JPWO2014208192A1 - Cleaning device - Google Patents

Abstract

A traveling unit that travels in a cleaning target region that is a predetermined region on the surface of the cleaning target, and is positioned forward or rearward in the traveling direction with respect to the traveling unit, while moving the cleaning target region as the traveling unit travels A cleaning section that cleans the area to be cleaned, and the width dimension of the cleaning section is a width dimension that is a direction orthogonal to the traveling direction and parallel to the area to be cleaned. It is larger than the width direction dimension of the traveling part.

Description

Cross-reference of related applications

  This application claims priority based on Japanese Patent Application No. 2013-135353, and is incorporated herein by reference.

  The present invention relates to a cleaning device used for cleaning a cleaning target area which is a predetermined area on the surface of a cleaning target.

  Recently, so-called “mega solar” solar power generation facilities constructed by assembling a large number of solar panels have been constructed in various places.

  Solar panels are generally installed on the ground or on the rooftops of buildings. For this reason, dirt, such as dust, adheres to the light receiving surface that is the surface that receives sunlight in the solar panel. The dirt on the light receiving surface blocks the sunlight that reaches the power generating element included in the solar panel, thereby causing a decrease in power generation efficiency. Therefore, in order to maintain power generation efficiency, it is desirable to remove dirt by cleaning the light receiving surface. However, in the case of the “mega solar”, etc., it is problematic in terms of work efficiency to clean a large number of solar panels only by human power.

  In order to solve the above problem, for example, a cleaning device as shown in Patent Document 1 has been proposed. This cleaning device 100 is as shown in FIG. 7, and includes a four-legged walking means 102 provided at the four corners of the frame 101 and a rotating brush 103 provided below the frame 101. The cleaning device 100 is self-propelled by the four-legged walking means 102 on a solar panel (not shown), and the rotating brush 103 rubs the light-receiving surface of the solar panel as a region to be cleaned. The surface can be cleaned.

Japanese Unexamined Patent Publication No. 2010-186819

  However, in the cleaning device 100 shown in Patent Document 1, the rotary brush 103 is positioned so as to be surrounded by the four-legged walking means 102 as shown in the figure. For this reason, even if the quadruped walking means 102 is positioned in the vicinity of the edge of the light receiving surface of the solar panel, the rotating brush 103 is disposed on the light receiving surface by the distance existing between the quadruped walking means 102 and the rotating brush 103. It will be located away from the edge of. For this reason, in this cleaning apparatus 100, the said light-receiving surface could not be cleaned to every corner, but the cleaning residue had generate | occur | produced. For this reason, it is necessary to manually clean a portion of the light receiving surface where the cleaning residue has occurred after cleaning by the cleaning device 100, which is troublesome.

  Then, this invention makes it a subject to provide the cleaning apparatus which can clean a cleaning object area | region to every corner.

  The cleaning device of the present invention is located at a cleaning target area that is a predetermined area on the surface of the cleaning target object, and is positioned forward or backward in the driving direction with respect to the traveling part, and the cleaning is performed as the traveling part travels. A cleaning unit that cleans the target area while moving the target area, and the cleaning is performed with respect to a widthwise dimension that is a direction orthogonal to the traveling direction and parallel to the target area. The width direction dimension of the part is larger than the width direction dimension of the traveling part.

  The “traveling direction” as a reference for the direction refers to the traveling direction of the cleaning device when the cleaning is performed on the area to be cleaned, and does not include the traveling direction when the direction of the cleaning device is changed. The “direction parallel to the cleaning target area” refers to a direction parallel to the plane when the cleaning target area is a plane, and a direction along the curved surface when the cleaning target area is a curved surface.

  Moreover, the said cleaning part shall be located ahead of a traveling direction with respect to the said traveling part.

  In addition, the cleaning unit includes a wiper portion that partially contacts the cleaning target region when cleaning the cleaning target region, and the wiper unit extends in a direction intersecting with a traveling direction. The wiper blades having a plurality of wiper blades arranged in front and rear in the traveling direction, and a portion of the plurality of wiper blades positioned at both ends in the width direction of the cleaning unit in at least a wiper blade positioned forward in the traveling direction However, it is possible to follow the unevenness of the area to be cleaned and to come into contact therewith.

  Further, in the wiper blade positioned at least in front of the traveling direction, the portions positioned at both ends in the width direction of the cleaning portion are cuts extending in a direction intersecting with the extending direction of the wiper blade, A plurality of cuts arranged in the extending direction can also be formed.

  The cleaning device of the present invention further includes a cleaning agent supply unit for supplying the cleaning agent to the cleaning target region, and the cleaning agent supply unit is located at a position ahead of the cleaning unit in the traveling direction with respect to the cleaning agent. It can also be supplied.

  Further, in the cleaning device of the present invention, the cleaning unit is located on the cleaning target region, which is located on the rear side in the traveling direction with respect to the rubbing portion that rubs the region to which the cleaning agent is supplied. And a removal unit that removes at least the supplied cleaning agent from the region rubbed by the rubbing unit.

