WO2015199197A1 - Work system utilizing self-propelled robot - Google Patents

Abstract

Provided is a work system utilizing a self-propelled robot capable of moving the self-propelled robot effectively so as to efficiently perform work on a flat surface. This work system (S) for performing work on a structure is equipped with: a self-propelled robot (1) which travels by itself on a target flat surface of a structure (SP) so as to perform work on the flat surface; and a control means (CU) for controlling operations of the self-propelled robot (1). The control means (CU) is equipped with a monitoring part (RU) for monitoring the state of the structure (SP) and/or the surrounding environment and an operating state control part (SU) for switching the self-propelled robot (1) between a working state and a standby state in accordance with information from the monitoring part (RU). The monitoring part (RU) monitors the state of the structure (SP) and/or the surrounding environment, and the switching between the working state and the standby state is made in accordance with the information from the monitoring part (RU).

Description

Work system using self-propelled robot

The present invention relates to a work system using a self-propelled robot. More specifically, the present invention relates to a work system using a self-propelled robot that performs a work such as cleaning by self-propelling the surface of a solar cell array used for solar power generation or a collecting mirror used for solar thermal power generation.

In recent years, there has been an increasing demand for power generation using renewable energy, and in particular, solar power generation and solar thermal power generation using sunlight have attracted a great deal of attention.
For example, solar power generation facilities range from facilities with a power generation capacity of about 3 to 4 kilowatts installed in ordinary houses to large-scale power generation facilities with a power generation capacity exceeding 1 megawatt for commercial use. In addition, solar thermal power generation facilities also have many large-scale facilities having a power generation capacity exceeding 1 megawatt, and are expected as alternative power generation facilities for thermal power generation and nuclear power generation.

On the other hand, in power generation using sunlight such as solar power generation and solar thermal power generation, power is generated by receiving sunlight from the sun. For this reason, if the light receiving surface of the solar cell array (that is, the solar cell module) or the condensing mirror is dirty, the light transmittance of the cover glass constituting the light receiving surface of the solar cell module in solar power generation depends on the degree of contamination. As a result, the amount of power generated decreases. Moreover, in solar thermal power generation, the amount of electric power generated decreases as the reflectivity of the collector mirror decreases. That is, in solar power generation or solar thermal power generation, if the light receiving surface of the solar cell module or the condensing mirror is dirty, the power generation performance is significantly reduced.
For this reason, in order to remove dirt on the light receiving surface of the solar cell array or the like, it is important to appropriately clean the solar cell array or the like.

If the equipment is installed in a general house, people can also clean it regularly. On the other hand, since the surface area of a large-scale photovoltaic power generation facility becomes very large, it is substantially difficult for a person to clean and remove the dirt on the surface of the solar cell array. For example, in the case of a 1 MW solar power generation facility, it is assumed that the solar power generation system is composed of solar cell modules having a power generation output of 100 watts per sheet. In this case, in the entire photovoltaic power generation facility, the number of solar cell modules reaches 10,000. When the area of one solar cell module is 1 square meter, the area to be cleaned reaches 10,000 square meters. In the case of a photovoltaic power generation facility, a plurality of solar cell arrays each including a plurality of solar cell modules are provided. The area of the solar cell array varies depending on various conditions at the site, but is generally 50. From square meters to 1000 square meters. Therefore, in a large-scale photovoltaic power generation facility, a self-propelled cleaning robot that can run on the surface of a solar cell array or the like automatically or remotely is effective or a cleaning means.

Such a self-propelled cleaning robot has been developed to clean a solar cell array or the like (for example, Patent Documents 1 and 2).

Patent Documents 1 and 2 include a cleaning robot that cleans the solar cell array while traveling on its own, and an arrangement robot that moves the cleaning robot from one solar cell array or the like to another solar cell array or the like. A system is disclosed. In this system, a configuration is disclosed in which the cleaning robot is monitored or wirelessly communicated to confirm the working status of the power plant, and the arrangement robot moves the cleaning robot from one solar array to another solar array. Has been. Patent Document 1 also describes that the operation of the arranging robot is controlled so that the moving distance of the arranging robot becomes the shortest in order to improve work efficiency.

JP 2010-155308 A JP 2012-139792 A

However, the techniques of Patent Documents 1 and 2 are intended only to efficiently move the arrangement robot, and do not consider the efficiency of cleaning by the cleaning robot.

Also, no technology has been developed for a self-propelled robot that improves the work efficiency of a robot that performs work while self-propelled on a solar cell array or the like.

SUMMARY OF THE INVENTION In view of the above circumstances, the present invention has an object to provide a work system using a self-propelled robot that can efficiently perform operations such as cleaning on a plane by effectively moving the self-propelled robot. To do.

