JP6755062B1 - Non-contact snow removal system for solar panels - Google Patents

Abstract

Non-for solar panels that removes snow on the surface of solar panels efficiently and at low cost in a non-contact manner without constructing equipment in advance and without loading the equipment on the solar panels and pedestals. The subject is to provide a contact snow removal system. The non-contact snow removal system (1) for solar panels includes a gantry (3) and a solar panel (4) installed on the ground, and a snow sensor (15) that detects the amount of snow on the surface of the solar panel (4). It is composed of a plurality of lift generators in which the motor and the propeller are connected, and an unmanned air vehicle control device that controls the rotation of the motor and controls the flight attitude by the lift (thrust) generated by the rotation of the propeller. It has an unmanned flying object (5) such as a so-called drone or UAV that moves, and a three-dimensional flight path indicating unit that presets the moving path of the unmanned flying object (5) and gives an instruction to the rotation control device. When the amount reaches a predetermined amount, the snow accumulated on the solar panel (4) is not contacted by the exhaust flow generated from the propeller of the unmanned vehicle (5) by flying based on the command of the three-dimensional flight path indicator. Remove from the surface of the solar panel (4) with. [Selection diagram] Fig. 1

Description

The present invention uses the airflow discharged from an unmanned vehicle (drone device) to cover snow accumulated on the surface of the solar panels of a power plant using solar panels such as mega solar, the roof of a house, or the roof of a building. It relates to a non-contact snow removal system for solar panels that removes snow by blowing off snow accumulated on installed objects such as solar panels and snow accumulated on the roofs of houses and buildings.

In recent years, the development of drone devices has progressed dramatically, and various types of drone devices have been put into practical use, including large size and long-term support. It also has a wide range of uses, such as photography, security, and cargo movement to remote areas. Furthermore, a demonstration experiment in which a person is carried on a drone device and a manned flight is underway. The map information creation environment has also improved dramatically, and it is becoming possible to create 3D topographical data and 3D map data on the ground inexpensively and easily.

In addition, the number of large-scale power generation systems with a large number of solar panels installed has increased significantly, and the number of large-scale solar power generation systems called mega solar has increased rapidly even in areas where snowfall occurs. doing. However, in snowy areas, snow accumulates on the surface of the solar panel during the winter, and while the snow accumulates on the surface of the solar panel, the light is blocked and the amount of power generation drops significantly. Had the problem of damage or collapse of the entire solar panel mount.

In addition, in a large-scale power generation system using solar panels, as a configuration to prevent snow accumulation, the slope is increased beyond the optimum tilt angle at the expense of the amount of power generation, and the decrease in power generation efficiency is slightly compensated for by the power generation area. However, provisional measures such as increasing the area of solar panels are also being considered.

On the other hand, in recent years, the number of households that install solar panels on the roofs of houses has increased significantly. However, when snow accumulates on the surface of the solar panel, the amount of power generation is significantly reduced, and there is a problem that the power generation system does not function during the snowfall period.

In addition, snow removal has become a heavy burden especially in houses in the Hokuriku region, Tohoku, and Hokkaido, and in many households, elderly people and women have climbed up the roof to remove snow manually. There are various types of snow, and Hokkaido and other areas are relatively dry and silky and easy to blow off with the wind, but the snow in the Hokuriku region is solid snow that contains a lot of water and has a heavy specific gravity and is easy to adhere to. It may reach the above. Depending on the type of snow, solid snow can reach a mass of 100 kg to 200 kg per 1 m2 for 1 m of snow, which can affect the durability of roofs, houses and solar panels. Furthermore, many accidents have occurred due to snowfall work, and the number of fatalities during snow removal has exceeded 100 in some years.

Against this background, various automatic snow removal systems have been proposed for removing snow accumulated on the surface of a solar panel (Patent Documents 1 and 2). Furthermore, various automatic removal systems for removing snow accumulated on the roof of a house have been proposed (Patent Documents 3 and 4).

In Patent Document 1, a snow sensor installed near the solar panel detects snowfall and moves a transparent sheet member covered on the solar panel to remove snow accumulated on the solar panel. There is.

In Patent Document 2, a cutter frame, a traveling device, and a sliding plate, which are rectangular frames, are used, and the snow accumulated by the cutter frame and the traveling device is divided into rectangles, and the snow is dropped by the sliding plate.

In Patent Document 3, a snow removal robot composed of an engine as a power source, a ridge guide rail, a snow removal spiral wing, and the like is used, and snow is removed by rotating the snow removal spiral wing while moving it.

In Patent Document 4, it is composed of a fuel cell system, a hot water storage tank, a heater, an outdoor hot water pipe, a pump, and the like, and the hot water of the hot water storage tank stored by using the exhaust heat of the fuel cell system is pumped to the outdoor hot water pipe and the heater. By using the above, the snow accumulated on the roof is melted and the snow accumulated on the roof is slid down.

Japanese Patent Application Laid-Open No. 2017-1126999 JP 2018-61307 JP 2016-205108 JP 2001-262868

In the conventional automatic snow removal system described above, when removing snow accumulated on a solar panel in a large-scale photovoltaic power generation system, a large-scale automatic snow removal system is previously installed around the solar panel or on the frame of the solar panel. Or, since it is necessary to install related equipment, a huge initial cost is required, and the payback period is significantly extended. In addition, the weight of the installed equipment puts a large load on the solar panel and the gantry, which causes deformation and damage of the solar panel, deformation and collapse of the gantry, and the solar panel and the photovoltaic power generation system. also affect the service life and reliability of the fact that the range.

Furthermore, if equipment is placed on the roof of a house or on the surface of a solar panel and a strong wind or earthquake occurs, the load capacity of the house or solar panel will be exceeded due to a large load, causing the house to collapse or the solar panel to be damaged. Will also lead to.

In addition, will be large-scale machinery and equipment is permanently installed outdoors, Ri temperature difference there day and night, One or. Since it is left outdoors for a long period of time in direct contact with snow or rain, it requires a lot of man-hours and costs to maintain the equipment, and it becomes difficult to extend the life of the equipment due to the occurrence of rust and the like.

On the other hand, when removing snow from the roof of a house or the solar panels attached to the roof of a building or a house, it is also necessary to install large-scale equipment in advance on the roof of each building or the roof of the house. In addition to requiring a large initial investment, there are restrictions on the houses that can be installed from the viewpoint of the load capacity of the house. In addition, the weight of large-scale equipment is applied to the roof, which affects the life of the roof and the house. Furthermore, since it will be permanently installed on the roof of a building or on the roof of a house, it will be left outdoors for a long period of time in direct contact with snow and rain, which requires a lot of man-hours and costs for equipment maintenance. Due to the occurrence of rust, it becomes difficult to extend the life of the equipment.

