KR20190130944A - System for managing solar panel cleaning robot - Google Patents

Abstract

The present invention relates to a solar panel cleaning robot management system. More specifically, the system includes: a transceiving part receiving state information from a solar panel cleaning robot or receiving operation history information for a preset period from a station for the solar panel cleaning robot, and transmitting analysis and determination information about the state information or operation history information to a manager terminal; an analyzing part confirming residual amount information of a cleaning water tank and a battery of the solar panel cleaning robot by analyzing the state information received from the solar panel cleaning robot or the operation history information received from the station for the solar panel cleaning robot; a determining part determining whether charging and/or replenishment is required in accordance with the residual amount information; and a control part determining whether charging and/or replenishment is required for the solar panel cleaning robot based on the state information received from the solar panel cleaning robot or the operation history information received from the station for the solar panel cleaning robot, and then, controlling the transmission of the analysis and determination information to the manager terminal if charging and/or replenishment is required as a result of the determination. Therefore, the system is capable of enabling a user to promptly handle an abnormal situation.

Description

Solar Panel Cleaning Robot Management System {SYSTEM FOR MANAGING SOLAR PANEL CLEANING ROBOT}

The present invention relates to a solar panel cleaning robot management system, and more particularly, to a solar panel cleaning robot that maintains, repairs, and cleans a plurality of solar panels of a solar power plant and a charging for the solar panel cleaning robot. And it relates to a solar panel cleaning robot management system for informing the administrator by monitoring the status of the station performing the filling.

As an alternative to fossil fuels, solar energy is in the limelight as a kind of renewable energy, and research and development on solar power generation is actively progressing.

Such photovoltaic power generation utilizes solar cells that generate electricity through photovoltaic power by the photoelectric effect, and can perform photovoltaic power generation through a solar panel in which a plurality of solar cells are combined.

However, since a single solar panel alone has a limit in the amount of power generation, a photovoltaic power generation facility in which a plurality of solar panels are constantly arranged is generally used. For example, a photovoltaic power generation facility is constantly arranged. Can consist of tens to thousands (or tens of thousands) of solar panels.

Since many solar panels of the photovoltaic facility are continuously exposed to the external environment for a long time for condensing, the surface of the solar panel may be contaminated with various scattering materials, dust such as yellow dust, fine dust or ultra fine dust. In this case, as the transmittance (transparency) of the solar panel is reduced, the power generation efficiency decreases as the amount of light collected is reduced.

Conventionally, an operator manually cleans each of the plurality of solar panels by hand for maintenance / management of the solar power plant, but it takes a lot of time for the operator to clean tens or thousands of solar panels one by one. Manpower and money were consumed.

In order to solve these limitations, researches have recently been conducted on technologies for performing maintenance and repair using a non-human robot, such as cleaning a plurality of solar panels. Techniques such as washing the pollutants on the solar panel while driving is being developed.

However, such a solar panel cleaning robot has a battery and a washing water tank of a predetermined capacity for storing power and washing water for operation and cleaning of the solar panel, the finished solar panel cleaning robot is for the solar panel cleaning robot Charge and fill the used power and wash water through the station.

On the other hand, the manager needs to quickly cope with the abnormal situation on the solar panel cleaning robot and / or the station for charging and filling it, so that the manager can easily check the status information of the solar panel cleaning robot and the station. Technology needs to be provided.

Accordingly, the present invention has been proposed to solve the problems described above, by monitoring the status of the solar panel cleaning robot for maintaining and repairing a plurality of solar panels and providing the monitoring results to the administrator, the occurrence of abnormal situations The present invention provides a solar panel cleaning robot management system that enables quick response.

In addition, the present invention manages the schedule for the charging and filling of a plurality of solar panel cleaning robot to maintain and repair a plurality of solar panels to be smoothly charged and / or appended without collision between each solar panel cleaning robot To provide a solar panel cleaning robot management system.

The objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

The central server according to the present invention for achieving the above object, receives the status information from the solar panel cleaning robot or the operation history information for a predetermined period from the solar panel cleaning robot station, the manager terminal Transmitting and receiving unit for transmitting the analysis and determination information on the status information or the operation history information to the; An analysis unit which analyzes state information received from the solar panel cleaning robot or operation history information received from the solar panel cleaning robot station to check remaining information on the battery and the washing water tank of the solar panel cleaning robot; A determination unit determining whether a charging and / or filling operation is necessary according to the remaining amount information; And a controller for controlling to transmit the analysis and determination information to the manager terminal when a charging and / or filling operation is necessary as a result of the determination of the determination unit.

When the controller 19 receives the command information from the manager terminal in response to the analysis information, the controller 19 transmits a status information request to the solar panel cleaning robot station, and receives the status information in response to the status information request. And transmitting the operation command corresponding to the command information to the solar panel cleaning robot based on the received situation information.

If the situation information includes information on another device being charged and / or filled at the solar panel cleaning robot station and an estimated time for charging and / or filled by the other device, the control unit may be configured to the operation command. It is characterized in that the control to transmit to the solar panel cleaning robot including the scheduling time information.

When receiving the operation history information for a preset period from the solar panel cleaning robot station, the control unit determines whether the abnormal operation for the solar panel cleaning robot based on the operation history information, and as a result of the determination, When it is determined that the solar panel cleaning robot is in abnormal operation, the controller may be configured to notify the manager terminal that the solar panel cleaning robot is in abnormal operation.

The operation history information for the preset period includes the occurrence frequency of the charging and / or refilling operation of the solar panel cleaning robot and the remaining amount information of the battery and the washing water tank, and the solar panel cleaning robot station Characterized in that it is periodically received from.

The determining unit may be configured to perform the charging and / or refilling operation even when both the remaining amount information of the battery and the wash water tank are greater than or equal to the threshold, and the time when the occurrence frequency of the charging and / or filling operation and the remaining amount information of the battery and the washing water tank are greater than or equal to the threshold is 24 hours or more. It is determined that the optical panel cleaning robot is in abnormal operation.

According to the present invention, by monitoring the status of the photovoltaic panel cleaning robot for maintaining and repairing a plurality of solar panels and providing the monitoring results to the administrator, it is possible to respond quickly when an abnormal situation occurs.

In addition, according to the present invention, by managing the schedule for the charging and filling of the plurality of solar panel cleaning robot to maintain and repair a plurality of solar panels, the charging and / or appending smoothly without collision between each solar panel cleaning robot To make it happen.

The effects of the present invention are not limited to those mentioned above, and other effects that are not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a network configuration of a solar panel cleaning robot management system according to an embodiment of the present invention.
2 is an operation flowchart for a solar panel cleaning robot management system according to an embodiment of the present invention.
3 is a block diagram showing the configuration of a central server according to an embodiment of the present invention.
4 is a flowchart illustrating a method for managing a solar panel cleaning robot in a central server according to an exemplary embodiment of the present invention.
5 is a flowchart illustrating a method for managing a solar panel cleaning robot in a central server according to another embodiment of the present invention.
6 is a perspective view of a first robot constituting the solar panel cleaning robot system according to an embodiment of the present invention and a second robot mounted on the first robot.
FIG. 7 is a front view of the solar panel cleaning robot system shown in FIG. 1.
FIG. 8 is a plan view of the solar panel cleaning robot system shown in FIG. 1.
FIG. 9 is a side view of the solar panel cleaning robot system shown in FIG. 1.
10 is a perspective view of the second robot shown in FIG. 1.
FIG. 11 is a plan view of the second robot shown in FIG. 10.
FIG. 12 is a bottom view of the second robot shown in FIG. 10.
FIG. 13 is a side view of the second robot shown in FIG. 10.
14 is a diagram illustrating a state in which the second robot mounted on the first robot is picked up through the robot arm.
15 is a view showing a state of washing the solar panel through the solar panel cleaning robot system according to an embodiment of the present invention.
16 is a block diagram illustrating a connection structure between a first robot and a second robot through a cable.
17 is a perspective view of a solar panel cleaning robot station according to an embodiment of the present invention.
FIG. 18 is a front view of the solar panel cleaning robot station shown in FIG. 17.
19 is a plan view of the solar panel cleaning robot station shown in FIG.
20 is a side cross-sectional view of the solar panel cleaning robot station taken along the line II of FIG. 17.
FIG. 21 is a view illustrating a solar panel cleaning robot docked to a solar panel cleaning robot station according to an embodiment of the present invention.
FIG. 22 is a side cross-sectional view of the solar panel cleaning robot station taken along the line II-II shown in FIG. 21.
FIG. 23 is a perspective view of a modified embodiment of the first robot shown in FIG. 6 and a second robot mounted on the first robot.

In order to fully understand the constitution and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be embodied in various forms and various changes may be made. However, the description of the embodiments is provided only to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art. In the accompanying drawings, for convenience of description, the sizes of the components are shown to be larger than they are, and the ratio of each component may be exaggerated or reduced.

Where a component is said to be "on" or "contacted" by another component, it may be directly in contact with or connected to another component, but it should be understood that there may be another component in between. something to do. On the other hand, when a component is described as being "on" or "directly" to another component, it may be understood that there is no other component in between. Other expressions describing the relationship between the components, such as "between" and "directly between" and the like, may be interpreted as well.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may be used only for the purpose of distinguishing one component from another component. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component.

Singular expressions include plural expressions unless the context clearly indicates otherwise. The terms "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described on the specification, and that one or more other features or numbers, It may be interpreted that steps, actions, components, parts or combinations thereof may be added.

Unless otherwise defined, terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those of ordinary skill in the art.

1 is a network configuration of a solar panel cleaning robot management system according to an embodiment of the present invention.

