, a direction orthogonal to each other). Is desirable. In this case, it is possible to reduce the area where dirt on the surface of the solar cell array LP cannot be detected. In particular, if a line sensor is used as the light receiving unit, it becomes easy to prevent omission of detection of dirt.

If the state detection unit is provided behind the cleaning member 15 in the moving direction of the work device 10, the state after cleaning by the cleaning member 15 can be determined. Further, if it is provided in front of the cleaning member 15 in the moving direction of the work device 10, cleaning by the cleaning member 15 can be adjusted according to the state of dirt. In particular, if the cleaning member 15 is provided both in the front and the rear in the moving direction of the work device 10, both of the above-mentioned functions can be exhibited.

Further, the state detection mechanism may have a wind speed sensor for measuring the wind speed as a state detection unit. In this case, if the control device 40 operates the work device 10 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 member 15 of the work device 10 winds up dust or the like, the dust is easily scattered, so that the cleaning effect can be enhanced. When the wind speed exceeds a certain level, the work device 10 may be damaged or malfunction. Therefore, it is desirable that the control device 40 is controlled so as not to operate the work device 10.

<Inclination of solar cell array LP during work>
In the case of the tracking type solar cell array LP, cleaning may be performed by the working device 10 in a state where the surface is horizontal, or cleaning may be performed by the working device 10 in a state where the surface is inclined to some extent.

That is, even in the tracking type solar cell array LP, the surface is not leveled, but the surface is maintained in a state of being tilted to some extent (for example, a state of being tilted with respect to the horizontal by about 30 °) and cleaned by the work equipment 10. It may be carried out. When the work is carried out at an angle, the angle is not particularly limited. The surface of the solar cell array LP may be maintained at an appropriate angle according to the surrounding environment and the like, and cleaning may be performed by the working device 10.

<Movement of working device 1 between solar cell array LPs>
One working device 1 may be provided in each of the solar cell array LPs, or one working device 1 may be shared by a plurality of solar cell array LPs.

<In the case of solar cell array LP arranged in series>
First, as shown in FIG. 20, a case where the work equipment 10 is shared by the solar cell array LPs arranged side by side along the axial direction of the swing shaft SS will be described. In the following, among a plurality of solar cell arrays LP arranged along the axial direction of the swing axis SS, the solar cell array LP1 located at one end and the solar cell array LP2 adjacent to the solar cell array LP1. Will be explained as a representative.

For example, as shown in FIG. 20, a transport path DR is installed between adjacent ends of adjacent solar cell arrays LP1 and LP2. Specifically, the transport path DR is provided at a position corresponding to a position where the wheels 12 provided on the work device 10 travel on the surfaces of the solar cell arrays LP1 and LP2. Moreover, the transport path DR is arranged so that the surface thereof and the surfaces of the solar cell arrays LP1 and LP2 are substantially flush with each other. Both ends of the transport path DR are connected to the solar cell arrays LP1 and LP2 (ends in the left-right direction in FIG. 20), and when the solar cell arrays LP1 and LP2 swing, the swings thereof. It is provided so as to swing according to the above. That is, even if the solar cell arrays LP1 and LP2 swing, if the swing angles of both are the same, the surface of the solar cell arrays LP1 and LP2 and the surface of the transport path DR maintain substantially the same plane. The transport path DR is provided.

Further, the pair of cord-shaped members 22 and 22 of the traction mechanism 21 of the moving portion 20 are arranged in the direction in which the solar cell arrays LP1 and LP2 are arranged, that is, along the axial direction of the swing axis SS of the solar cell arrays LP1 and LP2. It is arranged so as to be located outside the first end portion P1 and the second end portion P2 of the solar cell arrays LP1 and LP2.

With such a configuration, if the work equipment 10 is moved by the traction mechanism 21, the work equipment 10 can be moved on the transport path DR and can be moved between the solar cell arrays LP1 and LP2.

The number and position of the transport path DRs are not particularly limited. When the work device 10 moves between the solar cell arrays LP1 and LP2, it may be provided so that the transport path DR can support all or a part of the wheels 12 provided on the work device 10.

In particular, the transport path DR is arranged so that its outer end (the vertical end in FIG. 20) is arranged substantially linearly with the first end P1 and the second end P2 of the solar cell array LP. It is desirable to be installed. For example, in FIG. 20, the outer ends of the pair of transport paths DR and DR are arranged so as to be substantially linearly aligned with the first end P1 and the second end P2 of the solar cell array LP, respectively. Is desirable. With such a configuration, even when the work device 10 moves on the transport path DR, the posture of the work device 10 with respect to the swing shaft SS is determined by the first support portion 51 and the second support portion 52 of the support mechanism 50 described later. Tilt can be suppressed. Then, when the work device 10 moves on the transport path DR, the work device 10 can be moved stably. Further, the movement of the working device 10 between the solar cell array LP1 and the transport path DR and the movement of the working device 10 between the solar cell array LP2 and the transport path DR can also be stabilized. The transport path DR in which the first support portion 51 and the second support portion 52 of the support mechanism 50 come into contact with each other may be provided separately from the transport path DR that supports the wheels 12. That is, a member connecting the transport path DR, in other words, the solar cell arrays LP1 and LP2 may be provided only in order to suppress the inclination of the posture of the work equipment 10.

The above-mentioned "outer end portion of the transport path DR (or the outer end portion of the pair of transport path DRs and DRs) is substantially linear with the first end portion P1 and the second end portion P2 of the solar cell array LP, respectively. "Lined up" means the edge of the first end P1 and the second end P2 of the solar cell array LP and the edge of the outer end of the line of intersection DR (formed by the surface and the end face of the line of intersection DR). This includes the case where the lines of intersection) are perfectly aligned and the case where there is a slight deviation between the two. When there is a slight deviation between the two, the edge of the first end P1 and the second end P2 of the solar cell array LP and the edge of the end of the transport path DR are almost parallel, but slightly. This includes cases where there is a deviation in the height or horizontal direction (for example, about 0 to 5 mm) and cases where there is a deviation in the position along the surface of the solar cell module P (for example, about 0 to 20 mm). Further, the case where the edge of the second end P2 of the solar cell array LP and the edge of the end D2 of the transport path DR are relatively inclined is included. For example, it includes a case where it is tilted by about 0 to 1 degree in a plane parallel to the surface of the solar cell module P and a case where it is tilted by about 0 to 2 degrees in a plane parallel to the second end surface of the solar cell module P. I'm out.

Further, "the surface of the solar cell array LP and the surface of the transport path DR are substantially the same plane" means that there is a deviation of about 0 to 1 degree between the surface of the solar cell array LP and the surface of the transport path DR. Is a concept that includes. It also includes the case where there is a slight difference in height between the surface of the solar cell array LP and the surface of the transport path DR (for example, about 0 to 5 mm).

<Swing type transport path DR>
In the above example, in the adjacent solar cell arrays LP1 and LP2, the case where both surfaces are substantially the same plane and the case where both surfaces are substantially the same plane even if both are shaken have been described. However, depending on the installation conditions of the solar cell arrays LP1 and LP2, there may be a difference in height or an angle difference between the surfaces of the solar cell arrays LP1 and LP2. When there is such a problem, the transport path DR may have the following configuration.

As shown in FIG. 22, the transport path DR is provided with a swing shaft Da at a first end portion (end portion on the solar cell array LP1 side). The swing shaft Da is provided parallel to the surface of the solar cell array LP1 and is fixed to the solar cell array LP1 via a bearing or the like. One end of the transport portion Db (the end on the right side in FIG. 22) is attached to the swing shaft Da. That is, the transport portion Db is provided so as to be swingable with respect to the solar cell array LP1 by the swing shaft Da.

The other end (the right end in FIG. 22) of the transport portion Db is placed on the end of the solar cell array LP2 adjacent to the solar cell array LP1. Specifically, a holding plate LM is provided at the end of the solar cell array LP2 on the solar cell array LP1 side, and the other end of the transport portion Db is placed on the upper surface of the holding plate LM. ..

The configuration of the holding plate LM is not particularly limited. When the adjacent solar cell arrays LP1 and LP2 are installed so that their surfaces are substantially flush with each other, when the other end of the transport portion Db is placed on the holding plate LM, the transport portion Db It is desirable that the surface (that is, the surface of the transport path DR) and the surfaces of the adjacent solar cell arrays LP1 and LP2 are provided so as to be substantially flush with each other.

If the transport path DR having such a configuration is provided, even if there is a difference in the height of the surfaces of the adjacent solar cell arrays LP1 and LP2, if the transport unit Db swings, the transport path between the solar cell arrays LP1 and LP2. It can be connected by DR. Then, even if there is a difference in the height of the surfaces of the adjacent solar cell arrays LP1 and LP2, the adjacent solar cell arrays LP1 and LP2 can be moved to the work device 10 via the transport path DR.

If the inclination angle of the transport unit Db becomes large, it becomes difficult for the work device 10 to move between the transport path DR and the solar cell arrays LP1 and LP2. For example, if the angle formed by the surface of the transport path DR with respect to the surface of the solar cell arrays LP1 and LP2 is larger than 20 degrees, it becomes difficult to move from the transport path DR to the solar cell arrays LP1 and LP2. Therefore, a sensor for detecting the swing angle of the transport unit Db is provided in the transport path DR, and when the sensor detects that the angle is equal to or higher than a certain angle, the work equipment is installed between the transport path DR and the solar cell arrays LP1 and LP2. The control device 40 may control the operation of the drive mechanism 25 of the traction mechanism 21 so that the 10 does not move. Of course, a sensor for detecting the inclination of the transport path DR may be provided in the work equipment 10 itself, and the control device 40 may control the operation of the drive mechanism 25 of the traction mechanism 21 based on the signal from this sensor.

When there is a difference in height between the adjacent solar cell arrays LP1 and LP2, the vertical distance from the cord-shaped member 22 to the solar cell array LP1 and the distance from the cord-shaped member 22 to the solar cell array LP2 There is a difference between the vertical distance and the distance. Therefore, the cord-shaped member 22 may be provided so as to allow bending to a degree corresponding to the difference between the two.

In particular, when the solar cell arrays LP1 and LP2 swing, if the swing angles of the solar cell arrays LP1 and LP2 deviate, it becomes difficult to move the work equipment 10. For example, there is a possibility that the angle of the work device 10 with respect to the swing axis SS (the angle around the swing axis SS) when moving on the surface of the solar cell array LP1 and the angle of the surface of the solar cell array LP2 are different. is there. In this case, when the work device 10 moves from the solar cell array LP1 to the solar cell array LP2 through the transport path DR, the work device 10 may come into contact with the solar cell array LP2 and the work device 10 may fall. .. In order to prevent such a problem, the length of the transport path DR is set so that the other end of the transport path DR deviates from the upper surface of the holding plate LM when the deviation of the swing angle of the solar cell arrays LP1 and LP2 exceeds a certain level. do it. That is, in FIG. 22, if the swing angles of the solar cell arrays LP1 and LP2 are the same, the other end of the transport path DR can be maintained in a state of being placed on the upper surface of the holding plate LM (FIG. 22 (A). )), When the solar cell array LP2 is tilted more than the solar cell array LP1 with respect to the horizontal, the other end of the transport path DR is separated from the upper surface of the holding plate LM (FIG. 22 (B)). The length of the transport portion Db may be adjusted.

In this case as well, a sensor for detecting the swing angle of the transport unit Db may be provided in the transport path DR so that the control device 40 controls the operation of the drive mechanism 25 of the traction mechanism 21. That is, when the sensor detects that the surface of the transport unit Db is at a certain angle or more with respect to the surface of the solar cell arrays LP1 and LP2, the control device 40 betweens the transport path DR and the solar cell arrays LP1 and LP2. The operation of the drive mechanism 25 of the traction mechanism 21 may be controlled so that the work device 10 does not move. Of course, the work equipment 10 itself is provided with a sensor for detecting the inclination of the transport path DR and the presence / absence of the transport path DR, and the control device 40 controls the operation of the drive mechanism 25 of the traction mechanism 21 based on the signal from this sensor. You may try to do it.

<In the case of solar cell array LP arranged in parallel>
Next, as shown in FIG. 4, a case where the work equipment 10 is shared by the solar cell array LPs arranged side by side along the direction intersecting the axial direction of the swing shaft SS will be described.

For example, as shown in FIG. 4, a pair of track RLs and RLs are installed outward from both ends in the axial direction of the swing axis SS of the adjacent solar cell array LPs, and the retracting portion 30 is provided along one track RL. Provided so that it can be moved. Further, in the traction mechanism 21, devices provided at each end of the solar cell array LP are also provided so as to be able to move along the pair of orbits RL, RL.

For example, a pair of stations ST and ST that move along a pair of tracks RL and RL are provided, and each device of the retracting portion 30 and the traction mechanism 21 is arranged therein. Then, if the pair of stations ST and ST are simultaneously moved along the pair of orbitals RL and RL, the working device 1 can be moved from one solar cell array LP to another solar cell array LP. In this case, the evacuation section 30 may be provided in both the pair of stations ST and ST.