The present invention has been made in view of such a situation, and has been made in advance in the vicinity of the photovoltaic power generation system and the photovoltaic power generation system, the roof of the building, the roof of the house, and the solar panel on the roof and the roof of the building. snow equipment it is not necessary to install a, and systems and to order photovoltaic system for snow removal without contact, solar panels, without load due equipment weight to such frame and houses occurs, such as construction equipment It does not require manpower, has excellent reliability of automatic snow removal system and solar power generation system, can efficiently perform snow removal work even in large-scale solar power generation system and multiple houses, and it is necessary to leave snow removal equipment outdoors. It provides a highly efficient, highly reliable, highly accurate and low-cost snow removal system with excellent maintenance cost effectiveness.

The circumstances leading to the acquisition of the present invention are as follows.

That is, as a result of diligent research on the conventional automatic snow removal system such as the photovoltaic power generation panel and the roof described in "Background Technology", the present inventor has found that the conventional automatic snow removal system has a large-scale facility in advance around the snow removal target. It was found that the installation of the system is essential and the construction period and large initial investment are required.

In addition, maintenance man-hours such as maintenance of equipment such as electrical equipment and machinery installed outdoors and measures against rust are required. Since a part of the load of the installed equipment is applied to the solar panel, pedestal or roof, the reliability and life of the photovoltaic power generation system and automatic snow removal system will be improved due to damage such as deformation, damage and collapse due to the equipment load and snow load. And a large amount of repair costs will be incurred.

Since the load of the large-scale equipment is added to the solar panel or the platform, further equipment cost increases because of the need to increase the strength of the solar panel or the platform in order to prevent collapse, have many problems such It turned out that. We faced the problem of realizing an automatic snow removal system that does not have to be installed in advance, has no load on the snow removal equipment, is easy to maintain, and has a high snow removal effect.

Therefore, the present inventor has obtained the following findings as a result of repeated studies on this problem.

That is, if the exhaust flow discharged from an unmanned flying object (drone device) is effectively used and automatic flight is performed by combining three-dimensional land information whose accuracy has greatly improved in recent years, solar panels such as mega solar can be used. Snow accumulated on the surface of the solar panels of the power plant used, snow accumulated on the roofs of houses and solar panels installed on the roofs of buildings, and snow accumulated on the roofs of houses and roofs of buildings. We came up with the idea that we could realize a drone snow removal system that effectively and efficiently blows off snow and removes snow that has accumulated on the surface of solar panels. In addition, although it will take time to complete a fully automatic flight, at first I thought that the effect of the drone snow removal system would be enormous even if a person performed some maneuvers.

The exhaust flow discharged from the unmanned aerial vehicle (drone device) has a sufficient flow rate and flow velocity to fly the accumulated snow, although it depends on the size and rotation speed of the propeller. Further, depending on the configuration, the flow velocity of the exhaust flow can be further increased. Further, the unmanned aerial vehicle (drone device) controls its flight posture such as forward, backward, rotation, ascent, descent and hovering by the rotation angle and rotation speed of the rotation axis of each propeller. Therefore, we came up with the idea that the optimum automatic snow removal process can be constructed by combining the three-dimensional terrain, the angle of the solar panel, the flight attitude of the unmanned aerial vehicle (drone device), and the effective flow velocity of the exhaust flow.

The present invention does not require the installation of snow removal equipment in advance around a large-scale photovoltaic power generation system, the roof of a house, the roof of a building, or the periphery of a solar panel, and is generated from a propeller of an unmanned flying object (drone device). Since it is a system that uses exhaust flow to remove snow in a non-contact manner, there is no load on houses, buildings, and solar panels due to the weight of the equipment, so there is no need for equipment construction work, and it is highly reliable and large-scale solar power. It provides a highly efficient snow removal system that can efficiently perform snow removal work over the entire power generation system and multiple houses. Further, the present invention provides a snow removal system that is excellent in reliability and maintenance cost because it is not necessary to permanently install equipment, so that maintenance man-hours can be significantly reduced and rust can be prevented from occurring. It is something to do. Further, since the present invention can perform snow removal work while flying in a non-contact manner, it is possible to easily move and remove snow even in a place not equipped with equipment, and to efficiently perform snow removal work in a short time. Therefore, we have found a configuration that realizes a highly efficient, highly reliable, and low-cost snow removal system, and have arrived at the present invention. In addition, by considering the amount of snow and the timing of work, it is possible to prevent the snow from freezing on the surface of the solar panel, and by effectively removing the snow, the amount of power generation and the efficiency of power generation will not be reduced. An excellent non-contact snow removal system can be provided .

In the present invention, in order to solve the above-mentioned problems, a gantry and a solar panel installed on the ground, a snow amount detecting means for detecting the amount of snow on the surface of the solar panel, and a rotary drive unit. It is composed of a plurality of lift generating units to which propellers are connected and a rotation control unit that controls the rotation of the rotation driving unit and controls the flight posture by the lift and thrust generated by the rotation of the propeller, so-called movement in three-dimensional space. It has an unmanned air vehicle such as a drone or UAV, and a three-dimensional flight route instruction unit that presets the movement path of the unmanned air vehicle and issues an instruction to the rotation control unit, and when the amount of snow reaches a predetermined amount. By flying based on the command of the three-dimensional flight path indicating unit, the snow accumulated on the solar panel due to the exhaust flow generated from the propeller of the unmanned vehicle is removed from the surface of the solar panel in a non-contact manner. It is configured as a non-contact snow removal system for solar panels.

In the first aspect of the present invention, a pedestal and a solar panel installed on the ground or a solar panel installed on a roof and a surface of the solar panel, a roof of a house, a roof of a building or a solar panel A snow amount detecting means for detecting the amount of snow in the vicinity of the Information from unmanned air vehicles such as so-called drones or UAVs that are composed of rotation control units that control attitudes and move in three-dimensional space, and three-dimensional maps and snow cover detection means around the solar panels targeted for snow removal work. It is possible to maintain the desired route even if the flow path of the exhaust flow of the propeller is changed according to the amount of snow and the three-dimensional flight route instruction unit that presets the movement route of the unmanned vehicle and gives instructions to the rotation control unit. It has a mass balance arrangement part that adjusts the total mass of the aircraft so that the mass balance can be changed, and when the amount of snow reaches a predetermined amount, it flies based on the command of the three-dimensional flight route instruction part. Due to the exhaust flow generated from the propeller of the unmanned aircraft, the snow accumulated on the surface of the solar panel of the large-scale solar power generation system, the roof of the house, and the surface of the solar panel installed on the roof of the house or building is not contacted. It is configured to be removed with.