1, a solar panel cleaning robot management system 2 according to an embodiment of the present invention includes a central server 3, a solar panel cleaning robot 1, and a solar panel cleaning robot for a solar panel cleaning robot. For the station 1000 and the manager terminal 40.

The central server 3 communicates with the solar panel cleaning robot 1, the solar panel cleaning robot solar panel cleaning robot station 1000, and the manager terminal 40 by using a communication network, respectively. Receive a control command or the like.

The solar panel cleaning robot 1 can travel (move) between a plurality of solar panels, and can perform washing of the solar panel SP.

To this end, the solar panel cleaning robot 1 may be composed of one or a plurality of robots, and includes a battery for supplying power to each robot and a washing water tank for storing the washing water. In detail, the solar panel cleaning robot 1 includes a first robot 10 and a second robot 20 to be described later.

The solar panel cleaning robot 1 checks the status information on the battery and the wash water tank after the washing operation on the plurality of solar panels, and transmits the status information or control command to the central server 3 through the communication network. Receive

The solar panel cleaning robot station 1000 transmits operation history information, such as charging or filling, performed on the solar panel cleaning robot 1 to the central server 3 through a communication network.

In addition, the solar panel cleaning robot station 1000 periodically transmits operation history information for a predetermined period of charge or filling performed on the plurality of solar panel cleaning robots 1 to the central server 3 through a communication network. Send by

The manager terminal 40 receives the state information on at least one solar panel cleaning robot 1 from the central server 3, and transmits a control command in response to the input of the manager.

Here, the communication network may be a wireless communication network, for example, at least one of Ethernet communication, Wi-Fi communication, Code Division Multiple Acces communication, and Long Term Evolution communication. It may be a communication network to be used, and when using Wi-Fi communication may be provided with a separate wireless access point (AP).

In this case, as the central server 3, the solar panel cleaning robot 1, the solar panel cleaning robot station 1000, and the manager terminal 40 are connected through a wireless communication network, data and various information can be transmitted and received even at a remote location. can do.

2 is an operation flowchart for a solar panel cleaning robot management system according to an embodiment of the present invention.

First, the solar panel cleaning robot 1 checks the state information including the remaining amount information of the battery and the wash water tank after the washing operation for the solar panel (S201), and the confirmed state information using a communication network The transmission is sent to the central server 3 (S203).

The central server 3 stores and analyzes the received state information (S205), and determines whether it is necessary to perform an operation such as charging and / or filling based on the analysis result and the pre-stored threshold value (S207). .

Thereafter, the central server 3 transmits the analysis and determination results to the manager terminal 40 using the communication network (S209). Meanwhile, the central server 3 may display the analysis and determination results on a display unit (not shown) of the central server 3.

When a command is input from the manager, the manager terminal 40 transmits the command information to the central server 3 (S211).

When the central server 3 receives the command information from the manager terminal 40, the central server 3 transmits a command to the solar panel cleaning robot 1 based on the command information (S213).

In this case, the command may be an operation command for charging and / or filling and may further include time information for performing the command. Although not shown in FIG. 2, when there are a plurality of solar panel cleaning robot stations 1000, an operation corresponding to a command received from the plurality of solar panel cleaning robot stations 1000 may be performed. At least one station may be identified, and if there are a plurality of identified stations, information about the nearest station may be included.

When the solar panel cleaning robot 1 receives a command from the central server 3, the solar panel cleaning robot 1 checks the received command and performs an operation corresponding thereto (S215).

Specifically, the solar panel cleaning robot (1) checks the operation of the command to perform a command, and checks its position and the position of the solar panel cleaning robot station 1000 to determine the movement path In accordance with the identified movement path, the solar panel cleaning robot station 1000 performs a charging and / or filling operation.

When the operation of the solar panel cleaning robot 1 is completed, the solar panel cleaning robot station 1000 transmits to the central server 3 whether the operation of the solar panel cleaning robot 1 is completed (S217).

At this time, whether the operation is completed or not may be transmitted by the solar panel cleaning robot 1, which is only an example, but is not limited thereto.

When the central server 3 receives the completion of the performance from the solar panel cleaning robot station 1000, the central server 3 updates the state information on the solar panel cleaning robot 1 (S219), and updates the updated state information. Transmission to the manager terminal 40 allows the manager to check whether an operation command according to the command information transmitted in step S211 is performed (S221).

3 is a block diagram showing the configuration of a central server according to an embodiment of the present invention.

Referring to FIG. 3, the central server 3 includes a transceiver 11, a storage 13, an analyzer 15, a determiner 17, and a controller 19.

The transceiver 11 transmits and receives various types of information to the solar panel cleaning robot 1, the solar panel cleaning robot station 1000, and the manager terminal 40.

Specifically, the transceiver unit receives status information from the solar panel cleaning robot or operation history information for a preset period from the solar panel cleaning robot station, and transmits the status information or the operation history information to the manager terminal. Send analysis and judgment information.

Here, the status information is the status information on the battery and the wash water tank of the solar panel cleaning robot, and includes the remaining battery amount and the remaining water amount. The operation history information is information about the charging or filling performed by the solar panel cleaning robot station 1000 with respect to the solar panel cleaning robot 1 and includes a battery filling amount and a washing water filling amount.

In addition, the transmission and reception unit receives the status information transmitted from the solar panel cleaning robot 1, command information transmitted from the manager terminal 40, the completion of the transmission transmitted from the solar panel cleaning robot station 1000. On the other hand, the analysis result for the status information is transmitted to the manager terminal 40, a command according to the command information is transmitted to the solar panel cleaning robot 1, and updated status information according to whether or not the completion of the manager terminal 40 To send). In this case, whether or not the completion of the charging or filling is performed by the solar panel cleaning robot station 1000 performed on the solar panel cleaning robot 1.

The storage unit 11 stores the state information transmitted from the solar panel cleaning robot 1, and updates and stores the state information according to whether the performance is transmitted from the solar panel cleaning robot station 1000. In addition, the storage unit 11 stores a threshold that is a criterion for determining whether or not abnormality is analyzed when the state information is analyzed. That is, a reference value corresponding to each piece of information included in the state information is stored.

The analyzer 15 analyzes the state information transmitted from the solar panel cleaning robot 15 and checks the remaining amount information of the battery and the wash water tank. That is, the analysis unit analyzes the status information received from the solar panel cleaning robot or operation history information received from the solar panel cleaning robot station to check the remaining amount information of the battery and the wash water tank of the solar panel cleaning robot. do.

The determination unit 17 determines whether the charging and / or filling operation is necessary according to the remaining amount information. That is, the determination unit 17 compares the residual amount information of the identified battery and the wash water tank with a threshold corresponding to each information, and determines whether or not an operation such as filling and / or filling is necessary.

In addition, when the situation information is received from the solar panel cleaning robot station 1000, the determination unit 17 schedules the charging and / or filling of the solar panel cleaning robot 1 based on the situation information. Determine whether or not.

The control unit 19 is based on the status information received from the solar panel cleaning robot or operation history information received from the solar panel cleaning robot station whether the charging and / or filling operation for the solar panel cleaning robot needs to be performed. The controller determines to transmit the analysis and determination information to the manager terminal when the charging and / or filling operation is necessary.

When the controller 19 receives the command information from the manager terminal in response to the analysis information, the controller 19 transmits a status information request to the solar panel cleaning robot station, and receives the status information in response to the status information request. And transmitting the operation command corresponding to the command information to the solar panel cleaning robot based on the received situation information.

The controller 19 stores and analyzes state information transmitted from the solar panel cleaning robot 1, and determines whether to perform an operation such as charging and / or filling based on the analysis result and the threshold value, and then the manager terminal. An analysis result and a determination result are transmitted to 40, and command information is received in response thereto, so that the solar panel cleaning robot 1 performs an operation corresponding to the command.

At this time, the control unit 19 may check the status information of the solar panel cleaning robot station 1000 and schedule according to the checked status information.

If the situation information includes information on another device being charged and / or filled at the solar panel cleaning robot station and an estimated time for charging and / or filled by the other device, the control unit may be configured to the operation command. It is characterized in that the control to transmit to the solar panel cleaning robot including the scheduling time information. That is, the controller controls the solar panel cleaning robot to include scheduling time information in the operation command so as not to overlap with an expected time for charging and / or filling the other device.

When receiving the operation history information for a preset period from the solar panel cleaning robot station, the control unit determines whether the abnormal operation for the solar panel cleaning robot based on the operation history information, and as a result of the determination, When it is determined that the solar panel cleaning robot is in abnormal operation, the controller may be configured to notify the manager terminal that the solar panel cleaning robot is in abnormal operation.

The operation history information for the preset period includes the occurrence frequency of the charging and / or refilling operation of the solar panel cleaning robot and the remaining amount information of the battery and the washing water tank, and the solar panel cleaning robot station Characterized in that it is periodically received from.

The determination unit determines that the solar panel cleaning robot is abnormally operated when any one of occurrence frequency of the filling and / or filling operation and remaining amount information of the battery and the washing water tank is equal to or less than each threshold. It is done.

The determining unit may be configured to perform the charging and / or refilling operation even when both the remaining amount information of the battery and the wash water tank are greater than or equal to the threshold, and the time when the occurrence frequency of the charging and / or filling operation and the remaining amount information of the battery and the washing water tank are greater than or equal to the threshold is 24 hours or more. It is determined that the optical panel cleaning robot is in abnormal operation. That is, as the solar panel cleaning robot performs a task, it may also be a problem that the remaining amount information of the battery and the washing water is greater than or equal to the threshold value for 24 hours or more. Although the work should naturally reduce the battery and wash water, the fact that it does not decrease can assume that there is something wrong with the battery or wash water tank. Therefore, when the occurrence frequency for the charging and / or filling operation and the remaining time information for the battery and the washing water tank are all longer than the threshold, the solar panel cleaning robot is determined to be in abnormal operation.