When the above configuration is adopted, there is a possibility that the cord-like member 22 of the traction mechanism 21 comes into contact with the solar cell array LP when the working device 1 is moved between the solar cell array LPs. Therefore, when the above-described configuration is adopted, it is necessary to install the work device 1 so that the cord-shaped member 22 and the like do not come into contact with the solar cell array LP in the moving state. For example, in a tracking type solar cell array LP, if the working device 1 is moved with the surface of the solar cell array LP arranged horizontally, the traction mechanism 21 has the entire cord-shaped member 22 arranged horizontally. It may be installed so as to be located above the surface of the solar cell array LP. Further, when the working device 1 is moved in a state where the surface of the solar cell array LP is inclined to some extent (for example, in a state where the surface is inclined with respect to the horizontal by about 30 °), a cord shape is formed above the upper end of the solar cell array LP. The member 22 may be arranged so as to be located.

Further, the pair of stations ST and ST may be provided with a mechanism for raising and lowering the work device 1. The mechanism for raising and lowering the work device 1 is not particularly limited, and for example, each station ST is provided with a traveling body traveling on the track RL and a base member located above the traveling body. Then, each device of the retracting portion 30 and the traction mechanism 21 is arranged on the base member. Then, if an elevating device (a known mechanism such as a cylinder mechanism or a screw mechanism) is provided between the traveling body and the base member, the working device 1 can be lifted together with the base member by operating the elevating device. In this case, when moving the work equipment 10 between the retracting portion 30 and the surface of the solar cell array LP, it is necessary to match the heights of both. The method of adjusting the heights of the two is not particularly limited. For example, a sensor such as a camera or an optical sensor is provided on the base member or the like, and the position of the swing shaft SS is grasped by this sensor. Then, based on the position of the swing shaft SS detected by the sensor and the position of the base member based on the operating amount of the elevating device, the control unit of the elevating device (or the control unit of the station ST) automatically operates the elevating device. By adjusting the amount, the heights of both can be adjusted.

Further, if such a configuration is adopted, the working device 1 can be moved between the solar cell array LPs even when the traction mechanism 21 or the like cannot be arranged above the solar cell array LP. That is, specifically, even when the traction mechanism 21 or the like has a portion located below the solar cell array LP, the working device 1 can be moved between the solar cell array LPs. In this case, the working device 1 is located until the entire working device 1 is located above the solar cell array LP, or until the member which hinders the movement of the working device 1 is located above the solar cell array LP. The work device 1 may be moved while the device 1 is lifted.

Further, if such a configuration is adopted, the working device 1 can be shared by a plurality of solar cell array LPs even if the heights of the adjacent solar cell array LPs are different. For example, when a plurality of solar cell array LPs are provided on rough terrain, the height of the solar cell array LPs may differ depending on where the solar cell array LPs are installed. Even in such a place, the working device 1 can be arranged at a height suitable for each solar cell array LP, so that the working device 1 can be shared by a plurality of solar cell array LPs even on rough terrain.

In the case of the tracking type solar cell array LP, the pair of stations ST and ST (or the base member when a mechanism for raising and lowering the work device 1) may swing. That is, the retractable portions 30 provided in the pair of stations ST and ST may swing so that the upper surface of the retractable portions 30 is flush with the surface of the solar cell array LP. With this configuration, regardless of the swing angle of the solar cell array LP, if the upper surface of the retractable portion 30 matches the surface of the solar cell array LP, the upper surface of the retractable portion 30 and the sun The surface of the battery array LP can be flush with the surface. Then, the working unit 10 can be moved between the retracting unit 30 and the solar cell array LP regardless of the swing angle of the solar cell array LP. In this case, it is necessary to match the angle between the surface of the solar cell array LP and the upper surface of the retracting portion 30, but various sensors detect the angle of the surface of the solar cell array LP with respect to the horizontal (or vertical). The angle of the detected surface of the solar cell array LP and the angle of the upper surface of the retracting portion 30 may be matched. In this case, the angle of the surface of the solar cell array LP may be detected by, for example, the rotation angle of the camera, the optical sensor, or the swing axis SS. Further, the deviation between the surface of the solar cell array LP and the upper surface of the retracting portion 30 may be detected by a camera or an optical sensor so that the deviation between the two is within a certain range (for example, within 0 to 1 degree).

Further, in the case of the tracking type solar cell array LP, it is desirable that the above-mentioned base member of the station ST swings. In this case, by swinging the base member, the upper surface of the retracting portion 30 and the surface of the solar cell array LP can be adjusted to be flush with each other. Then, the work device 10 can be moved between the solar cell array LP and the retracted portion 30 on the base member of the station ST regardless of the angle of the surface of the solar cell array LP. In this case, the angle of the solar cell array LP and the angle of the base member can be matched by various methods. For example, the control unit of the station ST grasps the angle of the solar cell array LP based on the signal from the device that operates the solar cell array LP, and adjusts the angle of the base member so as to match the angle of the solar cell array LP. Can be done. Further, a camera, an optical sensor, or the like is provided in the station ST, and the control unit of the station ST grasps the angle of the solar cell array LP based on the signal, and the base member so as to match the angle of the solar cell array LP. You can adjust the angle.

The mechanism for moving between the solar cell array LPs of the working device 1 can be used other than the case of moving the working device 1 (that is, the working device 1 having the traction mechanism 21) as described above. For example, even when a work device or a work robot that moves by itself on the solar cell array LP is used, a retracting unit 30 for retracting the work device or the work robot is provided in a pair of stations ST, ST or one station ST. For example, one work device or work robot can be used for the work of a plurality of solar cell array LPs. In the case of a work device or a work robot that moves by itself on the solar cell array LP, one track RL is installed outside from one end in the axial direction of the swing axis SS of the adjacent solar cell array LP. Then, a station ST may be provided on the track RL. In the case of a work device or work robot that moves by itself, if each station ST has a mechanism for raising and lowering the work device or work robot as described above, the worker can move the work device from the station ST. The work of lowering and loading 1 can be facilitated.

In addition, there are cases where the track RL cannot be installed, such as when multiple solar cell array LPs are installed on rough terrain. In such a case, instead of installing the track RL, as each station ST, those traveling on the ground with wheels, crawlers, or the like may be adopted.

<Static elimination member>
When the cleaning member 15 of the work device 10 rubs the surface of the solar cell array LP, static electricity may be charged to the solar cell array LP, the chassis frame 11 of the work device 10, and the like. If the cord-like member 22 is formed of a conductive material such as a metal belt, the chassis frame 11 or the like of the work equipment 10 is always in a grounded state, so that static electricity is accumulated in the chassis frame 11 or the like of the work equipment 10. There is nothing. However, if the cord-like member 22 is made of an insulating material, static electricity may be accumulated in the chassis frame 11 or the like of the work equipment 10. Then, when an object grounded approaches the chassis frame 11 or the like of the work equipment 10, the chassis frame 11 may discharge the electric discharge. When an electric discharge occurs, problems such as malfunction of the microprocessor and the failure of electronic parts occur, so it is necessary to remove the charged static electricity from the chassis frame 11 or the like of the work equipment 10.

Therefore, it is desirable to provide a static eliminator member that removes the charged static electricity from the chassis frame 11. The position where the static elimination member is provided is not particularly limited.

For example, when the work device 10 retracts to the retracting portion 30, the static elimination member may come into contact with the member grounded in the retracting portion 30.
Further, the static elimination member may be provided at a position where the working device 10 comes into contact with the panel frame of the solar cell module P constituting the solar cell array LP when the working device 10 moves on the solar cell array LP. In this case, the panel frame can be discharged through the static elimination member while the working device 10 is moving.

Further, it is desirable that the static elimination member is provided so as to be located behind the cleaning member 15 in the moving direction. In this case, a certain amount of static electricity accumulated in the chassis frame 11 can be released from the static eliminator member to the surface of the solar cell array LP.

In the present specification, the grounded member means a conductive member that is directly or indirectly electrically connected to the ground. For example, when the solar cell module P has a panel frame, the panel frame is also connected to the gantry MT, so that it corresponds to a grounded member. Further, when the static elimination member is brought into contact with a building or equipment in the vicinity of the solar cell array LP, the building or equipment also corresponds to the grounded member.

Further, the static eliminator member may be any as long as it can allow static electricity of the chassis frame 11 to flow to the outside, and its shape, structure, and material are not particularly limited. For example, a metal body provided with a brush-like member formed of a conductive material at the tip thereof can be adopted. Further, a flexible band-shaped or string-shaped member or conductive fiber formed of a conductive material can also be adopted as the static elimination member.
Further, when the working device 10 is provided with the cleaning member 15 and the brush is provided as the cleaning member 15, flexible strip-shaped or string-shaped members or conductive fibers formed of the conductive material are provided as the static elimination member. You may. Further, a conductive material may be used as a material for forming a part or all of the brush. That is, the brush itself may have the same function as the static elimination member. For example, the shaft portion of the brush may be formed of a conductive material (metal, etc.), or the brush portion may be formed of a flexible band-shaped or string-shaped member or conductive fiber formed of a conductive material. Good. Further, when the brush is provided with a static elimination member or the brush itself has a function equivalent to that of the static elimination member, the static elimination member connected to the chassis frame 11 does not necessarily have to be provided.
<Self-propelled robot>

The work device of the second embodiment is a work device that self-propells on the surface of a solar cell array having a plurality of solar cell modules arranged side by side to perform work.

The solar cell array in which the work is carried out by the working device of the second embodiment and the solar cell modules constituting the solar cell array are not particularly limited. A tracking type solar cell array in which a plurality of solar cell modules having a panel frame are arranged side by side, or a solar cell array having a plurality of fixed solar cell modules having a panel frame (in other words, a non-tracking type solar cell array, non-tracking). Can also be used for type). It can also be used in solar cell arrays (including tracking type and non-tracking type) in which frameless solar cell modules are arranged side by side.

Further, in the present specification, the “surface of the solar cell module” means the surface of the power generation region where power is generated in the solar cell module. For example, in the case of a frameless solar cell module, almost the entire surface becomes a power generation area, but in the case of a solar cell module having a panel frame, a part other than the panel frame (a part surrounded by the panel frame in a plan view) generates power. Become an area.
The "surface of the solar cell array" means the "surface of the solar cell module". The term "on the solar cell array" is a concept that includes both the "surface of the solar cell module" and the "panel frame" in the "solar cell array" formed of the solar cell module having the panel frame.

The work performed by the work device of the second embodiment is not particularly limited. For example, cleaning the surface of the solar cell array to which the work equipment moves, inspecting defects on the surface, measuring the surface shape and thickness of members, measuring the surface temperature, measuring the surface roughness, measuring the light reflectance and glossiness on the surface. Measurement, measurement of other physical quantities, etc. correspond to the work performed by the work apparatus of the second embodiment. In addition, collection and observation of substances on the surface of the solar cell array, peeling of deposits and paint on the surface, painting and surface treatment before that, and coating work also correspond to the work performed by the work device of the second embodiment. To do. Further, sticking of a film or the like to the surface of the solar cell array, polishing, marking, etc. can also be mentioned as the work performed by the working apparatus of the second embodiment. Then, communication by presenting information and the like can be mentioned as the work to be carried out by the work device of the second embodiment.

Hereinafter, a case will be described in which the surface of a tracking type solar cell array formed by arranging a plurality of solar cell modules having a panel frame is cleaned by the working device of the second embodiment.

When the work device of the second embodiment performs work other than cleaning, a work device, a sensor, an instrument, or the like is provided at a position where a cleaning unit, which will be described later, is provided. For example, the work performed by the work apparatus of the second embodiment is surface defect inspection, surface shape and member thickness measurement, temperature measurement, surface roughness measurement, light reflectance and glossiness measurement on the surface, and the like. In the case of measuring the physical quantity of, various sensors used for each measurement are provided. Further, when the work performed by the work apparatus of the second embodiment is a coating work or a painting work on the surface of the solar cell array, an instrument such as a spray nozzle is provided. Further, if the work carried out by the work apparatus of the second embodiment is a peeling treatment such as adhesion or coating on the surface of the solar cell array, a polishing treatment, or a base treatment before coating or the like, shot blasting or rotary type or A vibrating polishing device is provided. When the work performed by the work apparatus of the second embodiment is to attach a film or the like to the surface of the solar cell array, a roller or the like is provided. When communication or the like by presenting information is performed by the work device of the second embodiment, a display, an LED, a speaker, or the like is provided.