  The removal unit may be the wiper unit.

  The traveling unit may include a crawler, and the crawler may include a non-slip portion that extends at an angle with respect to the traveling direction at a portion in contact with the area to be cleaned.

  The cleaning apparatus of the present invention further includes a detection unit and a control unit that controls at least the traveling unit, and the detection unit is positioned at least at a width direction end of the traveling unit, and the detection unit is the cleaning unit. The controller detects that the vehicle is located on the target area, and the control unit stops the traveling unit when it is no longer detected that the detector is located on the area to be cleaned. You can also

  In addition, the cleaning unit includes a conversion unit that can change the posture between a cleanable state in which the cleaning unit is in contact with the cleaning target region and a retracted state in which the cleaning unit is separated from the cleaning target region. it can.

It is a top view which shows the cleaning apparatus which concerns on one Embodiment of this invention. It is a bottom view which shows the cleaning apparatus which concerns on one Embodiment of this invention. It is a left view of the cleaning device, and shows a case where the cleaning unit is in a cleanable state. It is a left view of the cleaning device, and shows a case where the cleaning unit is in a retracted state. It is a front view which shows the cleaning apparatus. It is a rear view which shows the cleaning apparatus. It is a schematic diagram showing an example of movement of the cleaning device. It is a schematic diagram showing an example of movement of the cleaning device. It is a schematic diagram showing an example of movement of the cleaning device. It is a schematic diagram showing an example of movement of the cleaning device. It is a schematic diagram showing an example of movement of the cleaning device. It is a left view which shows the cleaning apparatus which concerns on other embodiment of this invention. It is a bottom view which shows the cleaning apparatus which concerns on other embodiment of this invention. It is a principal part enlarged view which shows the edge part of the wiper blade in the cleaning apparatus which concerns on other embodiment of this invention. It is a principal part enlarged view in the planar view of the wiper blade which shows the state which the edge part of the wiper blade deform | transformed in the cleaning apparatus which concerns on other embodiment of this invention. It is a principal part enlarged view in the end surface view of a wiper blade which shows the state which the edge part of the wiper blade deform | transformed in the cleaning apparatus which concerns on other embodiment of this invention. An example of the wiper blade in the cleaning device concerning other embodiments of the present invention is shown. An example of the wiper blade in the cleaning device concerning other embodiments of the present invention is shown. An example of the wiper blade in the cleaning device concerning other embodiments of the present invention is shown. An example of the wiper blade in the cleaning device concerning other embodiments of the present invention is shown. It is a perspective view which shows an example of the conventional cleaning apparatus.

  One embodiment of the present invention will be taken and described below with reference to the drawings. The cleaning object of the cleaning device of the present embodiment is a solar panel (indicated by “P” in FIG. 2), and the cleaning target area is the surface of the solar panel P on the side where the power generation element is located (sunlight). This is a region corresponding to the entire surface of a light receiving surface (indicated by reference numeral “P1” in FIG. 2). In addition, although the light receiving surface P1 in this embodiment is a plane, it may be a curved surface. In general, the solar panel P is installed inclined with respect to a horizontal plane.

  The cleaning device 1 of the present embodiment is a self-propelled cleaning device having an external appearance shown in FIGS. The cleaning device 1 includes a traveling unit 2, a cleaning unit 3, a cleaning agent supply unit 4, and a control unit 9, and is covered with a cover made of resin or the like from above. Although not shown, this cleaning device 1 is equipped with a driving battery, and can run without receiving external power supply at least during cleaning. For this reason, the worker or the like installs the cleaning device 1 on the solar panel P, and the worker or the like can start cleaning the light receiving surface P1 only by turning on the switch.

  The traveling unit 2 is a part that travels on the light receiving surface P1. The traveling unit 2 includes a rubber crawler (an endless track) 21. In addition, the crawler 21 has a non-slip portion 211 that is a protrusion extending obliquely with respect to the traveling direction at the outer peripheral portion thereof, that is, the portion in contact with the light receiving surface P1. For example, when the traveling direction of the cleaning device 1 is set to a direction orthogonal to the inclination direction of the light receiving surface P1 of the solar panel P, the anti-slip portion 211 is provided when a protrusion parallel to the inclination direction is provided on the crawler 21. In comparison, the cleaning device 1 can be made difficult to slide down.

  The anti-slip portion 211 includes, for example, linear protrusions or grooves extending in one direction, “V” -shaped or “U” -shaped protrusions or grooves that are symmetrical at the center in the width direction of the crawler 21, and triangular waves in bottom view. Or although a sine wave-like processus | protrusion or groove | channel can be illustrated, it is not limited to this, It can be set as various shapes. The non-slip portion 211 of the present embodiment is a protrusion having a V shape when viewed from the bottom.