The determination unit determines the grade of the solar panel cleaning robot based on the battery discharge rate, the washing water waterproofing rate, the purchase point, and the number of times of moving to the station of all the solar panel cleaning robots. High-grade solar panel cleaning robots can be traded at a higher price later for sale, and users can dispose of lower-grade solar panel cleaning robots when they need to reduce the number of solar panel cleaning robots. It is necessary to set the rating for each robot.

The determination unit classifies the solar panel cleaning robot into three groups based on the battery discharge rates of all the solar panel cleaning robots. The solar panel cleaning robot included in each group is equal to the number of all solar panel cleaning robots divided by the number of groups. That is, if all the solar panel cleaning robots are 30, since the number of groups is three, each group includes 10 solar panel cleaning robots. The determination unit classifies the battery into three groups in order of decreasing battery discharge rate of the solar panel cleaning robot.

The determination unit defines a group to which the solar panel cleaning robot of which the solar panel cleaning robot has the lowest battery discharge rate as Group 1 and a group to which a solar panel cleaning robot having the second lowest battery discharge rate belongs to the group 2. In addition, a group to which the solar panel cleaning robot having the third lowest battery discharge rate belongs is defined as Group 3, and 10 points are assigned to Group 1, 8 points are assigned to Group 2, and 6 points are assigned to Group 3. Low battery discharge rate means that the battery is in good condition. The slower the battery discharge rate, the higher the score.

The determination unit classifies the solar panel cleaning robot into three groups based on the washing water waterproofing speeds of all the solar panel cleaning robots. The solar panel cleaning robot included in each group is equal to the number of all solar panel cleaning robots divided by the number of groups. That is, if all the solar panel cleaning robots are 30, since the number of groups is three, each group includes 10 solar panel cleaning robots. The determination unit is classified into three groups in order of washing water waterproofing speed of the solar panel cleaning robot.

The determination unit defines a group to which the solar panel cleaning robot of the solar panel cleaning robot, which has the fastest washing water waterproof rate, is defined as Group 1, and a group to which the solar panel cleaning robot, which has the second highest washing water waterproof rate, is defined as Group 2 of the present invention. In addition, a group to which the solar panel cleaning robot, which has the third highest washing water waterproofing rate, is defined as Group 3, and 9 points are given to Group 1, 7 points are given to Group 2, and 5 points are given to Group 3. The faster the wash water waterproofing rate, the more active the cleaning robot cleaning. The faster the wash water waterproofing robot, the higher the score.

The determination unit classifies the solar panel cleaning robot into three groups based on the purchase points of all the solar panel cleaning robots. The solar panel cleaning robot included in each group is equal to the number of all solar panel cleaning robots divided by the number of groups. That is, if all the solar panel cleaning robots are 30, since the number of groups is three, each group includes 10 solar panel cleaning robots. The determination unit classifies the solar panel cleaning robot into three groups in a late order.

The determination unit defines a group to which the solar panel cleaning robot of which the solar panel cleaning robot has the latest purchase point belongs to Group 1, a group to which the second solar panel cleaning robot belongs to the second purchase point is defined as Group 2, and the purchase point Third, the group to which the late photovoltaic panel cleaning robot belongs is defined as Group 3, and 10 points are assigned to Group 1, 8 points are assigned to Group 2, and 6 points are assigned to Group 3. The late purchase point means that the robot is in good condition, and the later the purchase point, the higher the score. The point of purchase may be information stored in a storage unit.

The judging unit classifies the solar panel cleaning robot into three groups based on the number of times it moves to the stations of all the solar panel cleaning robots. The solar panel cleaning robot included in each group is equal to the number of all solar panel cleaning robots divided by the number of groups. That is, if all the solar panel cleaning robots are 30, since the number of groups is three, each group includes 10 solar panel cleaning robots. The determination unit classifies the group into three groups in order of increasing number of times of movement to the station of the solar panel cleaning robot.

The determination unit defines a group to which the solar panel cleaning robot that has moved the most times to the station of the solar panel cleaning robot as a group 1, and a group to which the solar panel cleaning robot which has the second highest number of moving to the station belongs. Group 2 is defined as group 3 to which the solar panel cleaning robot with the third highest number of movements to the station is defined as group 3, 10 points for group 1, 8 points for group 2, and 6 points for group 3. Grant. The higher the number of times that the robot moves to the station, the more the number of times of filling and charging is due to the cleaning robot actively performing cleaning. The higher the number of times the robot moves to the station, the higher the score.

The determination unit adds up the scores calculated based on the battery discharge rate, the washing water waterproofing rate, the purchase point, and the number of times of moving to the station of the solar panel cleaning robot described above. Level 2, higher than 30% and less than 70% will be determined as grade 3, and higher than 70% and less than 100% will be determined as Grade 4. The user can determine the behavior for the solar panel cleaning robot based on the rating.

4 is a flowchart illustrating a method for managing a solar panel cleaning robot in a central server according to an exemplary embodiment of the present invention.

When the transceiver 11 receives the state information from the solar panel cleaning robot 1, the storage unit 13 stores the received state information (S401).

The analysis unit 15 analyzes the received state information and checks the remaining amount information of the battery and the wash water tank (S403), and the determination unit 17 compares the check result and the pre-stored threshold to determine whether the operation is required. It is determined (S405).

If it is determined in step S405 that the operation is not necessary, the process proceeds to step S401 to continuously check whether status information is received.

On the other hand, if it is determined in operation S405 that the operation is required, the transmission / reception unit 11 transmits the analysis result in operation S403 and the determination result in operation S405 to the manager terminal 40 in operation S407.

Then, the transceiver 11 receives the command information from the manager terminal 40 (S409), and transmits the station status information request to the solar panel cleaning robot station 1000 (S411), in response to the sun Station status information is received from the optical panel cleaning robot station 1000 (S413).

The determination unit 17 determines whether the solar panel cleaning robot station 1000 can perform the operation according to the command information received in the step S409 based on the station situation information (S415).

If the operation according to the command information received in step S409 can be performed in the solar panel cleaning robot station 1000, the transceiver unit 11 cleans the solar panel to perform the operation according to the command information. It transmits to the robot 1 (S417).

On the other hand, if the operation according to the command information received in step S409 can not be performed in the photovoltaic panel cleaning robot station 1000, the control unit 19 in the photovoltaic panel cleaning robot station 1000 Check and schedule the time at which the operation according to the command information can be performed (S419), and the transceiver unit 11 transmits the operation execution command including the time information to the solar panel cleaning robot 1 (S421). .

That is, when the operation execution command is transmitted in a state in which time information is not included as in step S417, the solar panel cleaning robot 1 performs an operation as soon as the operation execution command is received, and in operation S419. When transmitted with the time information included, the solar panel cleaning robot 1 performs an operation at the time according to the time information.

Thereafter, the transceiver 11 checks whether the completion information is received from the solar panel cleaning robot station 1000 (S423), and receives the completion information from the solar panel cleaning robot station 1000. Based on this, the state information is updated (S425).

Thereafter, the transceiver unit 11 reports that the operation command corresponding to the command information transmitted by the manager terminal 40 has been completed in step S409 (S427).

On the other hand, if the predetermined time execution completion information is not received in step S423 is determined that the operation is not performed proceeds to step S411. In other words, the operation is performed once again.

Here, the administrator can check the state information and the updated state information stored in the central server 3, that is, history information on the plurality of solar panel cleaning robot 1 at any time, through which the plurality of solar panel cleaning robots ( You can check whether the operation such as charging and filling for 1) is performed smoothly.

4 described above shows a case in which the central server 3 manages the solar panel cleaning robot based on the state information received from the solar panel cleaning robot 1, while the central server 3 is the solar light. Operation history information on charging and / or filling of the plurality of solar panel cleaning robots 1 periodically through the panel cleaning robot station 1000, that is, the status of each solar panel cleaning robot 1 It can also receive information and manage the solar panel cleaning robot.

This may be another embodiment of the present invention and will be described in detail with reference to the following.

5 is a flowchart illustrating a method for managing a solar panel cleaning robot in a central server according to another embodiment of the present invention.

When the transmitter / receiver 11 receives the state information on the at least one solar panel cleaning robot 1 from the solar panel cleaning robot station 1000, the storage unit 13 stores the received state information. (S501).

Here, the state information is the operation history information for the charging and / or filling of each solar panel cleaning robot 1 performed in the solar panel cleaning robot station 1000 for a predetermined period.

Meanwhile, the solar panel cleaning robot station 1000 is docked with the solar panel cleaning robot 1 to automatically perform charging and filling, and may check remaining amount information of the battery and the wash water tank through at least one sensor. . That is, the solar panel cleaning robot station 1000 may check and store state information of the solar panel cleaning robot 1 through the docking operation, and periodically transmit the stored information to the central server 11. will be.

The analysis unit 15 analyzes the received state information and checks the occurrence frequency of the charging and / or filling operation for each solar panel cleaning robot 1 and the remaining amount information for the battery and the washing water tank (S503). ).

Subsequently, the determination unit 17 determines whether the abnormal operation exists, that is, whether an abnormal situation exists by comparing the check result and the threshold value stored in advance (S505). This is because it is difficult for the solar panel cleaning robot 1 to move due to obstacles or battery problems when the occurrence frequency of the charging and / or filling operation and the remaining information on the battery and the washing water tank are below their respective thresholds. The situation, that is, it is judged as facing an abnormal situation.