<Solar power generation equipment SP>
First, before explaining the working device 1, the photovoltaic power generation facility SP in which the working device 1 of the present embodiment performs work such as cleaning will be briefly described. As shown in FIG. 16, the photovoltaic power generation facility SP has a plurality of rows of solar cell array LPs including a plurality of solar cell modules P. The solar cell array LP is connected by the swing axis SS of the gantry MT in a state where the end edges of the plurality of solar cell modules P are aligned so as to be lined up in substantially the same straight line. More specifically, in the solar cell array LP, a plurality of solar cell modules P are arranged so that their surfaces are substantially flush with each other and connected by a swing axis SS of a gantry MT. The solar cell array LP can swing a plurality of solar cell modules P at the same time and at the same angle by rotating the swing shaft SS. Therefore, the solar cell array LP can make the plurality of solar cell modules P follow the sun and adjust the inclination of the surface of the plurality of solar cell modules P so as to optimize the power generation efficiency.

Normally, the solar cell array LP has both ends (first end portion P1) in a direction orthogonal to the direction in which a plurality of solar cell modules P are arranged along the swing axis SS in a state where the surface thereof is horizontal. And the intermediate line between the second end P2) is connected to the swing shaft SS so as to be located approximately vertically above the central axis of the swing shaft SS (including the case where a deviation of up to about 80 mm occurs). There is.

The solar cell array LP may have a plurality of solar cell modules P arranged in a row or may have a plurality of rows in which a plurality of solar cell modules P are arranged. In the present specification, the "first end portion P1 and second end portion P2 of the solar cell array LP" are the ends of the solar cell module P located on the outermost side in the direction orthogonal to the axial direction of the swing axis SS. It shall mean a part. For example, when the solar cell array LP has only one row in which a plurality of solar cell modules P are arranged, both ends of the solar cell module P are "first end portions P1 and second of the solar cell array LP". It becomes "end P2". Further, when the solar cell array LP has two rows of upper and lower solar cell modules P in which a plurality of solar cell modules P are arranged, the upper end portion of the upper solar cell module P and the lower end portion of the lower solar cell module P are ". It corresponds to the first end portion P1 and the second end portion P2 of the solar cell array LP.
In each "solar cell module P", both ends in a direction orthogonal to the axial direction of the swing axis SS are "first end portion P1 and second end portion P2 of the solar cell module P".

Further, the "edge of the solar cell array LP" means the side surface intersecting the surface of the solar cell array LP and the sun when the solar cell module P constituting the solar cell array LP is a frameless solar cell module P. It means an intersection line that intersects with the surface of the battery array LP.
On the other hand, in the case where the solar cell module P constituting the solar cell array LP is a solar cell module P having a panel frame, the side surface of the panel frame intersecting the upper surface of the panel frame becomes an end surface, and the upper surface of the panel frame and the panel. The intersection line that intersects the side surface of the frame is the "edge of the solar cell array LP".
Then, the end edge of the "first end portion P1 (second end portion P2) of the solar cell array LP" becomes the "first end edge (second end edge) of the solar cell array LP (or the solar cell module P)". Become.
In each "solar cell module P", in the case of the frameless solar cell module P, the intersection of the side surface intersecting the surface of the solar cell module P and the surface of the solar cell module P is the "solar cell module". It becomes "the edge of P". In the case of the solar cell module P having a panel frame, the line of intersection between the upper surface of the panel frame and the side surface of the panel frame intersecting the upper surface of the panel frame is the "edge of the solar cell module P". Then, the edge corresponding to the "first end portion P1 and the second end portion P2 of the solar cell array LP" in the "solar cell module P" is the "first end edge (second end edge) of the solar cell module P". become.

Further, "the first end edge (second end edge) of the solar cell array LP (or the solar cell module P) is aligned so as to be arranged in substantially the same linear shape" means that the first end edge of the solar cell array LP (or the solar cell module P) is aligned. When the first end edges (or the second end edges) of the adjacent solar cell modules P forming (or the second end edge) are completely aligned, and when the first end edge (or the second end edge) is aligned completely. This includes the case where there is a slight deviation between the first end edges (or the second end edges) of the adjacent solar cell modules P forming the edge). When there is a slight deviation between the first end edges (or the second end edges) of the adjacent solar cell modules P forming the first end edge (or the second end edge), the first end edge (or the second end edge) is formed. When the first end edges (or the second end edges) of the adjacent solar cell modules P forming the second edge) are almost parallel, but there is a slight deviation in height or in the horizontal direction (for example, about 0 to 5 mm). ) And the case where the position of the solar cell module P in the direction along the surface is deviated (for example, about 0 to 20 mm). Further, the case where the first end edges (or the second end edges) of the adjacent solar cell modules P forming the first end edge (or the second end edge) are relatively inclined is included. For example, when it is tilted by about 0 to 1 degree in the plane parallel to the surface of the solar cell module P, or about 0 to 2 degrees in the plane parallel to the first end surface (or the second end surface) of the solar cell module P. Including the case of tilting.

Further, "the surfaces of a plurality of solar cell modules P are substantially flush with each other" is a concept including a case where the angles formed by the surfaces of adjacent solar cell modules P are displaced by about 0 to 1 degree. It also includes the case where there is a slight difference in height between the surfaces of the adjacent solar cell modules P (for example, about 0 to 5 mm).

<Working device 1>
Hereinafter, the working device 1 of the present embodiment will be described with reference to the drawings.
In the drawings, some parts are omitted as appropriate to make the structure easier to understand.

The working device 1 of the present embodiment causes the working robot 101 to self-propell on the solar cell array LP provided with the plurality of solar cell modules P in the photovoltaic power generation facility SP, and causes the surface of the plurality of solar cell modules P to run on its own. It is cleaned by the working robot 101.

The work device 1 of the present embodiment includes the above-mentioned work robot 101 and a retracting unit 30 for retracting the work robot 101 from the solar cell array LP (see FIG. 17).

<Working robot 101>
First, the working robot 101 self-propells on the solar cell array LP and cleans the surface of the solar cell array LP. The work robot 101 includes a cleaning unit 110, and if the work robot 101 runs on the surface of the solar cell array LP, the cleaning unit 110 can clean the surface of the solar cell array LP as if it were swept. Is. "Sweeping the surface of the solar cell array LP" here means a scraper or cloth when sweeping the surface of the solar cell array LP with a broom and when rubbing the surface of the solar cell array LP with a brush. It is a concept including the case where such as is moved along the surface of the solar cell array LP. The details of the work robot 101 will be described later.

<Evacuation section 30>
The work device 1 of the present embodiment is provided with a retracting unit 30 for retracting the work robot 101 from the solar cell array LP in a state where the work robot 101 does not perform work such as cleaning. The retracting portion 30 is arranged at one end of the solar cell array LP on the outer side in the axial direction of the swing shaft SS (the left end in FIG. 17). The upper surface of the retracting portion 30 is arranged substantially horizontally. Further, the height of the retracting portion 30 is provided so as to be substantially the same as the height of the surface of the solar cell array LP when the surface of the solar cell array LP is horizontal. Therefore, if the surface of the solar cell array LP is made horizontal, the working robot 101 can be moved from the retracting unit 30 onto the solar cell array LP, or the working robot 101 can be retracted from the solar cell array LP to the retracting unit 30. ..

The retracting unit 30 may swing together with the solar cell array LP. In this case, the retracting portion 30 is arranged so that the upper surface thereof is substantially the same plane as the surface of the solar cell array LP. Then, the working robot 101 can be moved between the solar cell array LP and the retracting unit 30 regardless of the inclination of the solar cell array LP.

When the solar cell array LP is a non-tracking type (fixed type), it is desirable that the upper surface of the retracting portion 30 is located on the same plane as the surface of the solar cell array LP.

<Operation of work device 1>
Since the working device 1 has the above configuration, the surface of the solar cell array LP can be cleaned by the working robot 101.

First, in the non-cleaning state, the work robot 101 is arranged on the evacuation section 30 (see FIG. 17 (A)).
When cleaning the surface of the solar cell array LP, first, the surface of the solar cell array LP is arranged horizontally. Then, since the surface of the solar cell array LP and the upper surface of the retracting portion 30 are at the same height, the working robot 101 moves from the retracting portion 30 onto the solar cell array LP.

When moving onto the solar cell array LP, the working robot 101 moves on the solar cell array LP and cleans the surface of the solar cell module P by the cleaning unit 110. For example, the working robot 101 first moves to one side edge of the solar cell array LP (the edge that intersects the first edge of the solar cell module P located in the axial direction of the swing axis SS). When reaching one side edge, the side edge of the solar cell module P constituting the solar cell array LP (the first edge of the solar cell module P) is directed from the second edge to the first edge of the solar cell array LP. Move along the edge). Then, when the work robot 101 reaches the first end edge, the dust that has moved together with the cleaning unit 110 (that is, together with the work robot 101) can be dropped from the first end edge of the solar cell array LP.

When the work robot 101 reaches the first end edge, it changes its traveling direction by 180 ° and travels from the first end edge to the second end edge. At this time, in the direction along the first end edge (that is, the direction along the swing axis SS) from the region (cleaning completed region) traveling from the second end edge to the first end edge of the solar cell array LP. Drive in a misaligned position. Then, the uncleaned area of the solar cell array LP can be cleaned when traveling from the first end edge to the second end edge. At this time, a part of the cleaning completed area may be cleaned again by the cleaning unit 110. Then, when the work robot 101 reaches the second end edge, dust and the like that have moved together with the cleaning unit 110 (that is, together with the work robot 101) can be removed from the second end edge of the solar cell array LP.

When the working robot 101 reaches the second end edge, the traveling direction is changed by 180 °, and the working robot 101 travels again from the second end edge toward the first end edge. Also at this time, the direction along the second end edge (that is, the direction along the swing axis SS) from the region (cleaning completion region) traveling from the first end edge to the second end edge of the solar cell array LP. It runs in a misaligned position. Then, the uncleaned area of the solar cell array LP can be cleaned when traveling from the second end edge to the first end edge. At this time, a part of the cleaning completed area may be cleaned again by the cleaning unit 110.

By repeating the above operation, the surface of the solar cell array LP can be cleaned by the working robot 101. Then, when the working robot 101 moves from one side edge of the solar cell array LP to the other side edge, cleaning of the surface of the solar cell array LP is completed.

The work robot 101 returns to the evacuation unit 30 when cleaning is completed. At this time, the working robot 101 moves to the retracting portion 30 along the edge of the solar cell array LP (see FIG. 17B). That is, assuming that the position where the cleaning of the surface of the solar cell array LP is completed is the second end edge P2 of the solar cell array LP, the swing axis SS is along the second end edge P2 of the solar cell array LP. The working robot 101 moves in the direction along the line. Then, when the robot moves to the side edge of the solar cell array LP (the side edge on the side where the retracting portion 30 is provided), the working robot 101 then moves along the side edge of the solar cell array LP. Then, when the work robot 101 moves to the position of the evacuation unit 30, the evacuation unit 30 is detected. In that state, if the surface of the solar cell array LP and the upper surface of the retracting portion 30 are at the same height, the working robot 101 moves from the surface of the solar cell array LP toward the retracting portion 30 and retracts to the retracting portion 30. To do.

On the other hand, when the surface of the solar cell array LP and the upper surface of the retracting portion 30 are not at the same height (that is, when the surface of the solar cell array LP is inclined with respect to the upper surface of the retracting portion 30), the work The robot 101 stops at that position and waits until the surface of the solar cell array LP and the upper surface of the retracting portion 30 are at the same height (in other words, at the same angle).

When the work robot 101 moves as shown by the arrow in FIG. 17, the work robot 101 may not pass through the area NC in FIG. 17 (A). In that case, the area NC cannot be cleaned. However, as shown in FIG. 17B, if the work robot 101 is operated so that the area NC exists in the path where the work robot 101 returns to the evacuation unit 30, the area NC can also be cleaned.

Even if the solar cell array LP is moved to the side edge of the solar cell array LP along the second edge P2 (or the first end edge P1), the retracting portion 30 may not be provided at the side edge. .. In this case, the working robot 101 moves along its side edge to the first edge P1 (or the second edge P2). Then, when it moves along the first end edge P1 to the other side edge of the solar cell array LP, it then moves along the other side edge. Then, the evacuation unit 30 can be reached.

Further, the number of the evacuation units 30 is not limited to one, and a plurality of evacuation units 30 may be provided. In this case, since the work robot 101 can be evacuated to the nearest evacuation unit 30, the time until the work robot 101 evacuates to the evacuation unit 30 can be shortened after the cleaning is completed.

Further, in a situation where the work robot 101 is cleaning, if an abnormality is detected or a command to return to the evacuation unit 30 is notified from the outside, the work robot 101 stops cleaning and evacuates to the evacuation unit 30. .. In this case, the working robot 101 moves to the nearest edge of the solar cell array LP, moves along the edge, and moves to the retracting portion 30.

<Operation timing of work robot 101>
The operation of the work robot 101 may be controlled by a timer provided in the control unit 130 of the work robot 101, or may be external to the control unit 130 via wireless or wired (for example, a management building). It may be controlled based on the operation signal supplied from.
Further, the control unit 130 of the work robot 101 refers to the time information obtained based on GPS or standard radio waves (radio waves received by the radio clock) provided in the control unit 130 and the preset operation time. Then, the work robot 101 may be operated at a time when the conditions are met.
The number of times the work robot 101 cleans by one cleaning operation (that is, the number of times the work robot 101 moves between one end and the other end of the solar cell array LP) is set to a preset number of times in the control unit 130. It may be carried out based on the information of the number of operations transmitted from the outside.