  The cleaning unit 3 is located in front of the traveling unit 2 in the traveling direction (right side in FIGS. 1A and 1B, the same applies hereinafter), and is cleaned while moving on the light receiving surface P1 as the traveling unit 2 travels. It is a part to do. The cleaning unit 3 includes a rotating brush unit 31 serving as a rubbing unit located in front of the traveling direction and a wiper unit 32 serving as a removing unit located rearward. Moreover, the support wheel 33 for supporting the cleaning part 3 is provided in the running direction front side rather than the rotating brush part 31. FIG.

  The cleaning unit 3 can be cleaned in a state where the rotating brush unit 31 is in contact with the light receiving surface P1 as shown in FIG. 2A and in a state where the rotating brush unit 31 is separated from the light receiving surface P1 as shown in FIG. 2B. The posture can be changed to a certain retracted state. For this purpose, the cleaning unit 3 includes a conversion unit 10. The conversion unit 10 in this embodiment is a direction in which the cleaning unit 3 is orthogonal to the traveling direction and is movable with respect to the traveling unit 2 so as to be movable around a rotation axis extending in a direction parallel to the light receiving surface P1. And a support unit that is hinge-supported, and driving means (not shown) such as a motor and a belt for changing the posture of the cleaning unit 3 between the cleanable state and the retracted state. The turning portion 10 can keep the rotating brush portion 31 away from the light receiving surface P1 except during cleaning. Therefore, the life of the rotating brush portion 31 is longer than that of the configuration in which the rotating brush portion 31 always contacts the light receiving surface P1. Can be extended. Moreover, since the rotating brush part 31 does not rub the light-receiving surface P1, the direction change of the cleaning apparatus 1 by the traveling part 2 can be performed smoothly. Further, even if the light receiving surface P1 has protrusions such as panel fixing metal fittings, unevenness, steps, or the like, the cleaning device 1 can be moved while the rotary brush portion 31 is retracted therefrom.

  The rotating brush part 31 is a substantially cylindrical body extending in a direction perpendicular to the traveling direction and parallel to the light receiving surface P1, and is formed so that brush fibers extend in the radial direction. As the travel unit 2 travels, the rotating brush unit 31 rotates on the light receiving surface P1. By this rotation, the brush fibers of the rotating brush portion 31 rub against the light receiving surface P1. Thereby, the dirt adhering on the light receiving surface P1 can be lifted.

  The wiper portion 32 is a portion that partially contacts the light receiving surface P1 when the light receiving surface P1 is cleaned. The wiper unit 32 is configured to remove the dirt that has floated up and the cleaning agent sprayed from the cleaning nozzle 41 as described later (in this state, the dirt is mixed and becomes muddy). It is provided to remove from the area that has passed. The wiper portion 32 has a long and narrow rubber plate, and the plate is parallel to the rotary brush portion 31 and obliquely rearward as it goes from the base end to the tip of the plate. It is arrange | positioned so that it may extend. The tip 321 of the wiper part 32 is in contact with the light receiving surface P1 when the cleaning part 3 is in a cleanable state as shown in FIG. 2A. When the cleaning unit 3 moves forward in the traveling direction as the traveling unit 2 travels, the lifted dirt and the like are pushed away from the region of the light receiving surface P1 through which the wiper unit 32 has passed. The pushed dirt and the like naturally flows down from the light receiving surface P1 due to the inclination of the solar panel P. In addition, although the wiper part 32 of this embodiment is fixedly located in the cleaning part 3, it is not limited to this, You may be located in the cleaning part 3 so that rotation or reciprocation may be carried out. Further, how far the wiper portion 32 is provided with respect to the rotating brush portion 31 can be appropriately set according to the type of dirt to be removed and how much cleaning is performed.

  As shown in FIG. 1B, the widthwise dimension W3 of the cleaning part 3 (specifically, the rotating brush part 31) is larger than the widthwise dimension W2 of the traveling part 2 (specifically, one set of crawlers 21, 21). . For this reason, compared with the locus | trajectory in the width direction of the traveling part 2, the cleaning part 3 can clean a wide range. For this reason, the light-receiving surface P1 can be cleaned to every corner by bringing the cleaning unit 3 to the edge of the light-receiving surface P1.

  Further, when the cleaning unit 3 is positioned forward in the traveling direction with respect to the traveling unit 2, the traveling unit 2 travels on the clean light receiving surface P <b> 1 after the dirt is removed by the cleaning unit 3. Here, in the cleaning device 100 described in Patent Document 1, since the quadruped walking means 102 is in contact with the light receiving surface (not shown in FIG. 7) before being cleaned by the rotating brush 103, the light receiving surface and the quadruped walking are used. Due to the presence of dirt particles with the means 102, the quadruped walking means 102 may slip. In addition, there is a possibility that the light receiving surface P1 after being cleaned by the rotating brush is stained again by the dirty four-legged walking means 102. In contrast, in the cleaning device 1 of the present embodiment, the traveling unit 2 travels on a clean light receiving surface P1. For this reason, the grip force of the crawler 21 is reduced due to the presence of dirt particles or a cleaning agent between the light receiving surface P1 and the crawler 21 of the traveling unit 2, and the traveling unit 2 may slip. Without running, the traveling unit 2 reliably travels on the light receiving surface P1. In addition, the light receiving surface P <b> 1 after being cleaned by the cleaning unit 3 is not soiled again by the contaminated traveling unit 2.