If, as a result of the determination in step S505, the abnormal situation does not exist, the flow proceeds to step S501 to continuously determine whether the status information is received.

On the other hand, as a result of the determination in step S505, if an abnormal situation exists, that is, if there is a photovoltaic panel cleaning robot 1 that operates abnormally, the transmission and reception unit 11 to the photovoltaic panel cleaning robot 1 the status information and the situation An information request is transmitted (S507), and state information and situation information is received in response (S509).

Here, the status information may be current status information on an operation such as charging and / or filling, and the status information may be surrounding environment information.

Subsequently, the transmission / reception unit 11 transmits the analysis result in step S503 and the reception information in step S507, that is, the status information and the situation information on the abnormal operation of the solar panel cleaning robot 1 to the manager terminal 40. The abnormal situation is reported (S511), and command information is received from the manager terminal 40 in response (S513).

Operation of step S515 implicit step S531 is the same as step S411 to step S427 of FIG. 4 described above will be omitted.

As described above, at least one solar panel cleaning robot 1 and a solar panel cleaning robot station remotely as the manager is informed not only of status information about the solar panel cleaning robot 1 but also an abnormal situation. Management of 1000 becomes possible.

6 is a perspective view of a first robot 10 constituting the solar panel cleaning robot system 1 and a second robot 20 mounted on the first robot 10 according to an embodiment of the present invention. 7 to 9 are front, top and side views of the solar panel cleaning robot system 1 shown in FIG.

The solar panel cleaning robot system 1 of the present invention described below may be composed of a first robot 10 and a second robot 20, and may be composed of first and second robots 10 and 20. The solar panel cleaning robot system 1 may also be referred to as the solar panel cleaning robot 1. In addition, it disclosed below, the solar panel cleaning robot system (1) and the solar panel cleaning robot 1 is configured the same as the two terms used interchangeably.

6 to 9 illustrate that one second robot 20 is mounted on the first robot 10 as an example, but a plurality of second robots 20 are mounted on one first robot 10. The plurality of second robots 20 mounted on the first robot 10 may simultaneously perform washing of the solar panel SP.

Hereinafter, the structures of the first robot 10 and the second robot 20 constituting the solar panel cleaning robot system 1 of the present invention will be described with reference to FIGS. 6 to 9. The structure of 10) is explained in full detail.

The first robot 10 may travel (move) between the plurality of solar panels (SP of FIG. 14) while the second robot 20 is loaded, and the mounted second robot 20 may be moved. Pick-up and unload onto the solar panel SP, or after picking up and mounting the second robot 20 on the cleaned solar panel SP, it may move to another solar panel SP. .

Specifically, the first robot 10 picks up the first main body 110 and the first driver 120 and the second robot 20 coupled to the first main body 110 to move the first robot 10. And a robot arm mounted and unloaded.

6 to 9, the first driving unit 120 may be coupled to both sides of the first body 110, respectively, and the first driving unit 120 is a crawler track made of an endless track. It may be configured as.

In detail, the first driver 120 includes a plurality of wheels 121 that are disposed on both sides of the first body 110 to rotate and a track 122 that surrounds the plurality of wheels 121.

The first robot 10 may stably move even in a rough land through the first driver 120 formed of a crawler track, and thus, may stably move between a plurality of solar panels SP.

However, in addition to the crawler track structure including the plurality of wheels 121 and the tracks 122, the first driving unit 120 may include only a plurality of wheels.

In addition, the first body 110 may include a control unit 111 (see FIG. 16) controlling the operation of the first robot 110, a battery 112 (see FIG. 16) supplying power to the first body 110, and washing water. It includes a wash water tank 113, see FIG.

The battery 112 may store power for driving the first robot 10 and power for driving the second robot 20 to supply power to the first and second robots 10 and 20. For this reason, the capacity of the battery 112 is preferably 280000 mA, for example. However, the size and capacity of the battery 112 may be variously changed according to the size of the first and second robots 10 and 20 and the size of the work space.

In addition, the washing water tank 113 may store the washing water for washing the plurality of solar panels (SP), the second robot for moving on the solar panel (SP) and washing the surface of the solar panel (SP) ( 20) can be supplied with wash water. The capacity of the wash water tank 113 is preferably 60L. However, the size and capacity of the wash water tank 113 may be variously changed according to the size of the first and second robots 10 and 20 and the size of the work space.

The control unit 111, the battery 112, and the tank 110 may be connected to the second robot 20 through a cable 30 to be described later, and the cable 30 may be connected to the second robot 10 from the first robot 10. The robot 20 may supply power and washing water. A connection structure between the first robot 10 and the second robot 20 through the cable 30 will be described later.

As shown in FIG. 6, a seating part 110S on which the second robot 20 may be mounted is formed on an upper surface of the first body 110.

The seating part 110S may be recessed from an upper surface of the first body 110 and may be a space in which the second robot 20 may be accommodated and seated.

The robot arm 130 is coupled to the first body 110, and as shown in FIGS. 6 to 9, the robot arm 130 may be rotatably coupled to an upper surface of the first body 110.

Specifically, the robot arm 130 includes a plurality of arm members 131 pivotable and a hand member 132 disposed at the tip of the robot arm 130.

The plurality of arm members 131 are sequentially connected, and the arm member 131 disposed at the front end of the plurality of sequentially connected arm members 131 is rotatably coupled to the upper surface of the first body 110. In addition, the hand member 132 is rotatably coupled to the arm member 131 disposed at the distal end of the plurality of arm members 131 sequentially connected.

Each of the plurality of arm members 131 may change directions from the first body 110 in various directions through a pivoting operation, through which the hand member 132 may move to various positions to perform a pickup operation. .

The hand member 132 may include a grip portion having a tong shape, and may pick up various objects including the second robot 20 through the grip portion.

As shown in FIGS. 6 to 9, the robot arm 130 may be disposed on the front surface of the upper surface of the first body 110, thereby picking up an obstacle disposed in front of the first robot 10. Can be moved or performed maintenance / repair, such as replacement of parts of the solar panel (SP), repair.

In addition, the seating unit 110S may be formed at the rear of the robot arm 130, and through this, the robot arm 130 may pick up the second robot 20 mounted on the seating unit 110S to form a front side. The second robot 20 may be moved by the optical panel SP.

In addition, the first robot 10 may further include a communication unit 140, a camera unit 150, and a sensor unit 160.

The communication unit 140 is connected to the control unit 11 and may be configured as an antenna capable of remote communication. Through this, the communication unit 140 may receive the control signals of the first and second robots 10 and 20 from a remote station (control center), and may operate or operate the first and second robots 10 and 20. The situation of the space can be detected and transmitted to a remote station.

The camera unit 150 may be coupled to the first body 110 to photograph a peripheral portion of the first robot 10.

As shown in FIG. 6, the camera unit 150 may be coupled to an upper surface of the first main body 110, and the photographing lens is rotatably disposed on the upper side of the first main body 110 so that the first robot 10 may be rotated. You can shoot around 360 ㅀ of the periphery.

In addition, the camera unit 150 may be coupled to the hand member 132 of the robot arm 130, in addition to the first main body 110, to photograph the surroundings of the movable hand member 132 more effectively. Can adjust the hand member 132 more precisely.

The camera unit 150 may be controlled through the control unit 111, and the image photographed through the camera unit 150 may be transmitted to a remote station through the communication unit 140, whereby the first and second robots 10, The surrounding image of 20) can be transmitted to the station in real time.

Camera unit 150 is preferably a camera capable of both day and night photography, the resolution is preferably configured to 1080p FHD.

The sensor unit 160 may be coupled to the first body 110 to detect various factors around the first robot 10.

For example, the sensor unit 160 may include a laser range finder (161, laser range finder) and an ultrasonic sensor (162, Ultrasonic sensor), etc. Through this, a plurality of sunlight around the first robot 10 The position of the panel SP or the position of the surrounding obstacle may be detected.

In addition, the sensor unit 160 may be a GPS sensor, a pressure measuring sensor, a weighing sensor, a temperature sensor, a humidity sensor, an acoustic sensor, a passive infrared (PIR) sensor, etc., in addition to the above-described laser distance meter 161 and the ultrasonic sensor 162. It may further include.

The pressure sensor and the weight sensor may be coupled to the robot arm 130 to detect pressure and weight applied to the hand member 132.

In addition, the position of the first and second robots 10 and 20, the temperature and humidity around the first and second robots 10 and 20, and the like through the GPS sensor, the temperature sensor, the humidity sensor, the acoustic sensor, and the PIR sensor. Sound and movement can be detected effectively.

As such, the first robot 10 may include a camera unit 150 and a sensor unit 160 including various types of sensors, thereby effectively detecting a situation of a work space in which a plurality of solar panels SP are disposed. In addition, the communication unit 140 may transmit a specific situation of the work space to the station.

This allows the operator to easily adjust the first and second robots 10, 20 at remote stations.

In addition, the solar panel cleaning robot system 1 composed of the first and second robots 10 and 20 senses various situations in the work space and transmits them to the station, and the station communicates with the communication unit 140 of the first robot 10. Based on the situation information transmitted through the) can be automatically transmitted to the operation command of the first and second robot (10, 20) without a separate operator.

For example, the first and second robots 10 and 20 transmit the situation information collected by the camera unit 150 and the sensor unit 160 to the artificial intelligence system of the remote station through the communication unit 140. By receiving control signals in real time from the artificial intelligence system of the station, it is possible to automatically drive between multiple solar panels SP without a separate operator, and autonomously drive between multiple solar panels SP avoiding obstacles. And washing of the solar panel (SP) can be performed automatically.

In addition, the first robot 10 may further include a mower disposed under the first body 110, through which the first robot 10 moves between the plurality of solar panels SP. It is possible to remove the grass, the lumber, etc. which can block the optical panel SP.