According to the above configuration, the amount of snow on the surface of the solar panel is detected by the snow amount detecting means, and when the snowfall starts and the amount of snow reaches a preset predetermined amount, or when the amount of snow reaches a predetermined amount. , A three-dimensional map of the area around the solar panel to be snow-removed by the three-dimensional flight path indicator using an unmanned vehicle such as a UAV or a drone device consisting of multiple lift generators in which a rotary drive unit and a propeller are connected. And when flying according to the instructions of the preset flight path based on the information from the snow cover detection means, the number of rotations of each propeller depends on the flight attitude of the unmanned aircraft such as the drone device or UAV. By using the exhaust flow discharged from each lift generating part, the snow accumulated on the solar panel without applying the load of the snow removal equipment to the solar panel or the gantry is collected on the solar panel. It can be removed from the surface. In addition, according to the above configuration, the mass balance that adjusts the total mass of the aircraft can be changed so that the desired route can be maintained even if the flow velocity of the exhaust flow of the propeller is changed according to the amount of snow. Since it is equipped with an arrangement part, it is possible to replace the mass balance of different masses, and it is possible to replace and fix the mass balance according to the amount of snow on the surface of the solar panel and the snow quality, and adjust the total mass of the unmanned air vehicle. With this configuration, the flow velocity of the exhaust flow can be significantly changed by changing the rotation speed of each propeller when controlling the flight attitude of the unmanned vehicle.

By not applying a load to the solar panel or pedestal, it is possible to prevent deterioration, deformation, and collapse of the solar panel and pedestal due to the equipment load and snow load, and it is not necessary to install snow removal equipment in advance, so snow removal equipment It has the effect of significantly reducing the preparation man-hours and installation costs. In addition, since it is not necessary to permanently install snow removal equipment outdoors, it is possible to reduce deterioration factors such as equipment deterioration and rust due to water, snow, and ultraviolet rays of sunlight, and it is possible to significantly reduce the maintenance man-hours for snow removal equipment. It will be possible.

Furthermore, the combination of the inclination of the solar panel, the flight path, and the flight attitude makes it possible to efficiently remove snow from the lower end side of the inclination of the solar panel toward the upper end side of the inclination. At the same time, it is possible to realize reliability, durability, high efficiency and low cost of the snow removal system of the solar panel.

Further, in the non-contact snow removal system for solar panels according to the second aspect of the present invention, in the configuration of the non-contact snow removal system for solar panels according to the first aspect, the rotary drive unit is based on the engine and / or the motor. The engine drive energy is light oil or gasoline, and the motor drive energy is a battery.

With the above configuration, various power sources can be used to enable long-distance and long-term flight and snow removal work, as well as flight posture (forward, backward, hovering, etc.) and flight mode (rise, climb, etc.). The output of the rotary drive unit will be further increased by lowering, turning, etc.), and by increasing the number of rotations of the propeller, the amount and flow velocity of the exhaust flow generated from the propeller will be significantly increased, and the snow will be deposited on the solar panel. A high-performance solar panel that can greatly improve the snow removal ability, supports long hours of work and long-distance flight, supports various snow qualities and conditions, and has a high output exhaust flow. A non-contact snow removal system can be realized.

Further, in the non-contact snow removal system for solar panels according to the third aspect of the present invention, in the configuration of the non-contact snow removal system for solar panels according to the first and second aspects, the snow cover detection means is a solar panel. Snow cover image information taken by a snow cover sensor and / or an image camera mounted on the unmanned flying object that detects the mass of snow accumulated per unit area or the thickness of accumulated snow installed in the vicinity of or in an unmanned vehicle. It is based on the configuration.

With the above configuration, the amount of snow accumulated on the solar panel can be accurately captured according to the environment and situation, and the work accuracy is high and the cost is low, which has the effect of reducing the equipment installed in advance. A contact snow removal system can be realized.

Further, in the non-contact snow removal system for solar panels according to the fourth aspect of the present invention, the solar panels are installed in a rectangular shape in the configuration of the non-contact snow removal system for solar panels according to the first to third aspects. The three-dimensional flight algorithm is configured to gradually move along the short side from the edge of the short side of the rectangular solar panel.

With the above configuration, it is possible to efficiently remove the amount of snow accumulated on the surface of the solar panel from the surface of the solar panel while utilizing the inclination of the solar panel and the flight posture of the unmanned vehicle. It is possible to realize a solar panel non-contact snow removal system that enables efficiency.

Further, in the non-contact snow removal system for solar panels according to the fifth aspect of the present invention, the solar panels are installed in a rectangular shape in the configuration of the non-contact snow removal system for solar panels according to the first to fourth aspects. The three-dimensional flight algorithm is configured to gradually move along the short side from the end of the long side of the rectangular solar panel.

With the above configuration, it is possible to perform snow removal work while utilizing the inclination of the solar panel and the flight posture of the unmanned vehicle, and to reduce the number of round trips of the unmanned vehicle, and the snow accumulated on the surface of the solar panel. Since the amount can be efficiently removed from the surface of the solar panel in a shorter time, it is possible to realize a solar panel non-contact snow removal system that enables even higher efficiency of work.

Further, in the non-contact snow removal system for solar panels according to the sixth aspect of the present invention, in the configuration of the non-contact snow removal system for solar panels according to the first to fifth aspects, the solar panel has a constant inclination angle. The unmanned vehicle has a certain angle with respect to the rotation axis of the propeller so that the accumulated snow is blown off below the solar panel. It is configured to fly along.

With the above configuration, it is possible to efficiently remove the amount of snow accumulated on the surface of the solar panel from the surface of the solar panel in a shorter time while utilizing the inclination of the solar panel and the flight posture of the unmanned flying object. It is possible to realize a solar panel non-contact snow removal system that enables even higher work efficiency.

Further, in the non-contact snow removal system for solar panels according to the seventh aspect of the present invention, in the configuration of the non-contact snow removal system for solar panels according to the first to sixth aspects, the movement route is the snow removal work target. An unmanned flying object over the solar panel based on the information from the three-dimensional map around the solar panel and the snow amount detecting means, and the information from the snow amount detecting means during the snow removal work. Performs additional operations such as rotation, tilting, and rolling that periodically changes the tilting angle, and removes snow accumulated on the surface of the solar panel by the exhaust flow generated from the propeller of the unmanned vehicle in a non-contact manner. There is.

With the above configuration, it effectively utilizes the fluctuation of the snow removal load on the snow-covered area depending on the three-dimensional map information, the inclination of the solar panel, the flight attitude of the unmanned vehicle, and the flow velocity of the exhaust flow from the propeller of the unmanned vehicle. However, the amount of snow accumulated on the surface of the solar panel can be efficiently removed from the surface of the solar panel in a shorter time, which makes it possible to further improve the efficiency and accuracy of the work. A contact snow removal system can be realized.