  Here, an example of how the cleaning device 1 moves on the light receiving surface P1 is shown in FIG. FIG. 4A shows a state in which the cleaning device 1 has advanced linearly in the right direction in the figure. Although not clearly shown in the drawing, the light receiving surface P1 is arranged so that the upper side in the drawing is high and the lower side is low, and the horizontal direction in the drawing is a direction orthogonal to the inclination of the light receiving surface P1. If the state of FIG. 4A is a state in which the cleaning unit 3 has reached the end (right end) of the light receiving surface P1, the cleaning device 1 first retracts by a predetermined distance in the left direction as shown in FIG. 4B. In this case, the retreat distance is sufficient to be able to shift the cleaning device 1 downward in the figure. Thereafter, as shown in FIG. 4C, the cleaning device 1 advances obliquely in the lower right direction in the figure. And as shown to FIG. 4D, the cleaning apparatus 1 changes 180 degrees direction. Although not shown in FIG. 4D, at this time, the cleaning unit 3 is in the retracted state shown in FIG. 2B. And as shown to FIG. 4E, the cleaning apparatus 1 advances linearly in the illustration left direction. Thus, the cleaning part 3 can cover the entire surface of the light receiving surface P1 by repeating the forward movement and the direction change. Thereby, for example, even if the light receiving surface P1 is a rectangular solar panel P, the cleaning unit 3 (the rotating brush unit 31 and the wiper unit 32) reaches the corner of the light receiving surface P1 as shown in FIG. 4A. Therefore, it is possible to clean the light receiving surface P1 to every corner without generating a cleaning residue as in the prior art.

  In addition to the example shown in FIGS. 4A to 4E, for example, after the state shown in FIG. 4A, the direction is changed by 90 ° clockwise, and then in a downward direction in the drawing (for example, a width direction dimension W3 of the cleaning unit 3). The cleaning device 1 can also be moved so that it advances forward, then turns 90 ° clockwise, and then advances linearly in the left direction in the figure. Thus, the movement aspect of the cleaning apparatus 1 can be determined suitably.

  The rotating brush portion 31 is not limited to the one formed in this embodiment so that the brush fibers extend in the radial direction, and may be a sponge shape, a mop shape, or a cloth shape. Moreover, in this embodiment, although the rotary brush part 31 is a direction orthogonal to a running direction, and is a substantially cylindrical body extended in the direction parallel to the light-receiving surface P1, a shape is not limited to this. For example, it may extend obliquely with respect to the traveling direction. Further, it may be a disk-like one that rotates about an axis extending in a direction orthogonal to the light receiving surface P1.

  As shown in FIG. 3A, the cleaning agent supply unit 4 includes cleaning nozzles 41 formed at two locations on the front surface of the cleaning device 1. The cleaning agent supply unit 4 injects a liquid cleaning agent supplied from a cleaning agent tank (not shown) located inside the cleaning device 1 forward from the cleaning nozzle 41 in the traveling direction and supplies it to the light receiving surface P1. To do. The spraying range of the cleaning agent from the cleaning nozzle 41 substantially coincides with the widthwise dimension W3 of the cleaning portion 3 (specifically, the rotating brush portion 31) in the widthwise direction where the cleaning agent adheres to the light receiving surface P1. Such a setting is desirable because it is possible to surely lift up dirt adhering to the light receiving surface P1 by the rotating brush portion 31.

  Examples of the cleaning agent supplied to the light receiving surface P1 by the cleaning agent supply unit 4 include water, water mixed with a surfactant, and an organic solvent such as alcohol. In consideration of the environment, it is also preferable to use a detergent having a good biodegradability (for example, a commercially available neutral detergent having a good biodegradability). Further, the cleaning agent is not limited to the liquid type as in this embodiment, and may be, for example, a solid. Examples of solid cleaning agents include resin powder that can adsorb dirt on the surface (however, a powder recovery step is required after cleaning), or dry ice fine particles (which need to be recovered after cleaning because they evaporate). .

  Further, the supply of the cleaning agent to the light receiving surface P1 is not limited to the jetting, and may be, for example, dripping or coating. Further, for example, the cleaning agent supply unit 4 may be combined with the rotating brush unit 31, and the cleaning agent may be supplied to the rotating brush unit 31.

  The control unit 9 is a part that controls each part of the cleaning device 1, particularly the traveling unit 2 and the cleaning unit 3. Specifically, the control unit 9 controls the traveling unit 2 and the cleaning unit 3 based on the detection results of the fall prevention sensor 5 as the detection unit provided in the cleaning device 1 and the front guide unit 6.