6 to 9, the blade 170 may be coupled to the front portion of the first body 110.

The blade 170 may be coupled to the front portion of the first body 110 to be movable up and down, and dirt or snow disposed in front of the first robot 10 during the movement of the first robot 10. Can remove obstacles.

Referring to FIG. 7, the width of the first robot 10 may be 700 mm. The length of the first robot 10 may be 1400 mm, and the height of the first robot 10 may be 780 mm. have. However, the sizes of the first and second robots 10 and 20 can be variously changed.

9, one end of a cable 30 connecting the first robot 10 and the second robot 20 is coupled to the rear surface of the first body 110.

One end of the cable 30 may be connected to the rear of the first body 110, and the other end of the cable 30 may be connected to the rear of the second robot 20.

In addition, the port unit 180 is disposed on the rear surface of the first body 110.

The port unit 180 includes a charging port 181 and a filling port 182.

The charging port 181 and the filling port 182 are connected to the battery 112 and the washing water tank 183 inside the first body 110, respectively.

The port unit 180 may be docked with a docking unit of an external station (not shown), and the charging port 181 and the filling port 182 may receive power and washing water from the docking unit of the station, and the battery 112 and Power and washing water may be refilled in the washing water tank 183.

As described above, the first robot 10 is capable of autonomous driving by sensing the surrounding situation through the camera unit 150 and the sensor unit 160, and the power supply and washing water tank 113 stored in the battery 112. When it is detected that the amount of the stored wash water is less than or equal to a predetermined reference, the battery 112 and the wash water tank 113 may be charged and filled by automatically returning to the station and docking with the docking unit of the station.

FIG. 10 is a perspective view of the second robot 20 shown in FIG. 6, and FIGS. 11 to 14 are plan, bottom and side views of the second robot 20 shown in FIG. 10.

Hereinafter, the structure of the second robot 20 which can be mounted on the first robot 10 and performs the washing of the solar panel SP will be described in detail with reference to FIGS. 10 to 13.

The second robot 20 may be configured to have a smaller size than the first robot 10 so as to be mounted on the seating part 110S of the first body 110 of the first robot 10, and the first robot 10. ) To the solar panel SP to remove contaminants on the solar panel SP.

The second robot 20 is coupled to the second main body 210 and the second main body 210 connected to the first main body 110 through a cable 30 to move the second robot 20 ( 220, a cleaning unit 230 coupled to the second body 210 to remove contaminants on the surface of the solar panel SP, and coupled to the second body 210 to suck the surface of the solar panel SP. At least one suction unit 240 is included.

The second driving unit 220 may be configured as crawler tracks respectively coupled to both sides of the first body 210, and a plurality of wheels 221 and a plurality of wheels 221 disposed on both sides of the second body 210 and rotating, respectively. A track 222 surrounding the wheel 221.

Through this, the second robot 20 may move on the surface of the solar panel SP and perform cleaning.

In addition, as shown in FIG. 14, the solar panel SP may be disposed to be inclined at a predetermined angle α from the installation surface to improve the amount of light collected. Accordingly, the track 220 may be made of rubber or silicon material to improve friction and grounding force with the surface of the solar panel SP, and a plurality of tracks may be provided on the outer surface of the track 220 in contact with the solar panel SP. Protuberances may be formed.

As a result, the second robot 20 may stably move on the surface of the solar panel SP without slipping while moving on the solar panel SP and removing contaminants.

As described above, the cable 30 may supply power and washing water from the first robot 10 to the second robot 20 by connecting the first robot 10 and the second robot 20.

In detail, the cable 30 connects the control unit 111 of the first robot 10 to the second robot 20 to transmit a control signal to the second robot 20. The power supply part 32 which connects the battery 112 of the 10 and the second robot 20 to supply power to the second robot 20, and the wash water tank 113 and the second of the first robot 10. It includes a water supply part 33 to connect the robot 20 to supply the washing water to the second robot (20).

The cable 30 is a structure in which a signal part 31 composed of a cable, an electric wire or a hose (pipe), a power supply part 32 and a water supply part 33 are combined, and may be configured in a single wire shape.

The signal part 31 connected to the second robot 20 may be connected to the control unit 111 of the first robot 10 to transmit a control signal for the second robot 20 to the second robot 20. Accordingly, the second robot 20 may be controlled through the control unit 111 of the first robot 10 without a separate control unit, and the second robot 20 may be more compactly configured.

The controller 111 detects the position of the solar panel SP through the camera unit 150 and the sensor unit 160, and the robot arm 130 picks up the second robot 20 to collect the solar panel SP. Robot arm 130 can be controlled to get off the surface of the), and the second robot 20 is solar panel (SP) by grasping the position of the second robot 20 in real time through the camera unit 150. The cleaning unit 230 and the suction unit 240 may be operated while moving on the.

In addition, the power supply part 32 may transmit power of the battery 112 of the first robot 10 to the second robot 20, and thus the second robot 20 does not need a separate battery. The bar second robot 20 can be configured more compactly.

In addition, the water supply part 33 supplies the washing water of the washing water tank 113 of the first robot 10 to the cleaning unit 230 of the second robot 20, thereby providing a solar panel through the second robot 20. Washing of (SP) can be carried out. In addition, the wash water tank 113 in which the wash water is stored is provided in the interior of the first body 110, and the second robot 20 moves on the surface of the solar panel SP and collects the wash water through the water supply part 33. Since the washing water can be sprayed continuously, the weight of the second robot 20 moving on the surface of the solar panel SP can be reduced.

As such, the solar panel cleaning robot system according to an embodiment of the present invention moves between the plurality of solar panels SP through the first robot 10 and is mounted on the first robot 10. Washing of the solar panel (SP) through the (20), the control signal, power and washing water required for the operation of the second robot 20 through the cable 30 from the first robot 10 to the second robot By supplying to (20), washing of the plurality of solar panels (SP) can be performed more efficiently.

The cleaning unit 230 is disposed in front of the second body 210 to rotate the rotating brush 231, the washing water spray member 232 and the second body 210 for spraying the washing water in front of the rotating brush 231 At least one wiper 233 coupled to the bottom of the.

The rotation brush 231 may be disposed in front of the second body 210 to rotate to wipe off contaminants on the surface of the solar panel SP.

As shown in FIG. 13, the rotary brush 231 is spaced apart from the bottom by moving upward in the standby state, and rotates while being moved downward toward the solar panel SP in the operating state. Contact with the surface of the SP).

The washing water spray member 232 extends forward from the front portion of the second body 210 and is connected to the water supply part 33 of the cable 30 to receive the washing water supplied through the water supply part 33. It may spray toward the front of the rotary brush 231.

The washing water spraying member 232 extends forward from the front portion of the second main body 210, and the tip portion is bent downward, so that the washing water spraying member 232 is lower from the front of the rotary brush 231 toward the surface of the solar panel SP. Can be sprayed with water.

The washing water spraying member 232 may include a plurality of spray nozzles (not shown), and may spray high-pressure washing water toward the surface of the solar panel SP through the plurality of spray nozzles.

In addition, the washing water spraying member 232 may further include a separate steam nozzle (not shown), thereby spraying the high temperature and high pressure washing water steam toward the surface of the solar panel (SP) solar panel (SP) Can effectively remove pollutants.

The rotary brush 231 rotates to wipe the surface of the solar panel SP by rubbing and hitting the surface of the solar panel SP with the washing water.

The wiper 233 is coupled to the lower portion of the second body 210 and disposed behind the rotary brush 231 to wipe the contaminants and the washing water separated from the solar panel SP.

As illustrated in FIGS. 10 to 13, the wiper 233 may be configured in plural, and are disposed at the front and rear surfaces of the second body 210, respectively, to separate the pollutants separated from the solar panel SP. Wiping the wash water more effectively.

In addition, the wiper 233 is also spaced apart from the bottom by moving upward in the standby state, as shown in Figure 13, in the operating state is moved downward toward the solar panel (SP) surface of the solar panel (SP) Wiping of contaminants and wash water can be performed by contact with.

In addition, the above-described rotating brush 231, the washing water spray member 232 or the wiper 233 of the cleaning unit 230 may be coupled to the robot arm 130, through which the first robot 10 alone Cleaning of the solar panel SP may be performed.

The suction unit 240 may be coupled to the second body 210 to suck the surface of the solar panel SP.

10 to 13, the suction part 240 may be configured in plural, and two suction parts 240 may be arranged in a line on the second body 210.

The suction part 240 may include a through hole 241 penetrating the second body 210 up and down, an intake fan 242 rotatably disposed in the through hole 241, and an intake fan 242. And a suction nozzle 244 extending downward from the through hole 241.

The intake fan 242 disposed in the through hole 241 is rotated by receiving the driving force from the intake motor 243, thereby sucking the air below the second main body 210 and discharging it to the upper side of the second main body 210. By this, suction power can be generated.

In addition, the suction nozzle 244 is extended downward from the lower surface of the second body 210, it is possible to easily transfer the suction force generated through the rotational force of the intake fan 242 to the surface of the solar panel (SP). .

The suction unit 240 may remove contaminants on the solar panel SP by inhaling the contaminants attached to the solar panel SP and spraying them onto the upper side of the second body 210.

In addition, the suction unit 240 may provide a suction force to the solar panel SP so that the second robot 10 may be attached onto the surface of the solar panel SP.

As described above, even when the solar panel SP is disposed to be inclined at a predetermined angle α from the installation surface to improve the light collecting power, the second robot 20 is inclined by the suction force of the suction unit 240. It is possible to stably move on the surface of the solar panel (SP) in a state that is stably attached to the surface of the panel (SP), thereby effectively removing contaminants on the solar panel (SP).