Further, the non-contact snow removal system for solar panels according to the eighth aspect of the present invention has a mass balance and a vertical unmanned air vehicle in the configuration of the non-contact snow removal system for solar panels according to the first to seventh aspects. It has a mass balance holding part at the center of the direction, and the mass balance is gripped or fixed by the mass balance holding part, and the mass balance of different mass can be exchanged. The amount of snow and the quality of snow on the surface of the solar panel By exchanging and fixing the mass balance according to the above and adjusting the total mass of the unmanned vehicle, the rotation speed of each propeller when controlling the flight attitude of the unmanned vehicle is changed to exhaust the air. The structure is such that the flow velocity of the flow is significantly changed.

With the above configuration, when removing snow on the surface of the solar panel, it is accompanied by flight attitudes such as ascent, descent, forward, backward, rotation, and hovering, and accumulates on the solar panel or the surface of the solar panel. While maintaining a certain distance from the surface of the snow, the exhaust flow from the propeller is used to blow off the snow around the solar panel to remove snow, but the total mass of the unmanned aircraft is changed by different mass balance. The number of rotations of the propeller when controlling each attitude is significantly changed, and the flow velocity of the exhaust flow can be changed significantly. By increasing the flow velocity of the exhaust flow, the flow velocity is increased when the amount of snow is large or the snow quality is heavy, which makes it possible to further improve the efficiency and accuracy of the work. A snow removal system can be realized.

Further, the non-contact snow removal system for solar panels according to the ninth aspect of the present invention is the configuration of the non-contact snow removal system for solar panels according to the first to eighth aspects, from a compressor to an unmanned air vehicle. snow compressed air mounted Eanozu Le for injecting, in response to information from the snow detector in removing snow before and snow removal, and accumulated on the surface of the solar panels using compressed air injected from the air nozzle Is configured to be removed in a non-contact manner.

With the above configuration, compressed air from the air nozzle is injected along with the exhaust flow, so the snow removal load on the snow cover can be further increased, and the amount of snow accumulated on the surface of the solar panel can be efficiently reduced. , It is possible to remove from the surface of the solar panel in a shorter time, and it is possible to realize a solar panel non-contact snow removal system that enables further high efficiency and high accuracy of work.

Further, the non-contact snow removal system for solar panels according to the tenth aspect of the present invention is the unmanned air vehicle and the solar panel in the configuration of the non-contact snow removal system for solar panels according to the tenth aspect of the present invention. It is equipped with a relative distance measurement sensor that detects the distance to the surface of the snow accumulated in the solar panel, and is configured to perform snow removal work while setting the distance between the snow surface and the unmanned flying object to a predetermined value.

With the above configuration, the flow velocity of the exhaust flow from the unmanned vehicle can be sprayed onto the snow-covered part without weakening, and the snow removal work can be performed efficiently and effectively, and the unmanned vehicle and the snow-covered part collide with each other. It is possible to prevent it, and it is possible to realize a solar panel non-contact snow removal system that makes it possible to realize higher efficiency, higher accuracy and safety of work.

In addition, the non-contact snow removal system for solar panels according to the eleventh aspect of the present invention performs snow removal work by an unmanned flying object in the configuration of the non-contact snow removal system for solar panels according to the first to tenth aspects. The timing is set to be within a predetermined time from the time when the snow cover detection means determines that the snow cover has started, when the predetermined snow cover is reached, at sunset, or in the early morning.

With the above configuration, the amount of snow accumulated on the surface of the solar panel and the working capacity can be effectively controlled, and the snow accumulated at night is prevented from freezing and sticking to the upper surface of the solar panel at night. It is possible to remove the accumulated snow and generate electricity effectively during the daytime, and it is possible to realize a solar panel non-contact snow removal system that enables even higher efficiency and accuracy of work while maintaining power generation efficiency.

Further, the non-contact snow removal system for solar panels according to the twelfth aspect of the present invention was attached to the upper part of the gantry in the configuration of the non-contact snow removal system for solar panels according to the first to eleventh aspects. The solar panel has a predetermined inclination angle, and when the snow on the upper surface of the solar panel is blown off by the exhaust flow from the unmanned vehicle to remove snow, the snow removed is inclined to the extent possible. The structure is such that the solar panel is blown off to the lower part on the high side of the solar panel, which is inclined in a row on the lower side of the solar panel.

With the above configuration, it is possible to remove snow on the surface of the solar panel and significantly reduce the amount of snow that has been removed falling into the passage between the solar panels, and the number of times of snow removal work in the passage is greatly reduced. It is possible to realize an inexpensive non-contact snow removal system for solar panels with low maintenance cost.

The non-contact snow removal system for a photovoltaic panel according to the present invention is configured as described above, and snow removal equipment is installed in advance around a large-scale photovoltaic power generation system, a roof of a house, a building roof, or a periphery of a solar panel. Because it is a system that removes snow in a non-contact manner using the exhaust flow generated from the propeller of an unmanned aircraft, there is no load (equipment load ) due to the equipment weight on houses, buildings and solar panels. Since there is no snow load in addition to the equipment load, it is highly reliable and does not require manpower such as equipment construction, and it is possible to efficiently remove snow over the entire large-scale photovoltaic power generation system or multiple houses. It provides a snow removal system with excellent efficiency, work accuracy, and investment efficiency. In addition, since it is not necessary to permanently install equipment, maintenance man-hours can be significantly reduced and rust can be prevented, providing a snow removal system with excellent reliability and a significant reduction in maintenance costs. .. Furthermore, since snow removal work can be performed while flying in a non-contact manner, it is possible to easily move and remove snow even in places not equipped with equipment in advance, and it is possible to efficiently perform snow removal work in a short time. This has the effect of realizing a highly efficient, highly reliable, and low-cost snow removal system.