  As shown in FIG. 1B, the fall prevention sensor 5 is provided at four locations on the end of the traveling unit 2, specifically, on the outer side in the width direction of the crawler 21, and further on the front side in the traveling direction of the cleaning device 1. There are places. The fall prevention sensor 5 is an infrared sensor that detects that the light receiving surface P1 of the solar panel P is located below the sensor, that is, that the fall prevention sensor 5 is located on the light receiving surface P1. . The fall prevention sensor 5 is not limited to the infrared sensor, and may be a mechanical contact switch.

  When the control unit 9 no longer detects that the fall prevention sensor 5 is located on the light receiving surface P1, that is, when the fall prevention sensor 5 is removed from the light receiving surface P1, the traveling unit 2 ( Specifically, the driving unit such as a motor in the traveling unit 2) is stopped. In this embodiment, the control part 9 stops the driving | running | working part 2, when the fall prevention sensor 5 of at least 1 place becomes the above as said 5 places. As a result, the cleaning device 1 always stops at the end of the light receiving surface P1 of the solar panel P, so that the cleaning device 1 falls from the solar panel P and is damaged, or the cleaning device 1 steps off the light receiving surface P1. It is possible to prevent the vehicle from being disabled due to the occurrence of the catch. And when it stops detecting that the fall prevention sensor 5 is located on the light-receiving surface P1, appropriate control, such as reverse | retreating the driving | running | working part 2 from the location or changing a driving direction, is carried out. It can be carried out.

  Moreover, the front guidance | induction part 6 is located in the center of the width direction of the front surface in the cleaning apparatus 1, as shown to FIG. 3A. A window 61 is formed on the front surface, and a camera (infrared compatible) and an infrared LED are provided inside the window 61. The camera can capture, for example, a support frame located at the outer edge of the solar panel P, an edge of the light receiving surface P1, lines formed on the light receiving surface P1, and the like as a visible light image or an infrared image. And infrared LED irradiates infrared rays with respect to the light-receiving surface P1 at night. Based on the image obtained by the front guide unit 6, the control unit 9 can control the traveling unit 2. Regarding the imaging range of the camera, it is sufficient that the camera can at least capture the support frame of the solar panel P, and the range can be arbitrarily set within a range necessary for the control of the traveling unit 2. A camera equipped with a wide-angle lens can also be used.

  In addition to the above, as shown in FIG. 1B, collision sensors 7 are provided at three positions in the traveling direction of the cleaning device 1. The collision sensor 7 is covered with a bumper 8. When the bumper 8 collides with a foreign object or the like and the collision sensor 7 enters a detection state, the control unit 9 stops the traveling unit 2. Thereby, damage to cleaning device 1 or damage to solar panel P can be prevented.

  As mentioned above, although one embodiment was taken up and explained about the present invention, the present invention is not limited to the above-mentioned embodiment, and various changes are possible in the range which does not deviate from the gist of the present invention.

  For example, as shown in FIGS. 5A and 5B, the wiper portion 32 includes a plurality (two or more) of wiper blades 32a and 32b extending in a direction intersecting the traveling direction, and the plurality of wiper blades 32a and 32b. Can be arranged side by side in the traveling direction. In the illustrated example, the wiper portion 32 extends in a direction orthogonal to the traveling direction. The wiper portion 32 is composed of two wiper blades 32a and 32b arranged in parallel at a predetermined interval. Each of the wiper blades 32a and 32b is a long and narrow rubber plate having substantially the same shape as the single wiper portion 32 in the above embodiment.

  As described above, since the wiper portion 32 is configured by the plurality of wiper blades 32 a and 32 b, among the dirt floating on the light receiving surface P 1 by the rotating brush portion 31 and the cleaning agent sprayed from the cleaning nozzle 41, The rear wiper blade 32b can remove the amount that the side wiper blade 32a could not be removed. Therefore, the efficiency with which the wiper portion 32 removes the dirt and the cleaning agent can be improved.

  Further, at least the front wiper blade 32a among the plurality of wiper blades 32a and 32b, the extension direction both end portions 322 and 322, which are portions located at both ends in the width direction of the cleaning portion 3, follow the unevenness P3 of the solar panel P. And it is comprised so that contact is possible. Specifically, as shown in FIG. 5C, both ends 322 and 322 in the extension direction of the front wiper blade 32a are cuts 323... 323 extending in a direction intersecting with the extension direction of the wiper blade 32a. A plurality of cuts 323... 323 arranged in the extending direction of the wiper blade 32a are formed. The unevenness P3 is, for example, a step between the edge of the light receiving surface P1 and the support frame located on the outer edge of the solar panel P. As for the rear wiper blade 32b, the cuts 323... 323 may be formed in the same manner as the front wiper blade 32a, even though the cuts 323 are not formed as in the above embodiment.

  According to this configuration, since both ends 322 and 322 in the extension direction of the front wiper blade 32a are divided in the extension direction by the cuts 323... 323, the rigidity is less than the center portion 324 in the extension direction so that the front wiper blade 32a is easily deformed. . For this reason, a portion of the extension direction both ends 322 and 322 that coincides with the unevenness P3 is curved as shown in FIGS. 5D and 5E and can follow and contact the unevenness P3. 322 can be made to follow the unevenness P3 with certainty.