<Working robot 101>
Next, the working robot 101 will be described.
As shown in FIGS. 8 and 9, the working robot 101 includes a robot main body 102 provided with a moving means 104 for traveling on the surface of the solar cell array LP, and a cleaning unit provided on the robot main body 102. It includes a 110 and a control unit 130 that controls the operation of the moving means 104 and the cleaning unit 110.

<Cleaning section 110>
As shown in FIGS. 8 and 9, the cleaning unit 110 is provided in front of the robot main body 102, that is, in front of the robot main body 102 in the traveling direction. The cleaning unit 110 includes a rotating brush 112, and by rotating the brush 112, the surface of the solar cell array LP can be swept and cleaned.

The structure of the cleaning unit 110, that is, how the cleaning unit 110 cleans the surface of the solar cell array LP is not particularly limited. For example, the brush 112 includes not only a brush 112 having a brush provided on the rotating shaft, but also a brush 112 having a plate-shaped blade erected on the surface of the rotating shaft, and the entire surface or a part of the rotating shaft covered with a sponge-like member. You may use a broken one, one with a cloth attached to the entire surface or a part of the rotating shaft, and the like.

Further, instead of the brush 112, a general brush or broom-shaped member may be used as the cleaning unit 110, or a simple cloth or blade may be used as the cleaning unit 110. If the tips of these members are in contact with the surface of the solar cell array LP, the cleaning unit 110 can be slid along the surface of the solar cell array LP. Then, the dust or the like on the surface of the solar cell array LP can be pushed by the cleaning unit 110 (in other words, together with the cleaning unit 110) to move the dust or the like in the moving direction of the work robot 101. Then, when the working robot 101 moves to the end of the solar cell array LP, dust and the like can be dropped from the surface of the solar cell array LP and removed at the end.

Although the case where the cleaning unit 110 is provided only in front of the robot main body 102 has been described, the cleaning unit 110 may be provided in front of and behind the robot main body 102, respectively.

Further, the position where the cleaning unit 110 is provided is not particularly limited, and may be provided at a position facing the lower surface of the robot main body 102 or the surface of the solar cell array LP.

<Transportation means 104>
As shown in FIGS. 8 and 9, the robot main body 102 is provided with a moving means 104. The moving means 104 is provided so that the robot main body 102 can be moved in the front-rear direction or swiveled. For example, as shown in FIGS. 8 and 9, the moving means 104 may be composed of a pair of side drive wheels 104a, 104a and one intermediate drive wheel 104b. In this case, if the pair of side drive wheels 104a and 104a and the intermediate drive wheels 104b are arranged so as to form a triangle in a plan view, the work robot 101 can be arranged in a stable state on the solar cell array LP. Can be done. In this case, it is desirable that drive motors are provided on all the drive wheels 104a and 104b of the moving means 104 so that each drive motor can independently drive the drive wheels 104a and 104b. Then, if the operating state of each drive motor is controlled by the control unit 130, the work robot 101 can be linearly moved or swiveled. In particular, if an omni wheel (omnidirectional moving wheel) is adopted for the intermediate drive wheel 104b, the turning movement of the working robot 101 can be made smooth, and the degree of freedom of movement of the working robot 101 can be increased.

The moving means 104 is not limited to the above configuration, and may be configured so that the working robot 101 can be linearly moved or swiveled. For example, the omni wheel which is the intermediate drive wheel 104b may not be used as the drive wheel, and only the pair of side drive wheels 104a and 104a may be used as the drive wheels.

Further, instead of the omni wheel, a passive wheel (caster) may be adopted for the intermediate drive wheel 104b. Even in this case, the moving direction of the work robot 101 can be freely changed by adjusting the rotation speeds of the pair of side drive wheels 104a and 104a.

Further, the structure may be the same as that of a vehicle such as a passenger car. For example, as shown in FIGS. 11 to 13, four wheels 104c are provided, and the two wheels in front of (or behind) the wheels are used as steering wheels and the other wheels are used as driving wheels, or four-wheel drive or four-wheel steering. You may do it.

Further, the moving means 104 may be provided with a crawler instead of the wheel. In this case, if a pair of crawlers are provided so as to sandwich the center (center of gravity) of the robot body 102, the work robot 101 can be moved linearly by controlling the operation of the drive motor that drives the pair of crawlers. , Can be swiveled and moved.

<Control unit 130>
The control unit 130 has a function of controlling the operation of the moving means 104 to control the movement of the working robot 101. For example, as described above, when a drive motor is provided on each drive wheel 104, the operation of the drive motor provided on each drive wheel 104 is controlled to control the movement direction and movement speed of the robot body 102. That is, it controls the moving direction and moving speed of the work robot 101. For example, when each drive motor is operated so that the moving speeds of all the driving wheels 104 (specifically, the number of rotations (rotational speed) x the peripheral length of the driving wheels) are the same, the work robot 101 travels straight. Can be moved. On the other hand, when each drive motor is operated so as to cause a difference in moving speed between the pair of side drive wheels 104a and 104a, the work robot 101 can be moved so as to rotate.

Since the work robot 101 of the present embodiment has the above configuration, if the work robot 101 is placed on the surface of the solar cell array LP, the work robot 101 cleans the surface of the solar cell array LP. Can be done (see FIG. 17). That is, since the moving means 104 can move the working robot 101 on the surface of the solar cell array LP, the cleaning unit 110 can clean the surface of the solar cell array LP.

<Edge detection>
As shown in FIGS. 6 to 9, the working robot 101 includes a plurality of edge detection units 131 for detecting the edges (edges) of the solar cell array LP. Then, based on the signals detected by the plurality of edge detection units 131, the control unit 130 controls the operation of the moving means 104 to enable movement along the edge of the solar cell array LP, and the solar cell array LP It prevents the work robot 101 from falling from the edge.
In the following, in order to make the configuration easy to understand, the description will be described with reference to FIGS. 6 and 7 in which the structure is simplified.

As shown in FIGS. 6 and 7, a plurality of edge detection units 131A and B are provided in the vicinity of the side edge of the cleaning unit 110, respectively. Each of the edge detection units 131A and B includes an outer detection unit 132 and an inner detection unit 133, respectively, and is provided so that the cleaning unit 110 is sandwiched between the two detection units 132 and 133. ing.

In each edge detection unit 131, the outer detection unit 132 is arranged so as to be located in front of the cleaning unit 110 when the work robot 101 travels.
On the other hand, the inner detection unit 133 is provided so as to be located behind the outer detection unit 132 in the traveling direction of the work robot 101, in other words, between the cleaning unit 110 and the moving means 104.

For example, in FIG. 6, in the case of the edge detection units 131A and 131B provided near the side end of the cleaning unit 110, the detection unit located above the cleaning unit 110 is the outer detection unit 132. Then, a detection unit (a detection unit located below the cleaning unit 110) provided so as to sandwich the cleaning unit 110 with the outer detection unit 132 becomes the inner detection unit 133. The inner detection unit 133 does not necessarily have to be provided so as to sandwich the cleaning unit 110. Of the wheels of the moving means 104, the inner detecting unit 133 may be provided so as to be located in front of the wheel located in the frontmost position in the traveling direction and behind the outer detecting unit 132 in the traveling direction. .. More specifically, the position where the inner detection unit 133 detects the surface of the solar cell array LP is forward and outside the position where the wheel located at the frontmost position in the traveling direction comes into contact with the surface of the solar cell array LP. The inner detection unit 133 may be provided so as to be located behind the direction detection unit 132 in the traveling direction.

<Movement control method>
Hereinafter, a method will be described in which the control unit 130 controls the operation of the moving means 104 based on the signal detected by the edge detection unit 131A to prevent the working robot 101 from falling from the solar cell array LP.

First, as shown in FIG. 7A, it is assumed that the working robot 101 is traveling while working on the solar cell array LP. In this case, when the edge E of the solar cell array LP is not reached, both the outer detection unit 132 and the inner detection unit 133 of the edge detection unit 131A have the solar cell array LP below them. Detects that. Then, based on the signals (ON signal, OFF signal) sent from the outer detection unit 132 and the inner detection unit 133, the control unit 130 is in a situation where the work robot 101 can stably travel and perform the work. Understand that.

When the work robot 101 further travels from the state shown in FIG. 7A, it eventually reaches the edge E of the solar cell array LP. At this time, it is assumed that the working robot 101 is traveling while working on the surface of the solar cell array LP. In this case, the outer detection unit 132 detects that the solar cell array LP does not exist below and transmits the signal (hereinafter, may be referred to as an OFF signal) to the control unit 130 (FIG. 7). (B).

On the other hand, since the solar cell array LP exists below the inner detection unit 133, a signal from the inner detection unit 133 indicating that the solar cell array LP exists below the inner detection unit 133 (hereinafter referred to as an ON signal). In some cases) is sent. Then, the control unit 130 grasps that the edge E exists between the detection units 132 and 133. However, since the inner detection unit 133 is located on the cleaning unit 110 side (that is, forward in the traveling direction) with respect to the moving means 104, the control unit 130 determines that there is no risk of falling or derailing, and the work robot. Continue running and working on 101.

The control unit 130, which has grasped the above situation, may run the work robot 101 at the same speed as before, or may control the operation of the moving means 104 so as to slightly reduce the speed.

Further, when a special structure is present on the edge E, or when a special work is required on the edge E, the control unit 130 which has grasped the above situation is a moving means 104 or a cleaning unit. Instruct 110 to perform a special run or work near the edge.

Further, when the work robot 101 travels, the inner detection unit 133 also reaches the edge E. Then, not only the outer detection unit 132 but also the inner detection unit 133 detects that the solar cell array LP does not exist below and transmits the signal to the control unit 130 (FIG. 7 (C)). )). Then, the control unit 130 grasps that the work by the cleaning unit 110 has been carried out up to the edge E of the solar cell array LP, and that the moving means 104 may be derailed if the operation is further advanced. Then, the control unit 130 stops the traveling of the working robot 101 or changes the traveling direction of the working robot 101. For example, when the cleaning of the solar cell array LP is completed, the working robot 101 stops running and shifts to the evacuation operation to the evacuation unit 30. On the other hand, when the cleaning of the solar cell array LP is not completed, the traveling direction is changed so as to move toward the other edge E.

As described above, if the cleaning unit 110 is arranged so as to be located between the outer detection unit 132 and the inner detection unit 133 of the edge detection unit 131, it is possible to prevent the moving means 104 from coming off and to prevent the edge from coming off. The work can be carried out by the cleaning unit 110 up to the edge E.

<Other examples of movement control>
Further, the control unit 130 has a function of receiving signals from the edge sensors of the outer detection unit 132 and the inner detection unit 133 and controlling the moving means 104 so that the work robot 101 travels as follows. ing. That is, it has a deceleration control function for decelerating the work robot 101 and a stop control function for stopping the work robot 101.
Hereinafter, control by each function will be described with reference to FIG. 7.

First, as shown in FIG. 7A, it is assumed that the working robot 101 is traveling while working on the solar cell array LP. In this case, when the edge E of the solar cell array LP has not been reached, the outer detection unit 132 and the inner detection unit 133 detect that the solar cell array LP is present below the edge E. Then, based on the ON signals sent from the outer detection unit 132 and the inner detection unit 133, the control unit 130 grasps that the work robot 101 is in a situation where it can stably travel and perform work.

When the work robot 101 further travels from the state of FIG. 7 (A), it eventually reaches the edge E of the solar cell array LP (FIG. 7 (B)). In this case, the outer detection unit 132 detects that the solar cell array LP does not exist below and transmits an OFF signal to the control unit 130. On the other hand, since the solar cell array LP exists below the inner detection unit 133, an ON signal is transmitted from the inner detection unit 133. Then, the control unit 130 controls the operation of the moving means 104 so as to reduce the traveling speed of the working robot 101 (deceleration control).

Further, when the work robot 101 travels, the solar cell array LP does not exist below the inner detection unit 133 (FIG. 7 (C)). When an OFF signal is transmitted from the inner detection unit 133 that has detected that the state has been reached to the control unit 130, the control unit 130 grasps that the moving means 104 may be derailed if the vehicle proceeds further. To do. Then, the control unit 130 controls the operation of the moving means 104 so as to stop the working robot 101 (stop control). Then, since the working robot 101 stops before the moving means 104 reaches the edge E, it is possible to prevent the working robot 101 from falling from the edge E.

As described above, if the edge detection unit 131 is provided with the outer detection unit 132 and the inner detection unit 133, when the work robot 101 approaches the edge E, it can be decelerated and then stopped. Then, the braking distance at the time of stopping can be shortened as compared with the case where the vehicle suddenly stops from the normal moving speed. In other words, if the work robot 101 is stopped by the above control, even if the speed at which the work robot 101 moves is faster than the conventional one, the distance from the start of braking to the stop is about the same as the conventional one. Can be done. Therefore, the work robot 101 can be moved at high speed, and even in that case, it is possible to prevent the work robot 101 from falling from the edge E.