It is a perspective view which showed the outline of the non-contact snow removal system for a solar panel which concerns on Embodiment 1. FIG. It is a perspective view which showed the structure of the unmanned aerial vehicle which concerns on Embodiment 1. FIG. It is a schematic of the cross section which showed the structure of the unmanned aerial vehicle which concerns on Embodiment 1. FIG. It is a schematic diagram which showed an example of the flight attitude of the unmanned aerial vehicle which concerns on Embodiment 1. FIG. It is a schematic diagram which showed the relationship between the rotation speed of the propeller and the thrust in the unmanned aerial vehicle which concerns on Embodiment 1. FIG. It is an example of the calculation result of CFD (computational fluid dynamics) showing the state of the exhaust flow generated by the rotation of the propeller in the unmanned aerial vehicle according to the first embodiment. It is a perspective view which showed an example of the snow removal process of the non-contact snow removal system for a solar panel which concerns on Embodiment 1. FIG. It is the schematic which showed an example of the work of the non-contact snow removal system for a solar panel which concerns on Embodiment 1. FIG. It is the schematic which showed an example of the work of the non-contact snow removal system for a solar panel which concerns on Embodiment 1. FIG. It is the schematic which showed an example of the work of the non-contact snow removal system for a solar panel which concerns on Embodiment 1. FIG. It is the schematic which showed an example of the work of the solar panel non-contact snow removal system which concerns on Embodiment 2. It is the schematic which showed an example of the work of the solar panel non-contact snow removal system which concerns on Embodiment 3. It is the schematic which showed an example of the work of the solar panel non-contact snow removal system which concerns on Embodiment 4. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding components will be designated by the same reference numerals throughout all the drawings, and the description thereof will be omitted.

(Embodiment 1)
The non-contact snow removal system 1 for a solar panel according to the first embodiment will be described with reference to FIGS. 1 to 10. 1 to 10 are schematic views showing an example of the configuration of the non-contact snow removal system 1 for a solar panel according to the first embodiment. FIG. 1 schematically shows a perspective view of a non-contact snow removal system 1 for a solar panel according to a first embodiment. FIG. 2 shows a perspective view of a schematic configuration of the unmanned aerial vehicle 5 according to the first embodiment. FIG. 3 shows a schematic cross-sectional view of the schematic configuration of the unmanned aerial vehicle 5 according to the first embodiment.

FIG. 4 is a schematic view showing an example in which various flight attitude controls are possible by changing the rotation speed of each propeller 8 of the unmanned vehicle 5 according to the second embodiment and controlling the thrust of each propeller 8. It is shown by.

FIG. 5 shows a schematic diagram of the relationship between the rotation speed of the propeller 8 and the thrust T of the unmanned aerial vehicle 5 according to the first embodiment.

In Figure 6, a sample showing a state of the exhaust stream 17 generated by the rotation of the propeller 8 shows an example of calculations unsteady calculated using CFD (computational fluid dynamics).

FIG. 7 schematically shows a perspective view of an example of the snow removal process of the non-contact snow removal system 1 for solar panels according to the first embodiment.

8 to 10 show a schematic view of an example of the work of the non-contact snow removal system 1 for a solar panel according to the first embodiment.

As shown in FIG. 1, the non-contact snow removal system 1 for a solar panel is composed of a photovoltaic power generation system 2, an unmanned aerial vehicle 5 such as a drone device, and an unmanned aerial vehicle control device 6 (not shown). A state in which only three rows of the photovoltaic power generation system 2 are extracted, the lowermost stage is the snow removal unit 22, and the snow removal work of the second and third stages of the snow cover 20 (unworked area) is performed by the unmanned aerial vehicle 5 is modeled. Is shown. The photovoltaic power generation system 2 is composed of a solar panel 4, a gantry 3, and a snow cover 15, and has a configuration in which the solar panel 4 is mounted on the gantry 3 installed on the ground. In addition, a snow sensor 15 is installed around the solar panel 4, and the mass of snow accumulated per unit area is detected by a pressure sensor or the like, or an optical sensor such as a laser or an LED, an ultrasonic wave, or the like. The sensor is used to detect the amount of snow accumulated on the surface of the solar panel 4. When the amount of snowfall detected by the snowfall sensor 15 or the increase in the amount of snowfall within the specified time exceeds a value specified in advance, the unmanned aerial vehicle 5 performs the snow removal work.

At this time, without mounting a snow sensor 15, snow removal worker may be configured to determine the start of snow removal.

Snow accumulated on the upper surface of the solar panel 4 is accumulated several mm to several tens of centimeters in the snow-covered portion 20 of the solar panel 4, and the photovoltaic power generation system 2 has significantly reduced the amount of power generation and the solar panel 4 And the gantry 3 is in a state where a large load is applied.

If there is even a small amount of snow on the surface of the solar panel 4, the sunlight will be blocked and the power generation efficiency will drop significantly. Further, the load application by snow according to solar panel 4 and the platform 3, so that the or Tsu optimum or leading to deformation and cracking of the solar panel 4, the deformation and collapse of the platform 3 in the worst case. Therefore, leaving the snow on the upper surface of the solar panel 4 as it is poses a great risk factor for the reliability, life, and maintenance of the power generation amount of the photovoltaic power generation system 2.

In the first embodiment, the snow sensor 15 is of a pressure type, an optical type, an ultrasonic type, or the like, but any method can be used as long as it can detect the amount of snow. Further, a method in which the snow cover sensor 15 is not mounted and the amount of snow cover is determined by the recognition of the snow removal worker may be used.

There is a passage 24 between each of the solar panels 4 and the gantry 3, but if the snow removed blocks the passage 24, the snow removal work of the passage 24 may occur on a regular basis.

The unmanned aerial vehicle 5 will fly on a preset flight path based on the map information of the snow removal work site in response to a command from the three-dimensional flight path indicating device 23. At this time, there are various specifications for the ratio of the operation intervention of the snow removal worker to the snow removal work, whether to fly fully automatically according to the command of the three-dimensional flight route indicating device 23 or to fly by radio control by the operation of the snow removal worker. Suppose there is. At this time, the work coordinate system (x, y, z) is used for the three-dimensional map information and the flight path of the snow removal work site, and the aircraft coordinate system (X, Y, Z) is used for the aircraft attitude control of the unmanned airframe 5. It will be used and coordinate transformation will be performed as needed.

2 and 3 show an unmanned airframe 5, in which the unmanned airframe 5 is a frame 9, a battery 10 fixed to the frame 9, a motor 7 held in the frame 9, and a rotation shaft 18 of the motor-7. It is composed of a lift (thrust) generating unit including a propeller 8 coupled with, a relative distance sensor 16, and a snow cover sensor 19 mounted on the airframe. The relative distance sensor 16 measures the relative distance between the unmanned vehicle 5 and the surface of the snow cover 20 using ultrasonic waves, LEDs, lasers, cameras, or the like. The body-mounted snow sensor 19 is composed of a camera, a communication unit, and the like, transmits the image to the three-dimensional flight path indicating device 23, and performs image processing and calculation by the three-dimensional flight path indicating device 23 to process and calculate the surface of the solar panel 4. Recognize the amount of snow accumulated in the vehicle, and carry out flight control and snow removal work for the unmanned vehicle 5.