  In particular, since the front wiper blade 32a is easily deformed by forming cuts 323... 323 at both ends 322, 322 in the extending direction, the front wiper blade 32a that contacts the light receiving surface P1 earlier than the rear wiper blade 32b. The efficiency of removing the dirt and cleaning agent can be improved.

  In the example shown in FIGS. 5A to 5E, the front wiper blade 32a is easily deformed by forming cuts 323... 323, but is not limited thereto. For example, as shown in FIG. 6A, the central portion 324 in the extension direction may be omitted from the front wiper blade 32a, and only the two ends 322 and 322 in the extension direction may be separately formed as two plate-like bodies. Further, as shown in FIG. 6B, the wiper portion 32 has only one wiper blade 32a (that is, the wiper portion 32 is composed of only the front wiper blade 32a), and the extending direction of the wiper blade 32a Both end portions 322 and 322 may be formed by a plurality of cuts 323... 323 as in the case of the front wiper blade 32a. Further, as shown in FIG. 6C, the width dimension of the front wiper blade 32a can be formed smaller than the extension direction both ends 322 and 322 so that the extension direction center portion 324 does not contact the solar panel P. Further, as shown in FIG. 6D, cuts 323... 323 can be formed in both the front wiper blade 32a and the rear wiper blade 32b. In this case, the cuts 323... 323 of the front wiper blade 32a and the cuts 323... 323 of the rear wiper blade 32b do not coincide with each other in the plan view of the wiper blades 32a and 32b, and can be formed alternately, for example. Although not shown, the example of FIG. 6D may be modified to arrange a wiper blade in which the cut 323 is not formed further rearward of the rear wiper blade 32b, or a wiper blade in which the cuts 323... 323 are formed. it can.

  Further, by making the plate thickness of both ends 322 and 322 in the extension direction smaller than the center portion 324 in the extension direction, or by forming a plurality of through holes in both ends 322 and 322 in the extension direction, the center portion 324 in the extension direction is formed. In comparison, the rigidity can be reduced. Further, the extension direction both end portions 322 and 322 of the front wiper blade 32a can be formed of a brush or a sponge independently of the extension direction center portion 324 made of rubber. Further, both the front wiper blade 32a and the rear wiper blade 32b may be configured to be able to follow and contact the unevenness P3, or only the rear wiper blade 32b may be applied to the unevenness P3. You may be comprised so that contact is possible.

  Although the cleaning apparatus 1 of the said embodiment is self-propelled and it is comprised so that an operator etc. can clean only by putting the cleaning apparatus 1 on the solar panel P, it is not limited to this. For example, the unit including the traveling unit 2 and the cleaning unit 3 is not provided with the control unit 9 and is supported by an arm or the like, and the arm or the like is operated to change the moving direction of the unit. It may be configured to be determined. Further, power may be supplied to the cleaning device 1 from an external power source by wired or wireless power feeding. Further, the drive source of the traveling unit 2 is not limited to an electric drive motor, and an internal combustion engine, a hydraulic drive device, a pneumatic drive device, or the like can be used.

  The traveling unit 2 is not limited to traveling means provided with a crawler (infinite track) 21, and is configured as traveling means provided with wheels (the number of which is not limited), or walking means as described in Patent Document 1. You can also.

  The cleaning unit 3 can also be positioned behind the traveling unit 2 in the traveling direction (left side in FIGS. 1A and 1B). Further, it can be positioned both forward and backward in the traveling direction with respect to the traveling unit 2.

  Furthermore, the cleaning unit 3 pushes away the dirt and cleaning agent lifted from the light receiving surface P1 by the rotating brush unit 31 like the wiper unit 32, as well as means for rubbing the light receiving surface P1 like the rotating brush unit 31 of the embodiment. A configuration different from the means may be employed. For example, a vacuum suction means and a high-pressure washing means can be mentioned. Further, the vacuum suction unit or the high-pressure cleaning unit may be provided together with the rubbing unit or the pushing-out unit on the light receiving surface P1. In addition, a cleaning device for removing dirt attached to the brush fibers of the rotating brush portion 31 may be provided.

  Moreover, the cleaning apparatus 1 of this invention is not limited to cleaning of the solar panel P like the said embodiment, It is applicable to various cleaning objects. Moreover, even when the object to be cleaned is a solar panel P, the solar panel P is not limited to a large number of solar panels P in a photovoltaic power generation facility such as “Mega Solar”. For example, a relatively small number of solar panels installed on the roof of a general household P can also be used.

  The above explanation is described collectively. The cleaning device 1 according to the present embodiment includes a traveling unit 2 that travels in a cleaning target region (light receiving surface P1) that is a predetermined region on the surface of the cleaning target (solar panel P), and the traveling unit 2 in front of the traveling direction or A cleaning unit 3 that is located rearward and moves the cleaning target region (light receiving surface P1) as the traveling unit 2 travels, and cleans the cleaning target region (light receiving surface P1). The widthwise dimension W3 of the cleaning part 3 is larger than the widthwise dimension W2 of the traveling part 2 with respect to the widthwise dimension that is perpendicular to the region to be cleaned and parallel to the area to be cleaned (light receiving surface P1). large.