A work system using a self-propelled robot according to a first aspect of the invention is a work system that performs work on a structure, and the work system self-runs on a plane of the structure and performs work on the plane. A self-propelled robot; and control means for controlling the operation of the self-propelled robot, the control means comprising: a monitoring section that monitors the state of the structure and / or the surrounding environment; and the monitoring section And an operation state control unit that switches the self-propelled robot between a working state and a standby state according to information from the system.
A work system using a self-propelled robot according to a second aspect of the invention is a work system that performs work on a structure, and the work system self-runs on a plane of the structure and performs work on the plane. A self-propelled robot; and control means for controlling the operation of the self-propelled robot, the control means comprising: a monitoring section that monitors the state of the structure and / or the surrounding environment; and the monitoring section In accordance with the information from the above, an arrangement adjusting unit for determining a position where the self-propelled robot is arranged on the plane of the structure is provided.
A work system using a self-propelled robot according to a third aspect of the invention is a work system that performs work on a structure, and the work system self-runs on a plane of the structure and performs work on the plane. A self-propelled robot, and a control means for controlling the operation of the self-propelled robot, and the structure has a plurality of planes on which work is performed by the self-propelled robot. There is an obstacle portion between which the self-propelled robot cannot run, and the control means includes a monitoring portion that monitors the state of the structure and / or the surrounding environment, and information from the monitoring portion. And an arrangement adjusting unit that determines a plane on which the self-propelled robot performs work, and the arrangement adjusting unit is configured to perform the self-propelled operation after the completion of the one plane operation by the self-propelled robot. To make the robot work next Characterized in that it comprises an instruction function for instructing the worker.
The working system using the self-propelled robot of the fourth invention is the self-propelled cleaning robot according to the first, second or third invention, wherein the self-propelled robot is self-propelled to clean a plane, The work performed on the structure is a cleaning work.
A work system using a self-propelled robot according to a fifth aspect of the present invention is the work system according to the fourth aspect, wherein the monitoring unit has a function of detecting a wind direction, and the control means is information on the wind direction detected by the monitoring unit. And a cleaning control unit for determining a movement path of the self-propelled robot.
A working system using a self-propelled robot according to a sixth aspect of the present invention is the work system according to the fifth aspect, wherein the self-propelled robot includes an airflow forming unit that forms an airflow that flows outward from the robot body. And
A working system using a self-propelled robot according to a seventh aspect of the present invention is the work system according to any one of the first to sixth aspects, wherein the control means is in a state where the self-propelled robot is disposed on the plane of the structure. When the operation of the self-propelled robot is completed and / or the abnormality of the self-propelled robot and / or the structure is detected, the self-propelled robot is moved to the retreat position. A retreat control unit is provided.
The working system using the self-propelled robot according to an eighth aspect of the present invention is the work system according to the seventh aspect, wherein the structure can change an inclination angle of the plane with respect to the horizontal, and the retracted position is an inclination angle of the plane. Is provided at a position where the height from the reference surface changes in accordance with the change of the control surface, and the control means has completed cleaning by the self-propelled robot and / or the self-propelled robot and / or Plane control that changes the inclination angle of the plane on which the self-propelled robot is arranged so that the retracted position becomes a position that can be reached by an operator upon detecting that the abnormality of the structure has occurred. It has the part.
A working system using a self-propelled robot according to a ninth aspect of the present invention is the work system according to any one of the first to eighth aspects, wherein the structure is formed by one or a plurality of solar cell modules or mirrors. It is a condensing mirror.

According to the first invention, since the self-propelled robot self-propels the plane of the structure and performs operations such as cleaning on the plane, the operation on the plane of the structure is facilitated. In addition, the monitoring unit monitors the state of the structure and the surrounding environment, and switches between the working state and the standby state according to information from the monitoring unit. Therefore, since the work on the plane of the structure can be performed in a state suitable for the self-propelled robot, the work can be performed safely and appropriately on the plane of the structure.
According to the second invention, the self-propelled robot can be arranged at an appropriate position on the plane of the structure according to the information from the monitoring unit, so that the work can be efficiently performed on the plane of the structure.
According to the third aspect of the invention, when the self-propelled robot is moved from one plane to another plane by the operator, the instruction function instructs the operator to which plane to move. Robot transfer work can be made more efficient. In addition, if control is performed so that a plane with good work efficiency is designated as another plane, work can be performed efficiently on a plurality of planes, and work leakage can be prevented.
According to the fourth aspect of the invention, cleaning can be performed safely and appropriately on the plane of the structure.
According to the fifth aspect, since the work control unit sets an appropriate cleaning path based on the wind direction, the plane of the structure can be efficiently cleaned.
According to the sixth aspect of the invention, if dust or the like is blown away by the airflow formed by the airflow forming unit, the dust or the like can be effectively removed from the plane by being put on the wind. Moreover, since the self-propelled robot is operated based on the information on the wind direction, it is possible to suppress the dust that has been blown away from moving to the already cleaned portion.
According to the seventh invention, if the self-propelled robot is moved to the retreat position, the operator can remove the self-propelled robot from the structure, so that the self-propelled robot can be easily moved and repaired. Can do.
According to the eighth invention, if the self-propelled robot is moved to the retracted position and the inclination of the plane is changed, the operator can remove the self-propelled robot from the structure. And repair can be done easily.
According to the ninth aspect of the invention, it is possible to effectively perform cleaning or the like on the solar cell module or the mirror, and therefore it is possible to prevent the occurrence of problems such as a decrease in power generation performance.