Moreover, if the braking distance at the time of stopping can be shortened, even if the distance from the edge detection unit 131 to the moving means 104 is short, the working robot 101 can be stopped before the moving means 104 reaches the edge. it can. That is, even if the length of the work robot 101 in the traveling direction is shortened, it is possible to prevent the work robot 101 from falling from the edge E, so that the work robot 101 can be made compact.

In the deceleration control, the moving speed may be reduced to a constant speed slower than the normal moving speed to maintain the state, or the moving speed may be gradually decelerated from the normal moving speed. Further, the control may be a combination of both. That is, the speed may be significantly reduced at the start of deceleration, and then gradually reduced.

<Position of inner detection unit 133>
As described above, the inner detection unit 133 is located in the traveling direction of the work robot 101 in front of the wheel located at the frontmost position in the traveling direction and behind the outer detecting unit 132 in the traveling direction. It suffices if it is provided, and its position is not particularly limited. However, it is desirable that the inner detection unit 133 be arranged as close to the cleaning unit 110 as possible. If the inner detection unit 133 is arranged in the vicinity of the cleaning unit 110, the movement of the work robot 101 can be stopped quickly after the work of the edge E is completed. Then, after the work is completed, it is possible to immediately move to the next work place or quickly switch to the next work based on the signal from the inner detection unit 133. Therefore, since unnecessary movement and work can be reduced as much as possible, the work by the work robot 101 can be made more efficient.

<Position of edge detection unit 131 in the width direction>
Further, FIG. 6 shows a case where each edge detection unit 131 is provided near the side edge of the cleaning unit 110, but the position where each edge detection unit 131 is provided is particularly limited as long as the above configuration is satisfied. Not done. For example, the edge detection unit 131 may be provided at the center of the cleaning unit 110 in the width direction, and even in this case, it is possible to grasp the position of the edge E located in front of the traveling direction of the work robot 101. (See FIG. 13 (B)).

However, as described above, if each edge detection unit 131 is provided near the side edge of the cleaning unit 110, the relative position between the cleaning unit 110 and the lateral end of the solar cell array LP can be grasped. Can be done. In the solar cell array LP, it is possible to grasp the relative position between the end portion parallel to the traveling direction of the working robot 101 and the working robot 101. Then, it is possible to prevent the working robot 101 from falling or derailing from the side edge SE (see FIG. 15) of the solar cell array LP.

Moreover, the position of the edge detection unit 131 moves inward or at the same position as the side end of the cleaning unit 110 in the axial direction of the cleaning unit 110 (the direction intersecting the traveling direction of the work robot 101). If it is arranged outside the means 104, the cleaning unit 110 can perform the work up to the side edge SE of the solar cell array LP. Then, the working robot 101 can be moved along the side edge of the solar cell array LP (or the side edge SE of the solar cell module P).

For example, if the edge detection unit 131 is arranged as described above, even if the edge detection unit 131 detects a state in which the solar cell array LP does not exist below, the moving means 104 reaches the side edge SE to some extent. The distance is secured. Therefore, the wheels and the like of the moving means 104 do not come off. In particular, if the position of the edge detection unit 131 is located inward from the side end of the cleaning unit 110, even if the edge detection unit 131 detects a state in which the solar cell array LP does not exist below, the cleaning unit 110 The side edge will be located on the outer side of the lateral edge SE of the solar cell array LP. That is, the side edge SE of the solar cell array LP is already being operated by the cleaning unit 110. In other words, the cleaning unit 110 can work up to the side edge SE of the solar cell array LP (the edge SE along the traveling direction of the work robot 101).

Therefore, if the edge detection unit 131 is arranged inside the side end of the cleaning unit 110 and outside the moving means 104, it is possible to work up to the side edge SE of the solar cell array LP, and moreover. It is also possible to prevent the wheels and the like of the moving means 104 from coming off.

In the above description, "the position of the edge detection unit 131 is the same as the inner side or the end of the cleaning unit 110" means that the position where the edge detection unit 131 can detect the edge SE is the cleaning unit. It means that it matches the cleanable edge at 110. That is, when the cleaning unit 110 has the brush 112 as shown in FIGS. 8 and 9, the edge of the portion where the brush is provided in the axial direction of the brush 112 and the edge detection unit 131 have the edge SE. It means that the detectable positions are almost the same.

<Relative position of outer detection unit 132 and inner detection unit 133>
Further, in the above example, in the edge detection unit 131, the outer detection unit 132 and the inner detection unit 133 are arranged so as to be arranged along the traveling direction (vertical direction in FIG. 6) of the work robot 101. However, the outer detection unit 132 and the inner detection unit 133 may be arranged at positions deviated from each other in the width direction of the cleaning unit 110 (see FIGS. 12B and 13A).

Further, the edge detection unit 131 describes a case where the outer detection unit 132 and the inner detection unit 133 are arranged so as to sandwich the cleaning unit 110 in the traveling direction of the work robot 101 (vertical direction in FIG. 6). did. However, the edge detection unit 131 does not necessarily have to be arranged so as to sandwich the cleaning unit 110. If both the outer detection unit 132 and the inner detection unit 133 are arranged outside the moving means 104, the work robot is based on the signals detected by the outer detection unit 132 and the inner detection unit 133. It is possible to prevent the 101 from falling or coming off. For example, both the outer detection unit 132 and the inner detection unit 133 may be arranged outside the cleaning unit 110 (FIG. 11B), and the outer detection unit 132 and the inner detection unit 133 may be arranged. Both may be arranged inward of the cleaning unit 110 (FIG. 12 (A)).

When both the outer detection unit 132 and the inner detection unit 133 are arranged outside the cleaning unit 110 (FIG. 11B), the edge E of the solar cell array LP (FIG. 7). The cleaning unit 110 cannot be moved to (see). Then, even if the working robot 101 reaches the edge E of the solar cell array LP, it is difficult to drop dust or the like from the edge E of the solar cell array LP. However, when the cleaning unit 110 has a rotating brush and the brush is rotating so as to sweep out dust or the like from the surface of the solar cell array LP, the dust or the like is removed from the solar cell array LP. It will be possible to drop it down from the edge. Further, even if the cleaning unit 110 is a scraper or the like, if the working robot 101 is stopped, the tip of the scraper or the like is moved toward the edge of the solar cell array LP to remove dust or the like from the solar cell array LP. It will be possible to drop it down from the edge.

<Groove detection>
When the solar cell array LP has a groove or the like, the outer detection unit 132 and the inner detection unit 133 determine that the edge of the groove is also the edge of the solar cell array LP. However, if the signals of the outer detection unit 132 and the inner detection unit 133 are processed as follows, it is possible to determine whether the detected edge is the edge of the groove or the edge of the solar cell array LP. Can be done. Then, when the solar cell array LP has a groove, it is possible to prevent the working robot 101 from stopping due to the misidentification of the edge of the groove as the edge of the solar cell array LP.

First, while traveling on the solar cell array LP, an ON signal notifying that the solar cell array LP exists below both of the outer detection unit 132 and the inner detection unit 133 is sent from the control unit. It has been notified to 130. In this state, the work robot 101 travels as usual (FIG. 10 (A)).

When the working robot 101 reaches the edge E of the solar cell array LP, the solar cell array LP does not exist below both the outer detection unit 132 and the inner detection unit 133. In this state, both the outer detection unit 132 and the inner detection unit 133 transmit an OFF signal notifying that there is no solar cell array LP below. Then, the working robot 101 stops traveling (see FIG. 7C).

On the other hand, as shown in FIG. 10, when the solar cell array LP has a groove G and the outer detection unit 132 is located at the position of the groove G, the signal transmitted from the outer detection unit 132 to the control unit 130 is turned on. The signal is switched to the OFF signal (FIG. 10 (B)). At this time, since the solar cell array LP exists below the inner detection unit 133, the ON signal is continuously transmitted from the inner detection unit 133 to the control unit 130.

When the work robot 101 further travels, the outer detection unit 132 passes through the groove G, and the solar cell array LP is present again below the outer detection unit 132. Then, the signal transmitted from the outer detection unit 132 to the control unit 130 is switched from the OFF signal to the ON signal (FIG. 10 (C)).

On the other hand, when the work robot 101 travels, the inner detection unit 133 is arranged at the position of the groove G, so that the signal transmitted from the inner detection unit 133 to the control unit 130 is switched from the ON signal to the OFF signal.

Here, if the outer detection unit 132 and the inner detection unit 133 are arranged so that both of them do not detect the groove G at the same time, the signal transmitted from the inner detection unit 133 to the control unit 130 is an OFF signal. Before this, the signal transmitted from the outer detection unit 132 to the control unit 130 becomes an ON signal. That is, since the signal transmitted from both the outer detection unit 132 and the inner detection unit 133 to the control unit 130 does not become an OFF signal, the working robot 101 can continue running even if there is a groove G. In other words, since the edge of the groove G of the solar cell array LP is not mistaken for the edge E of the solar cell array LP, the working robot 101 is allowed to continue running even if the solar cell array LP has the groove G. be able to.

When detecting the groove G described above, it is necessary to arrange both the outer detection unit 132 and the inner detection unit 133 so as not to detect the groove G at the same time. That is, it is necessary to appropriately set the distance between the outer detection unit 132 and the inner detection unit 133 in the traveling direction of the work robot 101. For example, when the outer detection unit 132 and the inner detection unit 133 detect the presence or absence of the solar cell array LP by the laser sensor, the distance between the outer detection unit 132 and the inner detection unit 133 is large. It is arranged so as to be wider than the width W of the groove G. Then, since the outer detection unit 132 and the inner detection unit 133 do not detect the groove G at the same time, the working robot 101 can continue the running without stopping the running even if the groove G is present.

<Other configurations of outer detection unit 132 and inner detection unit 133>
In the above example, the case where the outer detection unit 132 and the inner detection unit 133 of the edge detection unit 131 have one sensor has been described. If the outer detection unit 132 and the inner detection unit 133 have a plurality of sensors, the following functions can be exerted.

Hereinafter, a case where the outer detection unit 132 and the inner detection unit 133 each have two sensors will be described. In the following, a case where both the outer detection unit 132 and the inner detection unit 133 are arranged outside the cleaning unit 110 will be described as a representative. Further, a case where the control unit 130 controls to execute the deceleration process when the outer detection unit 132 transmits an OFF signal will be described.

As shown in FIG. 14, the outer detection unit 132 includes a pair of edge sensors 132a and 132b. The pair of edge sensors 132a and 132b are arranged so as to be arranged along a width direction (hereinafter, simply referred to as a width direction) orthogonal to the traveling direction of the work robot 101. Further, each of the pair of edge sensors 132a and 132b has a function of detecting the edge E of the solar cell array LP, and has a function of transmitting a signal for detecting the edge E to the control unit 130. doing.

The inner detection unit 133 also includes a pair of edge sensors 133a and 133b. The pair of edge sensors 133a and 133b are arranged so as to be arranged along the width direction of the work robot 101. That is, they are arranged so as to be substantially parallel to the pair of edge sensors 132a and 132b of the outer detection unit 132. Further, each of the pair of edge sensors 133a and 133b also has a function of detecting the edge E of the solar cell array LP, and also has a function of transmitting a signal for detecting the edge E to the control unit 130. doing.

<Copying movement control>
As described above, when the outer detection unit 132 and the inner detection unit 133 of the edge detection unit 131 have a case where the edge detection unit 131 has a plurality of sensors, if the moving means 104 is controlled as follows, the work robot 101 The work robot 101 can be moved along an edge parallel to the traveling direction of the robot 101 (hereinafter referred to as an edge SE). That is, it has a copy movement control function for moving the work robot 101 along the edge SE. When the work robot 101 described above moves to the retracting unit 30, the copy movement control function is used to use the first and second edge P1, P2 and the first and second edge P1, of the solar cell array LP. It moves along the edge SE (side edge) that intersects P2.
Hereinafter, control by the copy movement control function will be described with reference to FIG.

In FIG. 15, the filled sensor is a sensor that detects the solar cell array LP, and the white sensor is a sensor that detects the edge SE (in other words, it can detect the solar cell array LP). The sensor that did not appear) is shown.

FIG. 15 shows a state in which the work robot 101 is moving from the bottom to the top (direction of arrow DR, traveling direction of the work robot 101). As shown in FIG. 15, the working robot 101 is normally controlled to operate the moving means 104 so as to move slightly toward the edge SE side while moving in the direction of the arrow DR. That is, the operation of the moving means 104 is controlled so that the working robot 101 moves in the direction of the arrow a.

Note that the "normal" here means a state in which the solar cell array LP exists below all the edge sensors of the outer detection unit 132 and the inner detection unit 133.