  According to this configuration, the widthwise dimension W3 of the cleaning unit 3 is larger than the widthwise dimension W2 of the traveling unit 2. That is, the trajectory of the cleaning unit 3 can be positioned outside the trajectory of the traveling unit 2 in the width direction. For this reason, it is possible to position the said cleaning part 3 in the edge of the said cleaning object area | region (light-receiving surface P1).

  Further, the cleaning unit 3 can be positioned forward of the traveling unit 2 in the traveling direction. According to this configuration, the traveling unit 2 travels in the cleaning target area (light receiving surface P <b> 1) after the dirt is removed by the cleaning unit 3. For this reason, it becomes difficult for the said travel part 2 to slip, and the said travel part 2 can drive | work the said cleaning object area | region (light-receiving surface P1) reliably.

  The cleaning unit 3 includes a wiper unit 32 that partially contacts the cleaning target region (light receiving surface P1) when cleaning the cleaning target region (light receiving surface P1). A plurality of wiper blades 32a and 32b extending in a direction intersecting with the traveling direction are arranged, and the plurality of wiper blades 32a and 32b are arranged in the front and rear in the traveling direction, and among the plurality of wiper blades 32a and 32b, In the wiper blade 32a located at least in the front in the running direction, the portions (extension direction both end portions 322, 322) located at both ends in the width direction of the cleaning portion 3 are unevenness P3 of the cleaning object (solar panel P). It is possible to follow and make contact.

  According to this configuration, at least both end portions 322 and 322 in the extension direction of the wiper blade 32a located in the front in the traveling direction can follow the unevenness P3 of the cleaning object (solar panel P) and can come into contact therewith. Both ends 322 and 322 in the extending direction surely follow the unevenness P3 of the cleaning object (solar panel P).

  Further, in the wiper blade 32a positioned at least in front of the running direction, the portions (extending end portions 322 and 322) positioned at both ends in the width direction of the cleaning portion intersect with the extending direction of the wiper blade 32a. A plurality of cuts 323... 323 extending in the extending direction of the wiper blade 32 a may be formed. According to this configuration, the extension direction both end portions 322 and 322 of the wiper blade 32a positioned at least forward in the traveling direction are divided in the extension direction by the cuts 323... 323, so that the extension direction both end portions 322 and 322 are deformed. Cheap. For this reason, the extension direction both ends 322 and 322 surely follow the unevenness P3 of the cleaning object (solar panel P).

  The cleaning device 1 of the present embodiment further includes a cleaning agent supply unit 4 for supplying a cleaning agent to the cleaning target area (light receiving surface P1), and the cleaning agent supply unit 4 cleans the cleaning agent. It can also be supplied to a position ahead of the traveling direction with respect to the portion 3. According to this configuration, the cleaning target region (light receiving surface P1) can be reliably cleaned by the cleaning agent supplied from the cleaning agent supply unit 4 to the cleaning target region (light receiving surface P1).

  Further, in the cleaning device 1 of the present embodiment, the cleaning unit 3 includes a rubbing part (rotating brush part 31) that rubs an area to which the cleaning agent is supplied in the cleaning target area (light receiving surface P1), and the rubbing part. At least the supplied cleaning agent from a region rubbed by the rubbing portion (rotating brush portion 31) in the cleaning target region (light receiving surface P1), which is located rearward in the traveling direction with respect to the (rotating brush portion 31). A removal portion (wiper portion 32) to be removed may be further provided.

  According to this configuration, the cleaning agent supplied from the cleaning agent supply unit 4 to the cleaning target region (light receiving surface P1) is removed from the cleaning target region (light receiving surface P1) by the removing unit (wiper unit 32). The rubbing portion (rotating brush portion 31) is removed from the rubbed area. Therefore, it can suppress that the washing | cleaning agent after cleaning by the said cleaning part 3 adheres to the traveling part 2, and the said traveling part 2 slips.

  The traveling unit 2 includes a crawler 21, and the crawler 21 may include a non-slip portion 211 that extends at an angle with respect to the traveling direction at a portion in contact with the area to be cleaned (light receiving surface P <b> 1). According to this configuration, even if the cleaning target region (light receiving surface P1) is inclined, the cleaning device 1 is shifted downward in the cleaning target region (light receiving surface P1) or the cleaning target (solar panel P). ) Can be prevented from falling.

  Further, the cleaning device 1 of the present embodiment further includes a detection unit (drop prevention sensor 5) and a control unit 9 that controls at least the travel unit 2, and the detection unit (fall prevention sensor 5) is at least the travel. It is located at the end in the width direction of the part 2 and detects that the detection part (falling prevention sensor 5) is located on the area to be cleaned (light receiving surface P1). The control part 9 The traveling unit 2 can be stopped when it is no longer detected that the detection unit (drop prevention sensor 5) is located on the cleaning target region (light receiving surface P1).