The information of the snow cover sensor 19, the snow sensor 15, and the relative distance sensor 16 mounted on the aircraft is transmitted to the three-dimensional flight path indicator 23 (installed on the ground or mounted on the unmanned flying object 5), and 3 around the site where the snow removal work is performed. The flight path is determined together with the three-dimensional map information, and an instruction for controlling the rotation of the motor 7 according to the flight path is transmitted to the unmanned flying object control device 6 (installed on the ground or mounted on the unmanned flying object 5). At this time, although not shown in FIG. 3, it goes without saying that the unmanned aerial vehicle 5 is equipped with a GPS and a gyro sensor and is used for confirming the position of the unmanned aerial vehicle 5 and controlling the attitude of the aircraft.

Needless to say, in the first embodiment, when the three-dimensional flight path indicating device 23 and / or the unmanned aerial vehicle control device 6 is installed on the ground, the unmanned aerial vehicle 5 needs to be equipped with a receiver.

In the first embodiment, the three-dimensional flight path indicating device 23 as shown by the broken line in FIG. 3 is used to issue a command to the unmanned flying object control device 6 to the motor 7 according to the flight path, which is shown in FIG. As described above, the snow removal operator may interrupt the instruction of the three-dimensional flight path indicating device 23 and directly operate the unmanned flying object control device 6.

Further, in the first embodiment, the body-mounted snow sensor 19 is image recognition using a camera, but there is no problem as a method of detecting the amount of snow using a sensor such as a laser or an ultrasonic wave, and the body-mounted snow sensor 19 is used. There is no problem even if the method is not installed and the operator recognizes it.

Further, although the rotating portion is the motor 7 in the first embodiment, it may be a drive source such as an engine, and the battery 10 as a power source at that time may be a fuel such as light oil or gasoline.

Each propeller 8 rotates according to the rotation speed of each motor 7 in response to a command from the three-dimensional flight path indicating device 23 to the unmanned flying object control device 6, and each thrust (f1 to f4) is generated, and the entire unmanned flying object 5 is generated. At the same time as the thrust T of is generated, various aircraft postures in the aircraft coordinate system and the working coordinate system are maintained. At the same time, due to the rotation of each propeller 8, an exhaust flow 17 is generated downstream of the flow. The flow velocity and flow velocity of the exhaust flow 17 depend on the rotation speed of the propeller, and as the rotation speed increases, the respective thrusts increase, and the flow rate and flow velocity of the exhaust flow 17 also increase significantly.

FIG. 4 shows an example of the relationship between the magnitude of the rotation speed of each propeller 8 and the flight attitude. It is possible to perform basic operations such as ascending, descending, hovering, left rotation, right rotation, left movement and right rotation, and combination operations of each.

Figure 5 is a schematic graph showing the relationship between the rotational speed and the thrust T of the propeller 8. The thrust T increases in proportion to the square of the rotation speed (rotation speed). At the same time, the exhaust flow 17 also increases in proportion to the square of the rotation speed, and the flow velocity of the exhaust flow 17 has the same result. Further, the flow velocity and the flow rate at a place having a constant relative distance (L) from the airframe will decrease as the relative distance (L) increases. Therefore, when the snow removal work of the snow-covered portion 20 is carried out using the exhaust flow 17 of the unmanned aerial vehicle 5, the distance between the unmanned aerial vehicle 5 and the surface of the snow-covered portion 20 is also an important factor, and the efficiency and accuracy of the snow removal work. Will have a great effect on.

At the same time, it is possible to fly by balancing the total mass of the unmanned vehicle 5 and the thrust T, but it is essential to increase the rotation speed of the propeller 8 as the total mass of the unmanned vehicle 5 increases. As shown in FIGS. 2 and 3, the unmanned vehicle 5 has a lower mass balance 11 at a substantially central portion in the vertical direction, and a lower mass balance fixing portion 12 and an upper mass that fix the lower mass balance 11 to the lower side of the battery 10. The structure has an upper mass balance fixing portion 14 for fixing the balance 13 on the upper side of the battery 10 . By mounting the lower mass balance 11 and the upper mass balance 13 on the unmanned vehicle 5, the total mass is increased, the rotation speed of the propeller 8 is increased, and the flow velocity and the flow rate of the exhaust flow 17 are increased, thereby removing snow from the snow-covered portion. If it is difficult to remove snow in the snow area due to efficiency improvement, freezing, etc., or if the snow removal work is difficult due to the heavy snow content in the snow area, the number or mass of mass balances to be mounted on the unmanned aircraft 5 It is effective to increase. Further, when the body mass of the unmanned airframe 5 is increased by the lower mass balance 11 and the upper mass balance 13, the consumption of the battery 10 or fuel (light oil, gasoline, etc.) mounted on the unmanned airframe 5 increases and the work is performed. The time is shortened. Therefore, the mass of the mass balance to be mounted is selected in consideration of work efficiency, work quality and work time.

In the first embodiment, the lower mass balance 11 and the upper mass balance 13 are mounted, but only one of them may be mounted, or both may not be mounted. Further, the lower mass balance fixing portion 12 and the upper mass balance fixing portion 14 may be configured in the unmanned aerial vehicle 5 as needed, and there is no problem.

Further, the unmanned vehicle control device 6 is equipped with a relative distance sensor 16 so as to recognize the relative distance (L) between the surface of the snow cover 20 and the body of the unmanned vehicle control device 6.

In the first embodiment, the measurement result of the relative distance sensor 16 is transmitted to the unmanned vehicle control device 6, but the snow removal worker does not mount the relative distance sensor 16 and makes an unmanned flight with the surface of the snow cover 20. It may be a method of recognizing the distance of the body control device 6 from the body.

Further, in the first embodiment, the three-dimensional flight path indicator 23 is used, and the flight instruction is unmanned based on the three-dimensional map information, the information of the snow sensor 15, the information of the snow sensor 19 mounted on the aircraft, and the information of the relative distance sensor 16. Although the configuration is such that commands are given to the aircraft control device, the configuration is such that the snow removal operator directly operates the unmanned aircraft control device 6 or the radio controller operating device of the unmanned aircraft 5 without installing the three-dimensional flight path indicating device 23. Good.

FIG. 6 is a part of the result showing the state of the exhaust flow 17 generated by the rotation of the propeller 8, and is an example of the unsteady calculation using CFD (Computational Fluid Dynamics). The exhaust flow 17 is widely ejected downstream of the propeller 8, and its region, flow velocity, and flow rate depend on the shape, size, and rotation speed of the propeller 8.

FIG. 7 is a diagram showing an example of a flight path in the snow removal work of the unmanned aerial vehicle 5 with respect to the snow cover 20. The method of removing snow along the short side of the solar panel 4 and the method of removing snow along the long side of the solar panel 4 are shown, but in consideration of work efficiency, work quality and work time. Will be selected. When removing snow along the short side, it gradually moves in the left-right direction while repeating the reciprocation in the up-down direction of the paper surface. On the other hand, when removing snow along the long side, the snow is gradually moved up and down while repeating reciprocation from side to side of the paper.