As shown in FIG. 15, when the working robot 101 (bottom of FIG. 15) moves in the direction of arrow a, the working robot 101 moves while tilting slightly and eventually reaches the edge SE (from the bottom of FIG. 15). See the second working robot 101). Then, the solar cell array LP does not exist below the edge sensor 132a located outside in the width direction in the outer detection unit 132. When this state is detected, a signal is transmitted from the edge sensor 132a to the control unit 130. At this time, the control unit 130 confirms the signal from the other edge sensor, and indicates that the solar cell array LP exists below the other edge sensor (or another edge sensor other than the edge sensor 133a). When the indicated signal is transmitted, it is determined that the edge sensor 132a (or the edge sensor 132a and the edge sensor 133a) of the outer detection unit 132 has detected the edge SE. Then, the control unit 130 controls the operation of the moving means 104 so that the working robot 101 moves in a direction away from the edge SE side. That is, the operation of the moving means 104 is controlled so that the working robot 101 moves in the direction of the arrow b (see the second working robot 101 from the bottom of FIG. 15). When both the edge sensor 132a and the edge sensor 133a detect the edge SE, deceleration control is performed. However, as will be described later, both or one of the edge sensor 132a and the edge sensor 133a is a solar cell array below the edge sensor 132a and the edge sensor 133a. If it is detected that the LP is present, the deceleration control is released and the working robot 101 moves at the original moving speed.

As shown in FIG. 15, when the work robot 101 moves in the direction of the arrow b, the work robot 101 moves away from the edge SE side while slightly tilting (see the second work robot 101 from the top in FIG. 15). ). Then, the edge sensor 132a of the outer detection unit 132 again detects that the solar cell array LP exists below the edge sensor 132a, and transmits the signal to the control unit 130. At this time, the control unit 130 confirms the signal from the other edge sensor (or other edge sensor other than the edge sensor 132a), and confirms that the solar cell array LP exists below the other edge sensor. When the indicated signal is transmitted, the control unit 130 controls the operation of the moving means 104 so that the working robot 101 is in a normal traveling state (see the second working robot 101 from the top of FIG. 15). ).

When the working robot 101 is in the normal running state, the working robot 101 moves toward the edge SE side again. Then, when the edge sensor 132a of the outer detection unit 132 detects that the solar cell array LP does not exist below the edge sensor 132a, the working robot 101 moves in the direction away from the edge SE again. Then, when the edge sensor 132a of the outer detection unit 132 again detects that the solar cell array LP exists below the edge sensor 132a, the working robot 101 enters a normal running state.

When controlled as described above, if the work robot 101 moves while switching the traveling state, the working robot 101 is slightly swung left and right with respect to the traveling direction (that is, with respect to the edge SE), and the edge edge. It can be moved along the SE.

Then, the work robot 101 reaches the edge E in the traveling direction (see the work robot 101 in the uppermost stage of FIG. 15), and both of the pair of edge sensors 132a and 132b of the outer detection unit 132 are below the solar cell. If it is detected that the array LP does not exist, the traveling speed of the working robot 101 is reduced. At this time, when the edge sensor 132a of the outer detection unit 132 detects that the solar cell array LP does not exist below the edge sensor 132a, the working robot 101 moves in the direction away from the edge SE (direction of arrow b). Will be. That is, since the working robot 101 is decelerated while being controlled to follow the movement, it moves in a direction away from the edge SE and closer to the edge E while reducing the speed.

Eventually, when both the pair of edge sensors 133a and 133b of the inner detection unit 133 detect that the solar cell array LP does not exist below the pair of edge sensors 133a, the working robot 101 is stopped. To. That is, deceleration control and stop control can be performed while moving the work robot 101 by copying control. When retracting to the above-mentioned evacuation unit 30, the working robot 101 switches the edge that moves in accordance with the edge SE that has been copied up to that point to the edge E that is located forward, and the edge edge. It moves along E while being controlled to follow the movement.

Note that the copy control is performed even while the deceleration control is being performed. During this period, the solar cell array LP does not exist below the edge sensor 132a of the outer detection unit 132, but whether or not the solar cell array LP exists below the edge sensor 133a of the inner detection unit 133. As a result, the movement in the direction approaching the edge SE (direction of arrow a) and the direction away from the edge SE (direction of arrow b) are switched.

<Outer detection unit 132 and inner detection unit 133>
For the speed control and stop control described above, the outer detection unit 132 and the inner detection unit 133 need only include at least one edge sensor. However, if the outer detection unit 132 is provided with a pair of edge sensors 132a and 132b, deceleration control is performed only when both edge sensors 132a are in the same state (the state where there is no solar cell array LP below the edge sensors 132a). Can be done. Then, even if only the edge sensor 132a on the outer side (edge SE side) of the outer detection unit 132 detects the edge SE, the deceleration control is not performed, so that the working robot 101 is stably driven in the traveling direction. Can be done.

Further, if the inner detection unit 133 is provided with a pair of edge sensors 133a and 133b, the stop control is performed only when both are in the same state (the state where there is no solar cell array LP below the state). Can be done. Then, when performing the copying control while performing the deceleration control described above, even if only the edge sensor 133a on the outer side (edge SE side) of the inner detection unit 133 detects the edge SE, the stop control is performed. Therefore, the work robot 101 can be stably driven even during deceleration control.

When the copy control is not performed during the deceleration control, the inner detection unit 133 is located inward of the outer edge sensor 132a of the outer detection unit 132 (end edge SE side). Only the edge sensor 133b may be provided.

On the other hand, if only speed control and stop control are to be performed, the outer detection unit 132 and the inner detection unit 133 may each have one edge sensor. In this case, whether the edge E or the edge SE is located in the traveling direction of the work robot 101 cannot be determined only by the signals detected by the outer detection unit 132 and the inner detection unit 133. Therefore, it is desirable to separately provide a sensor for detecting the edge SE.

Further, if only the copy movement control is performed without performing the speed control or the stop control by the signals from the outer detection unit 132 and the inner detection unit 133, the outer detection unit 132 and the inner detection unit 133 are used. This can be done if each has one edge sensor. Further, it is not necessary to provide both the outer detection unit 132 and the inner detection unit 133, and it is possible to carry out the copy movement control even if only one is provided.

<Anti-tilt sensor 135>
As shown in FIG. 14, the tilt prevention sensor 135 may be provided at a position away from the edge detection unit 131 in the width direction, inward of the edge detection unit 131 and outside of the moving means 104. ..

As described above, since the work robot 101 moves toward the edge SE in normal traveling, its axial direction (that is, traveling direction) is inclined with respect to the direction of the edge SE. On the other hand, if the edge sensor 132a of the outer detection unit 132 detects the edge SE, the working robot 101 tilts in the opposite direction. Therefore, the inclination of the work robot 101 in the axial direction swings so as to be within a certain range with respect to the direction of the edge SE. However, when the work robot 101 is arranged at a position far away from the edge SE, the inclination of the work robot 101 in the axial direction becomes large. Then, if such a state occurs in the vicinity of the edge E in the traveling direction, there is a possibility that the moving means 104 may be derailed or the like.

However, if the tilt prevention sensor 135 is provided at the above-mentioned position, the tilt prevention sensor 135 can detect that there is no solar cell array LP below the tilt prevention sensor 135 before the moving means 104 derails or the like. In this case, if the control unit 130 stops the moving means 104 when a signal from the tilt prevention sensor 135 that detects that there is no solar cell array LP below the tilt prevention sensor 135 is transmitted to the control unit 130, the moving means The movement of the working robot 101 can be stopped before the 104 derails.

<Danger control unit 140>
If the edge detection unit 131 is provided and the operation of the moving means 104 is controlled by the control unit 130 as described above, if the edge detection unit 131 and the control unit 130 are operating normally, the wheel removal or the work robot 101 Can be appropriately prevented from falling from the solar cell array LP.

However, if the edge detection unit 131 cannot properly detect the edge E of the solar cell array LP due to a failure or the like, there is a possibility that the wheel may come off or the working robot 101 may fall from the solar cell array LP.

Therefore, in addition to the edge detection unit 131, a danger detection unit 141 for detecting the edge E of the solar cell array LP may be provided. Specifically, as shown in FIG. 11A, a danger detection unit 141 is provided between the edge detection unit 131 and the moving means 104 in the traveling direction of the work robot 101, and the danger detection unit 141 is the sun. When the edge E of the battery array LP is detected, the control unit 130 stops the working robot 101 from traveling. Then, even if the edge detection unit 131 does not detect the edge E of the solar cell array LP, the danger detection unit 141 causes the solar cell array LP before the moving means 104 reaches the edge E of the solar cell array LP. Edge edge E can be detected. Therefore, even if the edge detection unit 131 does not detect the edge E of the solar cell array LP, it is possible to prevent the wheel from coming off or the working robot 101 from falling from the solar cell array LP.

When the danger detection unit 141 is provided, the control unit 130 may be provided with a function of notifying the operator or the like that the running of the work robot 101 has been stopped by a signal from the danger detection unit 141. Then, by notifying the worker or the manager that the work robot 101 is out of order, the work robot 101 can be quickly repaired or the like. For example, an alarm or an indicator may be used to notify the operator of the failure, or a signal may be transmitted to the operator's mobile terminal, management center, or the like to transmit information on the failure.

Further, if the control unit 130 is out of order, the work robot 101 does not stop running even if the edge detection unit 131 detects the edge E of the solar cell array LP, and the work robot 101 starts from the solar cell array LP. It may fall. However, if the danger control unit 140 that controls the moving means 104 by the signal of the danger detection unit 141 is provided separately from the control unit 130, even if the control unit 130 is out of order, the wheel can be removed or the work robot 101 can be removed. Can be prevented from falling from the solar cell array LP.

In this case, the danger control unit 140 may be provided with a function of notifying the operator or the like that the running of the work robot 101 has been stopped. Then, by notifying the worker or the manager that the work robot 101 is out of order, the work robot 101 can be quickly repaired or the like. For example, an alarm or an indicator may be used to notify the operator of the failure, or a signal may be transmitted to the worker's mobile terminal, management center, or the like to transmit information on the failure. Further, if the signal from the edge detection unit 131 is also input to the danger control unit 140, it is possible to grasp which of the edge detection unit 131 and the control unit 130 is damaged. Then, when the work robot 101 is repaired or the like, the worker can easily grasp the problem, so that the time until recovery can be shortened.

The structure of the danger detection unit 141 is also not particularly limited. However, if the danger detection unit 141 has the outer sensor and the inner sensor so as to line up in the moving direction of the work robot 101 (see the edge detection unit 131 in FIG. 14), the groove or the like is formed in the solar cell array LP. The possibility of erroneous detection as edge E can be reduced.

Further, even if the danger detection unit 141 has only one sensor, if the danger detection unit 141 is installed at a position shifted in the moving direction of the work robot 101, a groove or the like is erroneously used as the edge E of the solar cell array LP. The possibility of detection can be reduced.

<Example of sensor>
The sensor used in the edge detection unit 131 and the danger detection unit 141 is not particularly limited, and a known sensor can be used. For example, a non-contact edge detection sensor such as a laser sensor, an infrared sensor, or an ultrasonic sensor, or a contact-type sensor such as a limit switch can be used as the sensor. Further, the control unit 130 may analyze the image taken by using the CCD camera or the like as a sensor to detect the edge. Further, it is also possible to use a temperature sensor or a capacitance sensor as a sensor. When these sensors are used, the edge of the solar cell array LP can be grasped from the temperature difference and the difference in capacitance between the solar cell array LP and the portion outside the edge (space, etc.).

For example, when the sensor is a laser sensor, it is possible to detect whether or not the solar cell array LP exists as follows. First, it is assumed that the solar cell array LP exists directly under the sensor. In this case, if the sensor irradiates the laser light, the sensor receives the reflected light reflected by the solar cell array LP. That is, it can be determined that the position of the sensor is located inward of the edge. On the other hand, when the sensor cannot receive the reflected light, it can be determined that there is no solar cell array LP directly under the sensor, that is, the position of the sensor is located outside the edge.

<Wheel removal prevention function>
Further, a contact type sensor for detecting derailment may be provided in case the danger detection unit 141 fails.

For example, a contact sensor electrically connected to the danger control unit 140 (or control unit 130) is provided on the lower surface of the robot body 102. Then, when the wheel is removed, the lower surface of the robot body 102, that is, the contact sensor comes into contact with the edge of the solar cell array LP, so that it is possible to detect that the wheel has been removed. Then, when the contact sensor detects that it has come into contact with the solar cell array LP and transmits a signal to the danger control unit 140 (or control unit 130), the danger control unit 140 (or control unit 130) that has received the signal moves. The operation of the drive unit of the means 104 is stopped. For example, when a motor is used for the drive unit, the supply of current to the motor is stopped. Then, since the force for moving the working robot 101 in the edge direction is not applied, it is possible to prevent the robot main body 102 from falling from the solar cell array LP.