In addition, the second main body 210 may include a tilt sensor to stably maintain a balance on the surface of the solar panel SP inclined at a predetermined angle, and may include a laser range finder, an ultrasonic sensor, and the like. Can detect and move corners and obstacles of SP).

10 to 13, a hand bar 250 that can be picked up by the hand member 132 is coupled to the second body 210.

The hand bar 250 may be coupled to the top surface of the second body 210, and may be a bridge-shaped member coupled to the top surface of the second body 210.

The robot arm 130 may pick up the second robot 20 by picking up the hand bar 250 through the hand member 132, through which the second robot 20 may receive sunlight from the seating portion 110S. The second robot 20 may be picked up and moved to the panel SP or mounted on the seating part 110S after the solar panel SP is washed.

The hand bar 250 is preferably arranged such that the center of the hand bar 250 coincides with the center of gravity of the second robot 20 so as to minimize shaking in the post-pickup movement through the robot arm 130.

FIG. 14 is a diagram illustrating a state in which the second robot 20 mounted on the first robot 10 is picked up through the robot arm 130.

As shown in FIG. 14, the first robot 10 moved to the washing target solar panel SP picks up the second robot 20 mounted on the seating unit 110S through the robot arm 130. It can be moved above the solar panel (SP).

The robot arm 130 is coupled to the top surface of the first body 110 to rotate, the plurality of arm members 131 pivot, the hand member 132 coupled to the arm member 131 disposed at the end is rotated As a result, the hand member 132 may be close to the hand bar 250 of the second robot 20, and the hand member 132 may pick up the second robot 20 by picking up the hand bar 250. have.

As such, the robot arm 130 moves the hand member 132 to various positions through the plurality of arm members 131 and the hand member 132 to thereby pick up and move the second robot 20 to various positions. Can be done.

FIG. 15 is a view illustrating a state of washing the solar panel SP through the solar panel cleaning robot system 1 according to the exemplary embodiment of the present invention.

The second robot 20 picked up from the seating unit 110S through the robot arm 130 of the first robot 10 may be unloaded onto the surface of the solar panel SP through the robot arm 130. .

The second robot 20, which has arrived on the surface of the solar panel SP, may be stably attached to the surface of the solar panel SP inclined at a predetermined angle α through the suction force of the suction unit 140. Can be.

In addition, the second robot 20 may be stably attached to the surface of the solar panel SP even through the frictional force of the anti-slip track 222.

The second robot 20 attached to the surface of the solar panel SP moves on the surface of the solar panel SP through the second driving unit 210 and performs cleaning through the cleaning unit 230. .

In addition, the second robot 20 may suck and remove contaminants on the surface of the solar panel SP through the suction force of the suction unit 240.

As described above, since the second robot 20 receives the control signal, the power, and the washing water from the first robot 10 through the cable 30 and performs the washing of the solar panel SP, the second robot 20 ) Can be reduced in weight, thereby allowing the second robot 20 to move more efficiently on the photovoltaic panel SP and perform cleaning, and increase the operating time of the second robot 20. .

FIG. 16 is a block diagram illustrating a connection structure between the first robot 10 and the second robot 20 through the cable 30.

As shown in FIG. 16, the controller 111 controls the first robot 10 by using a control signal formed based on information obtained through the communication unit 140, the camera unit 150, and the sensor unit 150. I can control it.

In addition, the battery 112 and the washing water tank 113 included in the first robot 10 may be charged and docked with a docking part of the station by a port 180 including a charging port 181 and a filling port 182. Can be appended.

In addition, the second robot 20 is connected to the first robot 10 through the signal part 31, the power supply part 32, and the water supply part 33 of the cable 30, thereby providing a second robot 20. 2 can receive a control signal, power and washing water for the operation of the robot (20).

As such, in the solar panel cleaning robot system 1 according to the exemplary embodiment of the present invention, the first robot 10 equipped with the second robot 20 moves between the plurality of solar panels SP, and the cable ( By supplying a control signal, power and washing water to the second robot 20 that directly washes the solar panel SP through 30, the second robot 20 is compactly constructed and at the same time the second robot 20 The working time of (20) can be increased.

In addition, the first and second robots 10 and 20 transmit the situation information collected by the camera unit 150 and the sensor unit 160 to the station through the communication unit 140 and in real time from the artificial intelligence system of the station. Receiving a control signal can be automatically traveling between a plurality of solar panels (SP) without a separate operator, the second robot 20 to autonomously run between a plurality of solar panels (SP) avoiding obstacles Through the washing of the solar panel (SP) can be performed automatically.

In addition, when the first robot 10 detects that the amount of power stored in the battery 112 and the amount of washing water stored in the washing water tank 113 is less than or equal to a predetermined reference, the first robot 10 automatically returns to the station and docks the docking unit of the station. The filling and filling of the 112 and the washing water tank 113 may be automatically performed.

As such, the solar panel cleaning robot system 1 of the present invention composed of the first and second robots 10 and 20 automatically manages the maintenance and management of a photovoltaic power generation facility composed of a plurality of solar panels SP. It can be carried out as, can be performed efficiently and efficiently to wash the plurality of solar panels (SP).

17 is a perspective view of a solar panel cleaning robot station 1000 according to an embodiment of the present invention, Figure 18 is a front view of the solar panel cleaning robot station 1000 shown in Figure 17, Figure 19 is 17 is a plan view of the solar panel cleaning robot station 1000 shown in FIG. 17, and FIG. 20 is a side cross-sectional view of the solar panel cleaning robot station 1000 taken along the line II of FIG. 17.

Hereinafter, the structure of the solar panel cleaning robot station 1000 according to an embodiment of the present invention will be described in detail with reference to FIGS. 17 to 20.

The solar panel cleaning robot station 1000 travels between a plurality of solar panels SP remotely disposed from the solar panel cleaning robot station 1000 and cleans and maintains the plurality of solar panels SP. And a solar panel cleaning robot 1 (solar panel cleaning robot system) composed of the first and second robots 10 and 20 to be repaired.

The solar panel cleaning robot 1 that receives power and washing water from the solar panel cleaning robot station 1000 of the present invention travels between a plurality of solar panels SP as described with reference to FIGS. 6 to 16. And, by spraying the washing water on the solar panel it is possible to remove contaminants on the surface of the solar panel. Therefore, the solar panel cleaning robot 1 is required to refill the power and the washing water used in the process of operating for cleaning, maintenance and repair of the solar panel (SP).

The solar panel cleaning robot station 1000 includes a housing 1100 having at least one accommodation space 1100S open toward the front.

The accommodation space 1100S of the housing 1100 is a space in which the solar panel cleaning robot 1 can enter and be accommodated. The solar panel cleaning robot 1 is an accommodation space from an open front of the accommodation space 1100S. It may enter (1100S).

The housing 1100 may be configured in a box shape of a substantially hexahedron, and the solar panel cleaning robot 1 may enter the accommodation space 1100S by opening the front portion thereof.

In FIG. 17, the housing 1100 includes two accommodating spaces 1100S open toward the front as an example, but the housing 1100 may include only one accommodating space 1100S, and two The accommodation space 1100S described above may be provided.

When the housing 1100 includes a plurality of accommodation spaces 1100S, a plurality of solar panel cleaning robots 1 may be simultaneously accommodated in the plurality of accommodation spaces 1100S, respectively.

The docking part 1300 is disposed inside the accommodation space 1100S.

The docking unit 1300 may be configured in plural and disposed in the plurality of accommodation spaces 1100S, respectively.

The docking unit 1300 may be docked with the solar panel cleaning robot 1 that enters the accommodation space 1100S, and may be disposed on one side of the accommodation space 1100S. For example, the docking unit 1300 may be disposed on the rear surface of the accommodation space 1100S, as shown in FIG. 17, and may protrude forward from the rear surface of the accommodation space 1100S.

In addition, the docking unit 1300 includes a power supply port 1310 and a water supply port 1320.

The power supply port 1310 and the water supply port 1320 are spaced apart from each other at a predetermined distance.

The power supply port 1310 and the water supply port 1320 may supply power and washing water to the solar panel cleaning robot 1 docked to the docking unit 1300, respectively, thereby supplying power to the solar panel cleaning robot 1. And wash water can be refilled.

The docking unit 1300 may further include a sensor unit (not shown) for detecting docking of the solar panel cleaning robot 1.

A detailed structure of the docking unit 1300 and the solar panel cleaning robot 1 will be described later.

The solar panel cleaning robot station 1000 includes a controller (not shown).

In addition, the communication unit 1500 is disposed above the accommodation space 1100S. For example, the communicator 1500 may include a direct antenna.

The communication unit 1500 is a configuration capable of transmitting and receiving an electrical signal (control signal) with the remote solar panel cleaning robot 1, the control unit is controlled by the remote solar panel cleaning robot 1 through the communication unit 1500. The signal may be transmitted or the situation information around the solar panel cleaning robot 1 may be received from the solar panel cleaning robot 1.

The solar panel cleaning robot station 1000 may function as a control center for transmitting and receiving a control signal to and from the remote solar panel cleaning robot 1 through the communication unit 1500, and the operator may operate the solar panel cleaning robot station. The control panel 1000 may simultaneously transmit and receive control signals to the plurality of solar panel cleaning robots 1 to simultaneously control the plurality of solar panel cleaning robots 1.

In addition, the solar panel cleaning robot station 1000 transmits a control signal of the solar panel cleaning robot 1 without a separate operator based on the situation information of the workspace transmitted from the solar panel cleaning robot 1. Transmission can be automatic, which allows the management of maintenance and repair of multiple solar panels.