In the first embodiment, an example of the flight path is shown in FIG. 7, but there is no problem even if the snow removal work is performed by a method other than these, and even if the snow is removed by automatic flight, the worker operates with a radio control. There is no problem.

FIG. 8 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 on the snow-covered portion 20 (unworked area) and the snow-covered portion 21 (snow-removing work area) on the upper surface of the solar panel 4. By controlling the rotation speed of each propeller 8 and tilting the rotation shaft 18 and tilting the unmanned vehicle 5, it is possible to move the moving direction diagonally upward, and by injecting the exhaust flow 17 diagonally downward. , It is possible to efficiently remove snow from the solar panel 4. At this time, it is important to keep the relative distance (L) at an effective distance, which greatly affects the work efficiency, work accuracy, and work time. Therefore, the relative distance (L) takes these factors into consideration. However, it will be decided. When removing snow in this flight attitude, the flight attitude along the short side is optimal in the flight attitude shown in FIG. 8, but there is no problem in adjusting the flight attitude so that the flight path is along the long side.

In addition, in the situation of snow removal work, it is conceivable that the moving direction gradually moves back and forth and left and right.

FIG. 9 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 on the snow-covered portion 20 (unworked area) and the snow-covered portion 21 (snow-removing work area) on the upper surface of the solar panel 4 as in FIG. By controlling the rotation speed of each propeller 8 and tilting the rotation shaft 18 and tilting the unmanned vehicle 5, it is possible to make the movement direction diagonally downward, and by injecting the exhaust flow 17 diagonally upward. , It is possible to efficiently remove snow from the solar panel 4. When removing snow in this flight attitude, the flight attitude along the short side is optimal in the flight attitude shown in FIG. 6, but there is no problem in adjusting the flight attitude so that the flight path is along the long side.

In addition, in the situation of snow removal work, it is conceivable that the moving direction gradually moves back and forth and left and right.

FIG. 10 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 on the snow-covered portion 20 (unworked area) and the snow-covered portion 21 (snow-removing work area) on the upper surface of the solar panel 4 as in FIGS. 8 and 9. Is. By controlling the number of rotations of each propeller 8 and keeping the rotation axis 18 vertical and making the unmanned vehicle 5 substantially horizontal, it becomes easy to move horizontally and diagonally upward, and the exhaust flow 17 is vertically oriented. It is possible to efficiently remove snow from the solar panel 4 by injecting it into the solar panel 4. When removing snow in this flight attitude, the flight path along the long side is optimal for the flight attitude in FIG. 6, but there is no problem in adjusting the flight attitude and using the flight path along the short side, hovering or hovering. There is no problem as a method of intensively working on a part that is difficult to remove by changing the rotation speed of the propeller 8 and rotating the machine body.

In addition, in the situation of snow removal work, it is conceivable that the moving direction gradually moves back and forth and left and right.

In the first embodiment, the timing of performing the snow removal work by the unmanned aerial vehicle 5 is when the snow removal worker determines that the snow removal work is necessary, or when the value of the snow cover sensor 15 exceeds the preset value set in advance. One or more of sunset and early morning. By removing snow at these timings, it is possible to realize a more efficient, highly accurate and low-cost non-contact snow removal system for solar panels.

In the first embodiment, the number of the propeller 8 and the motor 7 mounted on the unmanned aerial vehicle 5 is four, but it goes without saying that there is no problem whether the number is six or eight.

As described above, according to the configuration of the first embodiment, it is possible to realize a non-contact snow removal system for solar panels which is excellent in work efficiency, work quality, work time, investment cost and the like.

Next, the second embodiment will be described with reference to FIG. The difference from the first embodiment is that when the snow on the upper surface of the solar panel 4 is removed, the snow is blown off around the solar panel 4 by the exhaust flow 17, but the snow is inclined at that time. The point is that the solar panel 4 is blown off to substantially the lower part of the high side of the inclined solar panel 4 in the row next to the low side of the solar panel 4.

With this configuration, the amount of snow falling into the aisle can be significantly reduced, the number of snow removal operations in the aisle can be significantly reduced, and a low-cost non-contact snow removal system for solar panels with low maintenance costs. Can be realized.

In the second embodiment, the body posture of the unmanned aerial vehicle 5 may be substantially horizontal, tilted, hovered, rolled, or rotated.

Further, the flight path may be moved along the short side, along the long side, or may be a snow removal process moving along an arbitrary route.

Further, the unmanned aerial vehicle 5 may be operated by a method in which a snow removal worker directly operates the unmanned aerial vehicle control device 6, or a method in which a three-dimensional flight path indicating device 23 issues a flight instruction to the unmanned aerial vehicle control device 6. Good.

Further, the distance L between the unmanned aerial vehicle 5 and the surface of the snow-covered portion 20 may be predetermined or may fly at an arbitrary height.

Next, the third embodiment will be described with reference to FIG. The difference from the first and second embodiments is that the air compressor 25, the air compressor holding portion 27, and the ejection nozzle 26 are mounted on the unmanned vehicle 5, and the ejecting nozzle ejects the compressed air from the air compressor 25 and the air compressor 25. 26 is used to remove snow from the snow-covered portion 20 and the snow-covered portion 21, which cannot be removed only by the exhaust flow 17. With this configuration, it is possible to further improve the work efficiency and work quality of the snow removal work.

The non-contact snow removal system for solar panels according to the twelfth aspect of the present invention was attached to the upper part of the gantry 3 in the configuration of the non-contact snow removal system 1 for solar panels according to the first to eleventh aspects. The solar panel 4 has a predetermined inclination angle, and when the snow on the upper surface of the solar panel 4 is blown off by the exhaust flow 17 from the unmanned vehicle 5, the snow removed to the extent possible is removed. The structure is such that the solar panel 4 is blown to the lower part on the high side of the inclined solar panel 4 in a row on the lower side of the inclined solar panel 4.

Therefore, with the above configuration, it is possible to remove snow on the surface of the solar panel 4 and significantly reduce the amount of snow that has been removed falling into the passage between the solar panels 4, and the snow removal work of the passage 24. It is possible to significantly reduce the number of times of snow removal, and it is possible to realize an inexpensive non-contact snow removal system for solar panels with low maintenance cost.

Next, the fourth embodiment will be described with reference to FIG. The difference between the first embodiment and the second embodiment is that the unmanned aerial vehicle 5 removes the snow accumulated on the upper surface of the solar panel 4 installed on the upper surface of the roof 29 of the house 28. .. With this configuration, it is possible to remove the snow accumulated on the roof 29 of a general house.