  According to this structure, when the said control part 9 stops detecting that the said detection part (fall prevention sensor 5) is located on the said cleaning object area | region (light-receiving surface P1), the said driving | running | working part 2 Stop. For this reason, it can suppress that the said travel part 2 remove | deviates from the said cleaning object area | region (light-receiving surface P1). Therefore, when the cleaning device 1 falls from the cleaning object (solar panel P), or when a part of the traveling unit 2 falls from the cleaning object (solar panel P) and is caught, the traveling part. It can suppress that 2 becomes impossible to drive | work.

  The cleaning unit 3 includes a cleanable state in which the cleaning unit 3 is in contact with the cleaning target region (light receiving surface P1) and a retracted state in which the cleaning unit 3 is separated from the cleaning target region (light receiving surface P1). It can be provided with the conversion part 10 which can change an attitude | position. According to this structure, since the cleaning part 3 can be kept away from the cleaning target area (light receiving surface P1) except during cleaning, the life of the cleaning part 3 can be extended. Moreover, the direction change of the cleaning apparatus 1 can be performed smoothly. Even if there are protrusions, irregularities, steps, etc. in the region to be cleaned (light receiving surface P1), the cleaning device 1 can be moved while the cleaning unit 3 is retracted therefrom.

  As mentioned above, the cleaning apparatus 1 of this embodiment can position the said cleaning part 3 in the edge of the cleaning object area | region (light-receiving surface P1). For this reason, the cleaning apparatus 1 of this embodiment can clean the cleaning target area (light receiving surface P1) to every corner.

1 Cleaning device 2 Traveling part 21 Crawler (endless track)
211 Non-slip part 3 Cleaning part 31 Rub part, Rotating brush part 32 Removal part, Wiper part 32a Front wiper blade 32b Rear wiper blade 322 Parts located at both ends in the width direction of the cleaning part, both ends in the extension direction 323 Cut line 4 Cleaning Agent supply part 5 Detection part, fall prevention sensor 9 Control part W2 Width direction dimension of traveling part W3 Width direction dimension of cleaning part P Object to be cleaned, Solar panel P1 Area to be cleaned, Light receiving surface P3 Unevenness

Claims (10)

A traveling unit that travels in a cleaning target area that is a predetermined area on the surface of the cleaning target;
A cleaning unit that is positioned forward or backward in the traveling direction with respect to the traveling unit, and that cleans the cleaning target region while moving the cleaning target region as the traveling unit travels,
A cleaning device in which the widthwise dimension of the cleaning part is larger than the widthwise dimension of the running part with respect to the widthwise dimension which is a direction perpendicular to the running direction and parallel to the area to be cleaned.   The cleaning device according to claim 1, wherein the cleaning unit is located in front of the traveling unit in the traveling direction. The cleaning unit includes a wiper part that partially contacts the cleaning target area when cleaning the cleaning target area.
The wiper portion has a plurality of wiper blades extending in a direction intersecting with the traveling direction, and the plurality of wiper blades are arranged in front and rear in the traveling direction,
The part located in the width direction both ends of the said cleaning part in the wiper blade located at least in the traveling direction among the plurality of wiper blades can follow the unevenness of the area to be cleaned and can come into contact therewith. The cleaning device described.   In the wiper blade positioned at least in the front in the traveling direction, the portions positioned at both ends in the width direction of the cleaning unit are cuts extending in a direction intersecting with the extending direction of the wiper blade, and the extending direction of the wiper blade The cleaning device according to claim 3, wherein a plurality of cuts arranged in a row are formed. A cleaning agent supply unit for supplying the cleaning agent to the area to be cleaned;
The cleaning device according to claim 2, wherein the cleaning agent supply unit supplies the cleaning agent to a position ahead of the cleaning unit in the traveling direction. The cleaning unit
A rubbing portion that rubs the region to which the cleaning agent is supplied in the region to be cleaned;
A removal unit that is located rearward in the running direction with respect to the rubbing portion, and that removes at least the supplied cleaning agent from the region that the rubbing portion has rubbed in the cleaning target region;
The cleaning apparatus according to claim 5, further comprising:   The cleaning device according to claim 6 (wherein claim 3 or 4 is cited), wherein the removing unit is the wiper unit.   The cleaning device according to claim 1, wherein the traveling unit includes a crawler, and the crawler includes a non-slip portion that extends at an angle with respect to the traveling direction at a portion in contact with the region to be cleaned. . A detection unit; and a control unit that controls at least the traveling unit,
The detection unit is located at least at an end in the width direction of the traveling unit, and detects that the detection unit is located on the cleaning target region.
The said control part is a cleaning apparatus in any one of Claims 1-8 which stops the said travel part, when it stops detecting that the said detection part is located on the said cleaning object area | region. The said cleaning part is provided with the conversion part which can change an attitude | position to the cleaning possible state which is the state which the said cleaning part contacted the said cleaning object area | region, and the retracted state which is the state away from the said cleaning object area | region. The cleaning device according to any one of 9.

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