For example, the control unit of the solar panel cleaning robot station 1000 may be provided with an artificial intelligence system, the solar panel in real time based on the situation information transmitted from the remote solar panel cleaning robot (1) By transmitting a control signal to the cleaning robot 1, it is possible to control the plurality of solar panel cleaning robots 1 to collectively and automatically perform the cleaning of the solar panel SP, respectively.

In addition, the control unit receives the power and the washing water remaining amount information of the solar panel cleaning robot 1 through the communication unit 1500, and when it is detected that the power or the washing water remaining amount of the solar panel cleaning robot 1 is below a predetermined reference, The control signal may be transmitted so that the light panel cleaning robot 1 returns to the solar panel cleaning robot station 1000.

Subsequently, when the returning solar panel cleaning robot 1 approaches the solar panel cleaning robot station 1000, the controller controls the solar panel cleaning robot 1 to the accommodation space 1100S through the communication unit 1500. The movement of the solar panel cleaning robot 1 may be finely adjusted so as to be accurately docked with the docking unit 1300.

As shown in FIGS. 17 to 20, the communication unit 1500 is preferably disposed above the accommodation space 1100S to facilitate communication with the remote solar panel cleaning robot 1, and the housing 1100. It may be disposed outside the or of the upper portion of the housing 1100.

In addition, the solar cell 1200 may be disposed on an upper surface of the housing 1100.

The solar cell 1200 disposed on the upper surface of the housing 1100 is electrically connected to the feed port 1310 of the docking unit 1300.

Since the photovoltaic power generation equipment consisting of a plurality of solar panels (SP) is located in an area where solar light is easily collected, the solar panel cleaning robot station 1000 is also generally disposed in an area where solar light is easily collected. .

Therefore, the solar panel cleaning robot station 1000 may perform photovoltaic power generation through the photovoltaic cell 1200 disposed on the upper surface of the housing 1100, and the electricity produced through the photovoltaic cell 1200. The solar panel cleaning robot 1 may be charged through the docking unit 1300.

In addition, as shown in FIG. 20, the solar panel cleaning robot station 1000 may further include a battery 1700 disposed in the housing 1100 and electrically connected to the feed port 1310.

The battery 1700 may store electricity produced through the solar cell 1200, and may store power supplied through a power cable 1610 to be described later.

The solar panel cleaning robot station 1000 includes a solar cell while the solar panel cleaning robot 1 travels between a plurality of solar panels SP and performs maintenance and repair on the solar panels SP. When the solar panel cleaning robot 1 returns to the solar panel cleaning robot station 1000 when the solar panel cleaning robot 1 completes the operation, the power stored in the battery 1700 is stored in the battery 1700. The solar panel cleaning robot 1 may be charged through the feed port 1310.

Referring to FIG. 20, the solar panel cleaning robot station 1000 may further include a cable 1600, and the solar panel cleaning robot station 1000 may be connected to the outside through a cable 1600. .

In detail, the cable 1600 includes a power cable 1610, a water supply cable 1620, and a network cable 1630.

The power cable 1610 may connect an external power source and the solar panel cleaning robot station 1000 to transmit external power to the solar panel cleaning robot station 1000.

In detail, the power cable 1610 may be connected to the power supply port 1310 of the docking unit 1300 and may supply external power to the power supply port 1310.

In addition, the power cable 1610 may be electrically connected to the battery 1700, and may supply power for charging the battery 1700.

In addition, the water supply cable 1620 may connect an external water source and the solar panel cleaning robot station 1000, and transmit the washing water to the solar panel cleaning robot station 1000 from an external water source. .

In detail, the water supply cable 1620 may be connected to the water supply port 1320 of the docking unit 1300, and may supply washing water to the water supply port 1320.

In addition, the water supply cable 1620 may supply the washing water to the washing water spraying unit 1440 described later.

In addition, the network cable 1630 can connect the external network and the solar panel cleaning robot station 1000, through which the operator is connected to the network through a separate terminal for the solar panel cleaning robot station 1000 Can be controlled remotely.

The network connected via the network cable 1630 may be the same as or similar to conventional network technologies such as the Internet or an intranet.

Referring again to FIGS. 17-20, the solar panel cleaning robot station 1000 further includes a platform 1400 extending forward from the bottom surface of the housing 1100.

The platform 1400 extends from the bottom of the housing 1100 onto the ground in front of the housing 1100, so that the solar panel cleaning robot 1 may move along the platform 1400 to enter the accommodation space 1100S.

The platform 1400 may have a shape of an approximate surface connected to the bottom surface of the housing 1100, and may be interpreted as a path through which the solar panel cleaning robot 1 may move toward the accommodation space 1100S. Can be.

The platform 1400 may include a flat portion 1410 disposed flat on the ground, and an inclined portion 1420 connecting the flat portion 1410 and the bottom surface of the housing 1100.

The bottom surface of the housing 1100 may be disposed above the flat portion 1410, and the inclined portion 1420 may be inclined upward from the flat portion 1410 toward the bottom surface of the housing 1100.

The bottom surface of the housing 1100 is disposed higher than the ground on which the flat portion 1410 and the solar panel cleaning robot station 1000 are installed, thereby preventing contaminants on the ground from entering the accommodation space 1100S. .

In addition, the platform 1400 includes a recess 1430 recessed downward and a washing water spray unit 1440 disposed on the recess 1430.

The depression 1430 may be formed in the flat portion 1410, and may be recessed downward from the flat portion 1410.

The solar panel cleaning robot 1 passes through the recess 1430 in the process of entering the accommodation space 1100S.

 The washing water spraying unit 1440 disposed inside the recess 1430 may wash the solar panel cleaning robot 1 by spraying the washing water toward the solar panel cleaning robot 1 passing through the recess 1430. Can be.

The washing water injection unit 1440 may be supplied with the washing water from an external water source by being connected to the above-described water supply cable 1620.

In detail, the washing water spraying unit 1440 may include a plurality of washing water spraying nozzles 1440 arranged along both sides of the depression 1430. The washing water spray unit 1440 and the plurality of washing water spray nozzles 1440 may be interpreted as the same configuration.

The plurality of washing water spray nozzles 1440 may be arranged along both sides of the recess 1430 to spray the washing water toward the inside of the recess 1430, and may spray the washing water toward the center of the recess 1430. have. Through this, the plurality of washing water spray nozzles 1440 may spray washing water to both sides of the solar panel cleaning robot 1 disposed in the depression 1430.

The solar panel cleaning robot 1 may wait for a predetermined time on the recess 1430 for cleaning by the washing water spraying unit 1440 in the process of entering the accommodation space 1100S for docking with the docking unit 1300. Can be.

In addition, as shown in FIG. 20, the depression 1430 includes guide inclined surfaces 1430S formed at the front and rear ends of the depression 1430, respectively.

The guide inclined surface 1430S is formed to be inclined upwardly from the front and rear ends of the depression 1430 to connect the front and rear ends of the depression 1430 with the flat portion 1410 and the inclined portion 1420, respectively, and the depression 1430. ) And the flat portion 1410 and the inclined portion 1420 are connected without a step.

Therefore, the solar panel cleaning robot 1 may easily enter the platform 1400 and move easily to the accommodation space 1100S through the depression 1430.

As such, the solar panel cleaning robot 1 may enter the planar portion 1410 of the platform 1400 and enter the depression 1430 on the guide inclined surface 1430S formed at the front end of the depression 1430. In the state disposed in the recess 1430, the washing water sprayed by the washing water spraying unit 1440 may be washed. After cleaning, the solar panel cleaning robot 1 may move on the guide inclined surface 1430S disposed at the rear end of the recess 1430 to enter the inclined portion 1420, and pass through the inclined portion 1420 to the housing. It may enter the accommodation space 1100S of 1100 and dock with the docking unit 1300.

As described above, the housing 1100 may include a plurality of accommodation spaces 1100S, and in this case, the depression 1430 and the washing water injection unit 1440 may also be configured in plural.

FIG. 21 is a view illustrating a solar panel cleaning robot 1 docked to a solar panel cleaning robot station 1000 according to an embodiment of the present invention, and FIG. 22 is II-II shown in FIG. 21. Side cross-sectional view of the solar panel cleaning robot station 1000 taken along the line.

Hereinafter, a process and a structure in which the solar panel cleaning robot 1 is docked to the solar panel cleaning robot station 1000 will be described with reference to FIGS. 21 and 22.

First, as shown in FIG. 21, the solar panel cleaning robot 1 may enter the accommodation space 1100S through the platform 1400, and pass through the depression 1430 of the platform 1400. In the washing water spray unit 1440 composed of a plurality of washing water spray nozzles 1440 in the washing water (W) may be washed by.

The solar panel cleaning robot 1 may move and travel by driving the first driving unit 120 disposed on both sides of the first robot 10. For example, the first driving unit 120 may travel in a rough terrain. This may consist of possible crawler tracks.

However, the solar panel cleaning robot 1 may have a contaminant attached to the first driving unit 120 during the driving process, and the contaminant may be attached to the crawler track.

The plurality of washing water spray nozzles 1440 of the washing water spraying unit 1440 are disposed at both sides of the recess 1430 to spray the washing water W toward the first driving unit 120, thereby cleaning the solar panel cleaning robot 1. Contaminants of the first driving unit 120 may be easily removed.

The first driving unit 120 of the solar panel cleaning robot 1 described above may include a plurality of driving wheels in addition to the crawler track.

In addition, as illustrated in FIGS. 21 and 22, the solar panel cleaning robot 1 may include a port part disposed on a rear surface of the solar panel cleaning robot 1, specifically, on a rear surface of the first robot 10. 180).