When the danger control unit 140 (or the control unit 130) receives a signal that the contact sensor contacts the solar cell array LP, the drive unit may be operated so that the wheels 104a and 104b generate a drive resistance. .. Then, the effect of preventing the robot body 102 from falling from the solar cell array LP can be enhanced. For example, when a motor is used for the drive unit, a current may be supplied to the motor so that the rotation direction of the motor is reversed. Further, a braking device such as an electromagnetic brake may be provided in the drive unit, or a short braking function in which a braking force can be obtained by short-circuiting the terminals of the motor may be exhibited.

The sensor used as the above-mentioned contact type sensor is not particularly limited. For example, a pressure-sensitive rubber switch called a cable switch (manufactured by Azbil) or a tape switch (manufactured by Tokyo Sensor) can be used. The position where the contact sensor is provided is not particularly limited. For example, when a cable switch, a tape switch, or the like is used, the cable switch, the tape switch, or the like may be installed so as to be parallel to the rotating surface of the wheel 104c (or the wheel 104a in FIG. 6). When a planar sensor is used, the sensor may be provided on the entire lower surface of the robot body 102.

<Operation of work robot 101>
The work robot 101 described above controls operations such as operation and cleaning of the moving means 104 by the control unit 130. Therefore, if the operation of the work robot 101 is controlled so as to automatically travel on the route or the like stored in the control unit 130, the work such as cleaning is performed while moving on the solar cell array LP almost automatically. be able to. Even when cleaning is performed while moving on the solar cell array LP almost automatically, when moving to the retracting unit 30, the solar cell array LP is moved along the edge of the solar cell array LP (of the solar cell array LP). It may be moved (following the edge). Then, the work robot 101 can be returned to the evacuation unit 30 reliably and stably.

On the other hand, the work robot 101 may be operated by an operator from the outside to control operations such as running and cleaning. For example, the work robot 101 may be remotely controlled by using wireless communication using wireless, infrared rays, or the like. That is, the operator may operate the wireless communication controller to remotely control the work robot 101. Further, the worker may operate the work robot 101 by using a controller connected to the work robot 101 by a signal line or the like. If the operator operates the work robot 101 using a controller for wireless communication or a controller connected by a signal line, the operator can perform the work while checking the work status such as cleaning. Then, the work robot 101 can be made to perform appropriate work according to changes in the surrounding conditions and the like.

In this way, even when the operator controls the operation of the work robot 101, it is desirable to have the edge detection function as described above. If it has such a function, even if there is an operation error of the operator, the work robot 101 can be appropriately run to perform the work. Further, even if there is an operation error of the operator, it is possible to prevent the working robot 101 from falling from the solar cell array LP.

The work robot 101 may be a combination of both operation by an operator and automatic traveling (work). That is, normally, work and running are performed automatically (that is, control of only the control unit 130), but when an operation by the operator is input from the controller or the like, the operation by the operator is performed from the state of automatic running (work). It may be switched to the operation. In this case, if the input from the controller or the like does not exceed a certain level, the state is switched to the automatic driving (working) state. Then, even if the operator makes an operation error or forgets to switch to the automatic driving (work) state, the work can be continued, which is preferable.

<About work control>
Further, the working device 1 may include a state detection mechanism for detecting the state of the surface of the solar cell array LP by measuring the surface of the solar cell array LP or the like. If such a state detection mechanism is provided, the surface of the solar cell array LP can be appropriately grasped, so that work such as cleaning according to the state of the surface of the solar cell array LP can be performed.

The state detection mechanism can be composed of a state detection unit that detects the state of the solar cell array LP and a determination unit that determines the state of the surface of the solar cell array LP based on the information detected by the state detection unit. Both the state detection unit and the determination unit may be provided in the work robot 101, or only the state detection unit may be provided in the work robot 101 and the determination unit may be provided in the management building or the like. Further, the state detection unit may be provided in the solar cell array LP or the like, and the determination unit may be provided in the management building or the like. When the determination unit is provided in the management building or the like, commands such as operation timing are transmitted from the management building to the work robot 101.

The state detection unit is not particularly limited, and examples thereof include a temperature detection unit that detects the surface temperature of the solar cell array LP. In this case, depending on the temperature of the surface of the solar cell array LP detected by the temperature detection unit, the work robot 101 can perform work suitable for that temperature.

For example, when the surface of the solar cell array LP is below the dew point temperature, dew condensation occurs on the surface of the solar cell array LP, and the dew condensation can be used for cleaning. Therefore, when the work robot 101 has a rubber blade as the cleaning unit 110, when the state detection mechanism detects a state below the dew point temperature, the control unit 130 moves the work robot 101 to perform cleaning. It is desirable that it is like this.

On the other hand, when the working robot 101 has a cleaning unit 110 suitable for cleaning in a dry state such as a brush or cloth, the cleaning is performed in a state where the surface of the solar cell array LP is above the dew point temperature. It is desirable to do. Therefore, when the work robot 101 has such a cleaning unit 110, when the state detection mechanism detects a state of the dew point temperature or higher, the control unit 130 moves the work robot 101 to perform cleaning. It is desirable to have.

The temperature detection unit may be installed on the solar cell array LP or on the work robot 101. For example, when it is installed in the solar cell array LP, the temperature detection unit can be provided in the panel frame or the like of the solar cell array LP. Further, when the work robot 101 is provided, the temperature detection unit may be provided at a position where the temperature of the surface of the solar cell array LP can be measured while the work robot 101 is arranged in the evacuation unit 30. For example, a method such as providing a temperature detection unit on a stay or the like protruding outward from the work robot 101 can be adopted.

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

Further, as a state detection unit for detecting the state of the surface of the solar cell array LP, a device that measures the color and intensity (gloss) of the surface of the solar cell array LP may be adopted. In this case, the dirt on the surface of the solar cell array LP can be determined by detecting the color and intensity (gloss) of the surface of the solar cell array LP.

For example, the work robot 101 is provided with a state detection unit that measures the color and intensity (gloss) of the surface of the solar cell array LP. Then, when the determination unit determines that a certain amount of dirt remains based on the information detected by the state detection unit, the control unit 130 operates the work robot 101 so as to reciprocate the position a plurality of times. To do so. For example, the control unit 130 operates the work robot 101 so that the work robot 101 reciprocates a plurality of times in the area where dirt remains in the solar cell array LP. Then, the effect of removing the dirt on the surface of the solar cell array LP by the working robot 101 can be enhanced.

Further, when the determination unit determines that the dirt remains even though the work robot 101 reciprocates a plurality of times in the area where the dirt remains, the control unit 130 informs the operator of the area where the dirt remains. It may have a function of notifying. In this case, if the operator manually cleans the area (using water or the like), dirt that cannot be removed by the work robot 101 can be eliminated.
Further, when the reciprocating work is performed a predetermined number of times, the cleaning of the area may be stopped and the cleaning of the other area may be performed. That is, when the work robot 101 reciprocates in the area where the dirt remains a predetermined number of times, the cleaning of the area is stopped even if the determination unit determines that the dirt remains above a certain level. You may. In this case, unnecessary operation of the work robot 101 can be prevented. Then, as will be described later, when one working robot 101 is shared by a plurality of solar cell array LPs, even if there is an area on the surface of one solar cell array LP where dirt cannot be removed, another solar cell The working robot 101 can be moved to the array LP. Then, the working robot 101 does not stay in one solar cell array LP for a long time in order to eliminate the dirt that cannot be removed by the working robot 101, so that the working efficiency can be improved.

For example, the following configuration can be adopted for such a state detection unit.
As a state detection unit, a light irradiation unit that irradiates the surface of the solar cell array LP with light is provided. The light emitted by the light irradiation unit is not particularly limited. Further, a light receiving unit is provided so that the light emitted by the light irradiation unit can receive the reflected light reflected on the surface of the solar cell array LP. Then, if the determination unit determines the dirt on the surface of the solar cell array LP based on the signal received by the light receiving unit, the dirt on the surface of the solar cell array LP can be determined. For example, when the light irradiation unit irradiates the surface of the solar cell array LP with light of a predetermined intensity and wavelength, the surface of the solar cell array LP is not contaminated (or is contaminated to an acceptable degree). The color (reference color) and intensity (reference intensity) of the reflected light in the present state) are stored. Then, by comparing the reflected light received by the light receiving unit with the reference color and the reference intensity, the determination unit can determine the dirt on the surface of the solar cell array LP.

The configuration of the light irradiation unit and the light receiving unit is not particularly limited, but a plurality of light irradiation units and a plurality of light receiving units are provided along a direction intersecting the moving direction of the work robot 101 (for example, a direction orthogonal to each other). Is desirable. In this case, it is possible to reduce the area where dirt on the surface of the solar cell array LP cannot be detected. In particular, if a line sensor is used as the light receiving unit, it becomes easy to prevent omission of detection of dirt.

If the state detection unit is provided behind the cleaning unit 110 in the moving direction of the work robot 101, the state after cleaning by the cleaning unit 110 can be determined. Further, if the robot 101 is provided in front of the cleaning unit 110 in the moving direction, the cleaning by the cleaning unit 110 can be adjusted according to the state of dirt. In particular, if the work robot 101 is provided both in front of and behind the cleaning unit 110 in the moving direction, both of the above-mentioned functions can be exhibited.

Further, the state detection mechanism may have a wind speed sensor for measuring the wind speed as a state detection unit. In this case, if the control unit 130 operates the work robot 101 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 110 of the work robot 101 winds up dust or the like, the dust is easily scattered, so that the cleaning effect can be enhanced. When the wind speed exceeds a certain level, the work robot 101 may be damaged or malfunction. Therefore, it is desirable that the control unit 130 controls the work robot 101 so as not to operate it.

<Inclination of solar cell array LP during work>
In the case of the tracking type solar cell array LP, cleaning may be performed by the working robot 101 in a state where the surface is horizontal, or cleaning may be performed by the working robot 101 in a state where the surface is inclined to some extent.

That is, even in the tracking type solar cell array LP, the surface is not leveled, but the surface is maintained in a state of being tilted to some extent (for example, a state of being tilted with respect to the horizontal by about 30 °) for cleaning by the work robot 101. It may be carried out. When the work is carried out at an angle, the angle is not particularly limited. The surface of the solar cell array LP may be maintained at an appropriate angle according to the surrounding environment and the like, and cleaning may be performed by the working robot 101.

<Movement of work robot 101 between solar cell array LPs>
One work robot 101 may be provided in each of the solar cell array LPs, or one work robot 101 may be shared by a plurality of solar cell array LPs.

<In the case of solar cell array LP arranged in parallel>
First, as shown in FIG. 18, a case where the working robot 101 is shared by the solar cell array LPs arranged side by side along the direction intersecting the axial direction of the swing shaft SS will be described.

For example, as shown in FIG. 18, a transport path DR is installed outside from both ends in the axial direction of the swing shaft SS of the adjacent solar cell array LP, and a retracting portion 30 is provided in the transport path DR. That is, a transport path DR is installed that is outward from both ends of the swing shaft SS of the solar cell array LP in the axial direction and whose upper surface is substantially horizontal. Then, the height of the upper surface of the transport path DR is set to be substantially the same as the surface of the solar cell array LP in a state where the surface of the solar cell array LP is substantially horizontal. Then, if the work robot 101 is moved to the evacuation unit 30 (that is, the transport path DR), the work robot 101 is moved from one solar cell array LP to another solar cell array LP by traveling on the transport path DR. Can be moved.

<In the case of solar cell array LP arranged in series>
Next, as shown in FIG. 21, a case where the working robot 101 is shared by the solar cell arrays LP1 and LP2 arranged side by side along the axial direction of the swing shaft SS will be described.

For example, as shown in FIG. 21, a transport path DR is installed between the ends of adjacent solar cell arrays LP1 and LP2 in parallel with the axial direction of the swing shaft SS. Specifically, the surfaces of the solar cell arrays LP1 and LP2 and the surface of the transport path DR are arranged so as to be substantially flush with each other. Then, since the working robot 101 can move between the adjacent solar cell arrays LP1 and LP2 through the surface of the transport path DR, the working robot 101 can be shared by a plurality of solar cell arrays LP.

In this case, it is desirable to install the transport path DR between the adjacent solar cell arrays LP1 and LP2 so that the adjacent solar cell arrays LP1 and LP2 and the end D2 of the transport path DR are lined up substantially in a straight line. With such a configuration, when the work robot 101 moves on the transport path DR, if the work robot 101 is moved along the end D2 of the transport path DR, the space between the adjacent solar cell arrays LP1 and LP2 is stabilized. Can be moved to the work robot 101.

For example, in the adjacent solar cell arrays LP1 and LP2, the retracting portion 30 is provided only in one solar cell array LP1 (the left solar cell array LP1 in FIG. 21), and the other solar cell array LP2 (the right side in FIG. 21) is provided. It is assumed that the solar cell array LP2) is not provided with the retracting unit 30. In such a configuration, when one working robot 101 cleans the two solar cell arrays LP1 and LP2, the working robot 101 moves to the solar cell array LP2 after cleaning the solar cell array LP1 in sequence. At this time, the working robot 101 is moved to the solar cell array LP2 along the second end P2 of the solar cell array LP1. Then, the working robot 101 can be reliably moved from the solar cell array LP1 to the solar cell array LP2 through the transport path DR (see FIG. 21 (A)).