In the fourth embodiment, the snow on the upper surface of the solar panel 4 installed on the roof 29 of the house is removed, but there is a problem even if it is used for removing the snow on a general roof without the solar panel 4. It goes without saying that there is no such thing.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art.

Therefore, the above description should be construed only as an example and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the spirit of the present invention.

The present invention provides snow removal equipment around the solar panel in advance by making it possible to adjust the flow velocity of the exhaust flow used for snow removal and a configuration that removes snow on the surface of the solar panel in a non-contact manner as compared with the conventional case. There is no installation cost, high efficiency, high accuracy, and low cost of snow removal work are realized, and the amount of reduction in power generation can be significantly reduced, resulting in reliability, workability, and power generation. Achieve an excellent non-contact snow removal system for solar panels. Therefore, the present invention is used, for example, for a non-contact automatic snow removal system for solar panels, snow removal for the roof of a house, snow removal for a solar panel installed on the roof of a house, and snow removal for a solar panel installed on a building. Available. Furthermore, it can also be used as a cleaning device for the surface of a solar panel that removes sand accumulated on the surface of the solar panel installed in various places.

1 Solar panel non-contact snow removal system 2 Photovoltaic power generation system 3 Stand 4 Solar panel 5 Unmanned aerial vehicle 6 Unmanned aerial vehicle control device (not shown)
7 motor (or engine)
8 Propeller 9 Frame 10 Battery (or fuel)
11 Lower mass balance 12 Lower mass balance fixing part 13 Upper mass balance 14 Upper mass balance fixing part 15 Snow cover sensor 16 Relative distance sensor 17 Exhaust flow 18 Rotating shaft 19 Air-mounted snow sensor 20 Snow cover (unworked area)
21 Snow cover (snow removal work area)
22 Snow removal section (snow removal work area)
23 3D flight path indicator 24 Aisle 25 Air compressor 26 Ejection nozzle 27 Air compressor holding part 28 Residential 29 Residential roof

Claims (12)

With a mount and solar panels installed on the ground,
A snow cover detecting means for detecting the amount of snow on the surface of the solar panel,
Multiple lift generators with a rotary drive and propeller connected,
And unmanned air vehicle, such as a so-called drones or UAV to move said by lift and thrust generated by the rotation of the propeller controls the rotation of the rotary drive portion is configured from a rotation control unit for flight attitude control the three-dimensional space,
A three-dimensional flight path that presets the movement path of the unmanned vehicle based on the information from the three-dimensional map around the solar panel to be removed from snow and the snow cover detection means and gives an instruction to the rotation control unit. The indicator and
It has a mass balance arrangement unit that adjusts the total mass of the airframe so that the desired path can be maintained even if the flow velocity of the exhaust flow of the propeller is changed according to the amount of snow. ,
When the amount of snow reaches a predetermined amount, the snow accumulated in the solar panel due to the exhaust flow generated from the propeller of the unmanned vehicle by flying based on the command of the three-dimensional flight path indicating unit is removed. A non-contact snow removal system for a solar panel, characterized in that it is removed from the surface of the solar panel in a non-contact manner. The solar panel according to claim 1 , wherein the rotary drive unit is composed of an engine and / or a motor, the drive energy of the engine is light oil or gasoline, and the drive energy of the motor is a battery. Non-contact snow removal system. The snow cover detecting means is installed around the solar panel or on the unmanned vehicle, and is a snow sensor and / or the unmanned vehicle that detects the mass of snow accumulated per unit area or the thickness of accumulated snow. non-contact snow system for solar panels according to any one of claims 1 or claim 2, characterized in that based on snow image information captured by mounting image camera. From claim 1, the solar panel is installed in a rectangular shape, and the three-dimensional flight algorithm gradually moves along the short side from the edge of the short side of the rectangular solar panel. The non-contact snow removal system for solar panels according to any one of claims 3. From claim 1, the solar panel is installed in a rectangular shape, and the three-dimensional flight algorithm gradually moves from the end of the long side of the rectangular solar panel along the short side. The non-contact snow removal system for solar panels according to any one of claims 3. The solar panel is installed with a constant inclination angle, and the unmanned vehicle has a constant angle with respect to the rotation axis of the propeller so that the accumulated snow is blown below the solar panel. The non-contact snow removal system for a solar panel according to any one of claims 1 to 5 , wherein the solar panel flies along the short side or the long side of the solar panel. The moving path while being preset by the information from the three-dimensional map and the snowfall detecting means near the solar panels to the snow removal target, snow from the snow quantity detecting means during snow removal Based on the amount of information, the unmanned vehicle rotates, tilts, and performs additional operations such as rolling that periodically changes the tilt angle over the solar panel, and the exhaust flow generated from the propeller of the unmanned vehicle. The non-contact snow removal system for a solar panel according to any one of claims 1 to 6 , wherein the snow accumulated on the surface of the solar panel is removed in a non-contact manner. The mass balance has a mass balance and a mass balance holding portion arranged at a substantially central portion in the vertical direction of the unmanned vehicle, and the mass balance is gripped or fixed by the mass balance holding portion, and the mass balance having a different mass is used. The mass balance can be replaced and fixed according to the amount of snow and the quality of snow on the surface of the solar panel so that the total mass of the unmanned vehicle can be adjusted. The solar panel according to any one of claims 1 to 7, wherein the flow velocity of the exhaust flow is changed by changing the rotation speed of each propeller during flight attitude control. Non-contact snow removal system. The unmanned air vehicle, equipped with a Eanozu Le for injecting compressed air from the compressor and the compressor, according to information from the snowfall detecting means in removing snow before and snow removal, is injected from the air nozzle The non-contact snow removal system for a solar panel according to any one of claims 1 to 8 , wherein the snow accumulated on the surface of the solar panel is removed by using the compressed air in a non-contact manner. .. The mounted relative distance measuring sensor for detecting the distance to the surface of the snow accumulated on the unmanned air vehicle and solar panel, perform snow removing work while the predetermined value the distance between the snow surface the unmanned air vehicle The non-contact snow removal system for a solar panel according to any one of claims 1 to 9 , wherein the non-contact snow removal system for a solar panel. From claim 1, the timing of snow removal work by the unmanned vehicle is set to a predetermined time, sunset, or early morning from the time when it is determined that the snow cover has started by the snow cover detection means, respectively. The non-contact snow removal system for a solar panel according to any one of claims 10. The solar panel attached to an upper portion of the frame has a predetermined inclination angle, when the snow blowing snow upper surface of the solar panel by the exhaust stream from the unmanned air vehicle, removal snow One of claims 1 to 11 , wherein the snow is blown off to the lower part of the high side of the inclined solar panel in a row on the lower side of the inclined solar panel. non-contact snow system for solar panels according to.