The port 180 of the solar panel cleaning robot 1 is docked (connected) with the docking unit 1300 of the solar panel cleaning robot station 1000 to receive power and washing water from the docking unit 1300. Can be.

The solar panel cleaning robot 1 preferably enters the accommodation space 1100S through retraction so that the port 180 disposed at the rear side can be docked with the docking unit 1300. However, the direction in which the solar panel cleaning robot 1 enters the accommodation space 1100S may be variously modified according to the arrangement of the port unit 180 and the arrangement of the docking unit 1300.

The port unit 180 may include a charging port 181 and a filling port 182.

The docking unit 1300 is disposed at a position corresponding to the port unit 180, the feed port 1310 of the docking unit 1300 corresponds to the charging port 181 of the port unit 180, and the docking unit ( The water supply port 1320 of the 1300 is disposed at a position corresponding to the filling port 182 of the port unit 180.

Therefore, when the solar panel cleaning robot 1 enters the accommodation space 1100S through backward, the feed port 1310 and the charging port 181 are docked (connected), and the water supply port 1320 and the filling port ( 182 is docked (connected).

In addition, as described above, the docking unit 1300 may further include a sensor unit for detecting docking of the feed port 1310 and the water supply port 1320 and the solar panel cleaning robot 1.

The sensor unit may include an optical sensor, an infrared sensor, an ultrasonic sensor, a contact sensor, a pressure sensor, a contact switch, or a pressure switch, and may be disposed in the feed port 1310 and the water supply port 1320, respectively. The docking of the charging port 181 and the docking of the water supply port 1320 and the filling port 182 may be sensed, respectively.

In addition, the docking unit 1300 may further include a docking guide device (not shown) for inducing docking of the port unit 180 of the solar panel cleaning robot 1.

The docking guide device may include a plurality of sensors, and the plurality of sensors may form a docking guide area and a docking area so that the port unit 180 and the docking unit 1300 can be accurately docked. We can guide movement of 1).

The above-described docking guide device may be configured as a sensor unit provided in the docking unit 1300, and may be coupled to the communication unit in addition to the docking unit 1300.

When the docking unit 1300 and the port unit 180 are docked, the solar panel cleaning robot station 1000 supplies power and washing water through the power supply port 1310 and the water supply port 1320 to the charging port 181 and the water filling. By supplying to port 182, charging and filling is performed.

As such, the solar panel cleaning robot station 1000 according to the exemplary embodiment of the present invention may control the solar panel cleaning robot 1 remotely through the communication unit 1500, and through the docking unit 1300. Power and washing water can be automatically supplied to the solar panel cleaning robot 1.

In addition, the solar panel cleaning robot station 1000 is a washing water disposed on the platform 1400 during the solar panel cleaning robot 1 enters the accommodation space 1100S of the housing 1100 for charging and filling. Cleaning of the solar panel cleaning robot 1 may be performed through the injection unit 1440.

In addition, the solar panel cleaning robot station 1000 includes a plurality of accommodation spaces 1100S of the housing 1100 to simultaneously perform charging, filling and washing of the plurality of solar panel cleaning robots 1. By transmitting and receiving a control signal through the communication unit 1500, it is possible to simultaneously control a plurality of solar panel cleaning robot (1).

As such, the solar panel cleaning robot station 1000 according to an embodiment of the present invention includes a control center and a main for the solar panel cleaning robot 1 for cleaning, maintaining, and repairing a plurality of solar panels SP. It can function as a maintenance center, through which the cleaning, maintenance and repair of the solar installation via the solar panel cleaning robot 1 can be automated.

The solar panel cleaning robot station 1000 described above may configure the solar panel cleaning robot system 1 together with the first robot 10 and the second robot 20.

23 is a perspective view of a modified embodiment of the first robot 10 shown in FIG. 6 and a second robot 20 mounted on the first robot 10.

The first robot 10 shown in FIG. 23 is similar in configuration to most of the first robot 10 shown in FIG. 1, but as shown in FIG. 23, the first body 110 may include a first portion ( 1101, a difference exists in that it includes a lift 1103 that raises and lowers the second portion 1102 and the second portion 1102. However, since the first robot 10 illustrated in FIG. 23 is similar in configuration to most of the first robot 10 illustrated in FIG. 1, redundant description thereof will be omitted.

Referring to FIG. 23, the first portion 1101 of the first body 110 has an approximately rectangular parallelepiped shape, and the first driving unit 120 is coupled to both sides of the first portion 1101, respectively.

In addition, the upper surface of the first portion 1101 is formed with a receiving groove 1101S to accommodate the second portion 1102. In addition, a sensor unit 160 may be disposed on an upper surface of the first portion 1101, and a blade 170 may be coupled to a front portion of the first portion 1101.

The second portion 1102 has an approximately rectangular shape, and the robot arm 130 is coupled to the upper surface of the second portion 1102, and the second robot 20 is mounted on the upper surface of the second portion 1102. The seating portion 1102S, which can be formed.

Specifically, the robot arm 130 is disposed on the front surface of the upper surface of the second portion 1102, and the seating portion 1102S is recessed in the rear of the robot arm 130.

The shape of the second portion 1102 may correspond to the shape of the accommodation groove 1101S so that the second portion 1102 may be accommodated in the accommodation groove 1101S.

In addition, the second portion 1102 and the receiving groove 1101S are connected through the lift 1103, so that the second portion 1102 is raised or lowered from the receiving groove 1101S to be accommodated in the receiving groove 1101S. Can be.

As shown in FIG. 23, the lift 1103 may be configured as a scissor lift to which a plurality of links are connected. However, the structure of the lift 1103 may be applied to various conventional lift structures.

The operation of the lift 1103 may raise and lower the second portion 1102, and the robot arm 130 and the seating portion 1102S disposed on the upper surface of the second portion 1102 may also be raised and lowered. have. In addition, the second robot 20 seated on the seating portion 1102S may also be raised and lowered by the rising and lowering of the second portion 1102.

As such, as the second portion 1102 is raised and lowered from the first portion 1101 via the lift 1103, the height of the robot arm 130 can be changed and manipulated more widely, and the robot arm 130 The working radius of can be increased. In addition, by raising and lowering the second robot 20 seated on the seating portion 1102S through the raising and lowering of the second portion 1102, the second robot 20 is picked up at a desired height and the solar panel ( SP).

In the present specification and drawings, preferred embodiments of the present invention have been disclosed, and although specific terms have been used, these are merely used in a general sense to easily explain the technical contents of the present invention and to help the understanding of the present invention. It is not intended to limit the scope. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention can be carried out in addition to the embodiments disclosed herein.

One; Solar Panel Cleaning Robot System (Solar Panel Cleaning Robot)
2: solar panel cleaning robot management system
3: central server
10: first robot
11: transceiver
13: storage
15: Analysis
17: Judgment Department
19: control unit
20: second robot
30: cable
SP; Solar panels
40: manager terminal
1000; Solar Panel Cleaning Robot Station
1100; housing
1100S; Space
1200; Solar cell
1300; Docking section
1310; Feed port
1320; Watering port
1400; platform
1410; Flat part
1420; Slope
1430; Depression
1440; Washing water spray unit
1500; Communication

Claims (7)

In the central server,
Receives status information from the solar panel cleaning robot or receives operation history information for a preset period from the solar panel cleaning robot station, and transmits analysis and determination information on the status information or the operation history information to the manager terminal. Transmitting and receiving unit;
An analysis unit which analyzes state information received from the solar panel cleaning robot or operation history information received from the solar panel cleaning robot station to check remaining information on the battery and the wash water tank of the solar panel cleaning robot;
A determination unit determining whether a charging and / or filling operation is necessary according to the remaining amount information; And
And a controller for controlling to transmit the analysis and determination information to the manager terminal when a charging and / or filling operation is necessary as a result of the determination of the determination unit.
The method of claim 1,
The control unit,
When receiving command information from the manager terminal in response to the analysis information, the situation information request is transmitted to the solar panel cleaning robot station, and when the situation information is received in response to the situation information request, the received situation information Central server, characterized in that for controlling to transmit the operation command corresponding to the command information to the solar panel cleaning robot.
The method of claim 2,
If the situation information includes information on other devices being charged and / or filled at the solar panel cleaning robot station, and estimated time for charging and / or filled by the other device,
The control unit includes a scheduling time information in the operation command to control to transmit to the solar panel cleaning robot.
The method of claim 1,
When receiving the operation history information for a preset period from the solar panel cleaning robot station,
The controller determines whether an abnormal operation is performed on the solar panel cleaning robot based on the operation history information, and when it is determined that the solar panel cleaning robot is abnormally operated, the solar cell panel is controlled by the manager terminal. Central server characterized in that the control to control that the cleaning robot is in abnormal operation.
The method of claim 4, wherein
The operation history information for the preset period is,
Occurrence frequency of the charging and / or refilling operation of the solar panel cleaning robot, and the remaining amount information about the battery and the wash water tank,
Central server, characterized in that periodically received from the solar panel cleaning robot station.
The method of claim 5,
The determination unit,
Central server characterized in that it is determined that the solar panel cleaning robot is in abnormal operation when any one of the frequency of occurrence of the charging and / or filling operation and the remaining amount information of the battery and the wash water tank is less than each threshold value. .
The method of claim 1,
The determining unit may be configured to perform the charging and / or refilling operation even when both of the remaining amount information of the battery and the washing water tank are greater than or equal to the threshold, and the time when the occurrence frequency of the charging and / or filling operation and the remaining amount of the remaining amount of information of the battery and the washing water tank are greater than or equal to the threshold is 24 hours or more. The central server judges that the light panel cleaning robot is operating abnormally.

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