When moving the transport path DR, if the work robot 101 is moved along the end D2 of the transport path DR, the transport path DR can be stably traveled, and the solar cell array LP2 can be moved. Positioning when moving and grasping the position of the work robot 101 are also facilitated.

Further, even when the work of the solar cell array LP2 is completed and the work is returned to the evacuation unit 30, if the work robot 101 moves along the second end edge P2 of the solar cell array LP2, the transport path DR is surely performed. Through this, the working robot 101 can be moved to the solar cell array LP1 (FIG. 21 (B)). Moreover, since the working robot 101 can be moved and returned to the evacuation unit 30 as if the solar cell array LP1 and the solar cell array LP2 are one solar cell array LP, the movement control of the working robot 101 can also be performed. It will be easier.

The above-mentioned "the second end P2 of the adjacent solar cell arrays LP1 and LP2 and the end D2 of the line-of-conducting DR are aligned substantially linearly" means that the second end P2 of the solar cell arrays LP1 and LP2 is aligned. When the edge of the transport path DR and the edge edge of the end portion D2 of the transport path DR (the intersection line formed by the surface and the end face of the transport path DR) are perfectly aligned, there is a slight deviation between the two. Including cases where there is. When there is a slight deviation between the two, the edge of the second end P2 of the solar cell arrays LP1 and LP2 and the edge of the end D2 of the transport path DR are almost parallel, but slightly higher or horizontal. This includes the case where there is a deviation in the direction (for example, about 0 to 5 mm) and the case where there is a deviation in the position along the surface of the solar cell module P (for example, about 0 to 20 mm). Further, the case where the end edge of the second end portion P2 of the solar cell arrays LP1 and LP2 and the end edge of the end portion D2 of the transport path DR are relatively inclined is included. For example, when it is tilted by about 0 to 1 degree in a plane parallel to the surface of the solar cell arrays LP1 and LP2, or when it is tilted by about 0 to 2 degrees in a plane parallel to the second end surface of the solar cell arrays LP1 and LP2. Includes cases where

Further, "the surface of the solar cell arrays LP1 and LP2 and the surface of the transport path DR are substantially the same plane" means that the angle between the surface of the solar cell arrays LP1 and LP2 and the surface of the transport path DR is about 0 to 1 degree. This is a concept that includes cases where there is a gap. It also includes the case where there is a slight difference in height between the surfaces of the solar cell arrays LP1 and LP2 and the surface of the transport path DR (for example, about 0 to 5 mm).

<Swing type transport path DR>
In the above example, in the adjacent solar cell arrays LP1 and LP2, the case where both surfaces are substantially the same plane and the case where both surfaces are substantially the same plane even if both are shaken have been described. However, depending on the installation conditions of the solar cell arrays LP1 and LP2, there may be a difference in height or an angle difference between the surfaces of the solar cell arrays LP1 and LP2. When there is such a problem, the transport path DR may have the following configuration.

As shown in FIG. 22, the transport path DR is provided with a swing shaft Da at a first end portion (end portion on the solar cell array LP1 side). The swing shaft Da is provided parallel to the surface of the solar cell array LP1 and is fixed to the solar cell array LP1 via a bearing or the like. One end of the transport portion Db (the end on the right side in FIG. 22) is attached to the swing shaft Da. That is, the transport portion Db is provided so as to be swingable with respect to the solar cell array LP1 by the swing shaft Da.

The other end (the right end in FIG. 22) of the transport portion Db is placed on the end of the solar cell array LP2 adjacent to the solar cell array LP1. Specifically, a holding plate LM is provided at the end of the solar cell array LP2 on the solar cell array LP1 side, and the other end of the transport portion Db is placed on the upper surface of the holding plate LM. ..

The configuration of the holding plate LM is not particularly limited. When the surfaces of the adjacent solar cell arrays LP1 and LP2 are substantially flush with each other, when the other end of the transport portion Db is placed on the holding plate LM, the surface of the transport portion Db (that is, the surface of the transport path DR). ) Are adjacent to each other so that the surfaces of the solar cell arrays LP1 and LP2 are substantially flush with each other.

If the transport path DR having such a configuration is provided, even if there is a difference in the height of the surfaces of the adjacent solar cell arrays LP1 and LP2, if the transport unit Db swings, the transport path between the solar cell arrays LP1 and LP2. It can be connected by DR. Then, even if there is a difference in the height of the surfaces of the adjacent solar cell arrays LP1 and LP2, the working robot 101 can move between the adjacent solar cell arrays LP1 and LP2 via the transport path DR.

If the inclination angle of the transport unit Db becomes large, it becomes difficult for the work robot 101 to move between the transport path DR and the solar cell arrays LP1 and LP2. For example, if the angle formed by the surface of the transport path DR with respect to the surface of the solar cell arrays LP1 and LP2 is larger than 20 degrees, it becomes difficult to move from the transport path DR to the solar cell arrays LP1 and LP2. Therefore, a sensor for detecting the swing angle of the transport unit Db is provided in the transport path DR, and when the sensor detects that the angle is equal to or higher than a certain angle, the work robot between the transport path DR and the solar cell arrays LP1 and LP2. The control unit 130 may control the operation of the moving means 104 so that the 101 does not move. Of course, the working robot 101 itself may be provided with a sensor for detecting the inclination of the transport path DR, and the control unit 130 may control the operation of the moving means 104 based on the signal from this sensor.

In particular, when the solar cell arrays LP1 and LP2 swing, if the swing angles of the solar cell arrays LP1 and LP2 deviate, it becomes difficult to move the work robot 101. For example, the angle of the working robot 101 with respect to the swing axis SS (the angle around the swing axis SS) when moving on the surface of the solar cell array LP1 may be different from the angle of the surface of the solar cell array LP2. is there. In this case, when the work robot 101 moves from the solar cell array LP1 to the solar cell array LP2 through the transport path DR, the work robot 101 may come into contact with the solar cell array LP2 and the work robot 101 may fall. .. In order to prevent such a problem, the length of the transport path DR is set so that the other end of the transport path DR deviates from the upper surface of the holding plate LM when the deviation of the swing angle of the solar cell arrays LP1 and LP2 exceeds a certain level. do it. That is, in FIG. 22, if the swing angles of the solar cell arrays LP1 and LP2 are the same, the other end of the transport path DR can be maintained in a state of being placed on the upper surface of the holding plate LM (FIG. 22 (A). )), When the solar cell array LP2 is tilted more than the solar cell array LP1 with respect to the horizontal, the other end of the transport path DR is separated from the upper surface of the holding plate LM (FIG. 22 (B)). The length of the transport portion Db may be adjusted.

In this case as well, a sensor for detecting the swing angle of the transport unit Db may be provided in the transport path DR so that the control unit 130 of the work robot 101 controls the operation of the moving means 104. That is, when the sensor detects that the surface of the transport unit Db is at a certain angle or more with respect to the surface of the solar cell arrays LP1 and LP2, the control unit 130 between the transport path DR and the solar cell arrays LP1 and LP2. The operation of the moving means 104 may be controlled so that the working robot 101 does not move. Of course, the work robot 101 itself is provided with a sensor for detecting the inclination of the transport path DR and the presence / absence of the transport path DR, so that the control unit 130 controls the operation of the moving means 104 based on the signal from this sensor. May be good.

The arrangement of the transport path DR is not limited to the arrangement shown in FIG. 18, and various arrangements can be taken.

The working device of the present invention is suitable for cleaning the surface of a fixed type or tracking type solar cell module.

1 Work equipment 10 Work equipment 11 Chassis frame 15 Cleaning member 20 Moving part 21 Towing mechanism 22 Towing member 25 Drive mechanism 30 Evacuation part 50 Support mechanism 51 First support part 51a Free roller 52 Second support part 52a Free roller 101 Working robot 102 Robot body 104 Moving means 110 Cleaning unit 112 Brush 130 Control unit 131 Edge detection unit 132 Outer detection unit 132a Edge sensor 132b Edge sensor 133 Inner detection unit 133a Edge sensor 133b Edge sensor 140 Danger control unit 141 Danger detection unit SP Photovoltaic equipment LP Solar cell array P Solar cell module SS Swing axis DR Transport path

Claims (17)

1. A work device that performs work on the surface of a solar cell array in which multiple solar cell modules are installed side by side.
   A work device that performs work on the surface of the solar cell array, and
   It is provided with a moving portion for moving the working device along the direction in which the solar cell modules are lined up.
   The moving part
   A work device including a moving mechanism for moving the work device by using a cord-shaped member.
2. The moving part
   With the cord-like member connected to the work equipment,
   It is provided with a drive mechanism for moving the cord-like member.
   The cord-like member
   The working apparatus according to claim 1, wherein one end and the other end are connected to the working device to form an endless loop.
3. The moving part
   With the cord-like member connected to the work equipment,
   It is provided with a drive mechanism for moving the towing member.
   The working device according to claim 1, wherein the cord-shaped member is an endless member.
4. The cord-like member
   The working apparatus according to claim 1, 2 or 3, wherein the working apparatus is provided so as not to be in contact with the surface of the solar cell array.
5. The cord-like member
   The working apparatus according to claim 1, 2, 3 or 4, wherein in the power generation state of the solar cell array, the working apparatus is arranged at a position where a shadow of the cord-like member is not formed on the surface of the solar cell array. ..
6. The moving part
   With the cord-like member stretched along the surface of the solar cell array,
   The work device according to claim 1, further comprising a drive mechanism for driving a roller that rolls on the surface of the cord-like member.
7. The drive mechanism is
   The work apparatus according to claim 6, further comprising a pair of rollers arranged so as to sandwich the cord-like member.
8. A retracting portion for retracting the working device from the surface of the solar cell array is provided outside one end of the solar cell array in the direction in which the working device is moved by the moving mechanism of the moving portion. The working apparatus according to any one of claims 1 to 7.
9. The working apparatus according to claim 8, further comprising a reach detecting portion for detecting that the working device has arrived at an end portion of the solar cell array on the side opposite to the side on which the retracting portion is provided. ..
10. A work device that performs work on the surface of a solar cell array in which multiple solar cell modules are installed side by side.
    A work robot having a means of transportation for self-propelling and a work unit for performing work on the surface of the solar cell array.
    It is provided with a retracting portion for retracting the working robot from the surface of the solar cell array.
    The work robot
    A working device characterized in that when moving to the retracted portion, it moves to the edge of the solar cell array and then moves to the retracted portion along the edge of the solar cell array.
11. The work apparatus according to claim 10, wherein the evacuation portions are provided at a plurality of locations.
12. A work device for performing work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side along the axial direction of a swing axis.
    A work robot having a means of transportation for self-propelling and a work unit for performing work on the surface of the solar cell array.
    It is provided with a transport path on which the work robot can travel, which is provided between adjacent solar cell arrays arranged side by side along the axial direction of the swing shaft.
    The transport path is
    A first end portion thereof is provided so as to be swingable about an axis parallel to the surface of the solar cell array with respect to one of the adjacent solar cell arrays.
    The second end is a working device characterized by being mounted on one of the adjacent solar cell arrays.
13. A work device that performs work on the surface of a solar cell array in which a plurality of solar cell modules are arranged side by side along the axial direction of a swing axis.
    A work robot having a means of transportation for self-propelling and a work unit for performing work on the surface of the solar cell array.
    It is provided with a transport path on which the work robot can travel, which is provided between adjacent solar cell arrays.
    The transport path is
    The upper surface thereof is substantially horizontal, and the surface of the solar cell array and the upper surface thereof are installed so as to be substantially the same height in a state where the surface of the solar cell array is substantially horizontal. Working equipment.
14. The transport path is
    It is provided so as to connect adjacent solar cell arrays arranged side by side along a direction intersecting the axial direction of the swing shaft.
    13. The working apparatus according to claim 13, wherein the working apparatus is arranged so as to be located outside the axial end of the swing axis of the adjacent solar cell array.
15. It is equipped with a state detection mechanism that detects the state of the solar cell array.
    The state detection mechanism is
    A state detection unit that detects the state of the solar cell array and
    The work apparatus according to any one of claims 1 to 14, further comprising a determination unit for determining the state of the solar cell array based on the information detected by the state detection unit.
16. The state detection unit
    The working apparatus according to claim 15, further comprising a temperature detecting unit for detecting the temperature of the solar cell array.
17. The state detection unit
    A light irradiation unit that irradiates the surface of the solar cell array with light,
    It is provided with a light receiving unit that receives the reflected light reflected by the light emitted by the light irradiation unit on the surface of the solar cell array.
    The judgment unit
    The working apparatus according to claim 15, further comprising a function of determining dirt on the surface of the solar cell array based on the reflected light received by the light receiving unit.
    

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