It is a schematic block diagram of the work system using self-propelled robot 1 of this embodiment. It is a schematic plan view of the self-propelled robot 1 of the present embodiment. It is a schematic side view of the self-propelled robot 1 of the present embodiment. It is a schematic front view of the self-propelled robot 1 of this embodiment. It is a schematic explanatory drawing of the structure SP which the self-propelled robot 1 of this embodiment performs work. It is a schematic explanatory drawing of the situation where the self-propelled robot 1 moves between the working state and the standby state on the structure SP. It is a schematic explanatory drawing of the operation | work which lowers the self-propelled robot 1 from the structure SP. It is a schematic explanatory drawing of the self-propelled robot 1 of other embodiment.

The work system using the self-propelled robot according to the present invention is a system that performs a cleaning operation while traveling on a planar portion of a structure installed outdoors, and efficiently cleans the planar portion. It is characterized by the fact that it is possible to perform such operations.

The structure on which the work is performed by the work system using the self-propelled robot of the present invention is a structure having a plane, and any structure that can move the self-propelled robot along the plane may be used. There is no particular limitation. For example, a solar cell array of a large-scale photovoltaic power generation facility, a condensing mirror in a solar thermal power generation facility, a solar water heater, and the like can be given. Further, the plane on which the work is performed can include the surface of the solar cell array (that is, the light receiving surface of the solar cell module), the surface of the collector mirror (that is, the light receiving surface of the mirror), the light receiving surface of the solar water heater, and the like. . In the present specification, the plane is a concept including a plane as a flat surface such as a solar cell array and a curved surface having a large curvature radius and almost flat like a collector mirror.

In the work system using the self-propelled robot of the present invention, the work performed by the self-propelled robot is not particularly limited. For example, cleaning of the plane on which the self-propelled robot runs, inspection of defects on the plane, measurement of surface shape and thickness of members, measurement of temperature, measurement of surface roughness, measurement of light reflectance and gloss on the surface, etc. Physical quantity measurement, collection and observation, peeling of surface deposits and painting, painting and pre-treatment before coating, coating work, film sticking, polishing, marking, communication by information presentation, and the like.

In the following, the surface of a structure SP such as a solar cell array, a condensing mirror in a solar thermal power generation facility, or a solar water heater (that is, each light receiving surface, hereinafter referred to as a target plane SF) is cleaned by a self-propelled robot. Will be explained. In particular, a case will be described in which the target planes SF of the plurality of structures SP and the structure SP having the plurality of target planes SF, that is, the plurality of target planes SF are cleaned.

Of course, it is needless to say that the work system using the self-propelled robot of the present invention can be applied to the case where the work is performed only on the target plane SF of one structure SP, that is, one target plane SF. .

(Work system using self-propelled robot)
As shown in FIG. 1, the work system using the self-propelled robot 1 of this embodiment includes a control unit CU and the self-propelled robot 1.

(Self-propelled robot 1)
The self-propelled robot 1 cleans the target plane SF of the structure SP by traveling on the target plane SF of the structure SP. As shown in FIG. 2, the self-propelled robot 1 includes a robot body 2 having a moving unit 4 for traveling on a target plane SF (see FIG. 5) of the structure SP, and the robot body 2. A pair of cleaning units 10 and 10 provided, and a control unit 30 (see FIG. 1) for controlling the operation of the moving means 4 and the pair of cleaning units 10 and 10 are provided.

For this reason, if the self-propelled robot 1 is placed on the target plane SF of the structure SP, the self-propelled robot 1 moves the target plane SF by the moving means 4 while the pair of cleaning units 10 and 10 cause the target plane to move. The SF can be cleaned.

When the self-propelled robot 1 performs a work other than cleaning, a working device, a sensor, a tool, and the like are provided without providing a pair of cleaning units 10 and 10 described later. In this case, the robot main body 2 may be provided at any position. For example, you may attach to the position in which a pair of cleaning parts 10 and 10 (or one cleaning part 10) are provided, and you may provide in the side surface of the robot main-body part 2, an upper surface, a bottom face, etc. What is necessary is just to provide in a suitable position according to the use, function, etc. of the working apparatus and sensor used, and an instrument.

(Control means CU)
The control means CU controls the operation of the self-propelled robot 1 and is provided separately from the self-propelled robot 1. Specifically, it is provided in the structure SP or a place away from the structure SP (for example, a control room such as a solar power generation facility). That is, the control unit CU may be provided separately from the control unit of the structure SP, or the control unit of the structure SP may function as the control unit CU.
The control unit CU includes a monitoring unit RU and an operation state control unit SU.

(Monitoring unit RU)
The monitoring unit RU has a function of monitoring the state of the structure SP and the surrounding environment of the structure SP. The monitoring unit RU includes a plurality of sensors cx that detect the state of the structure SP and the surrounding environment of the structure SP, and has a function of transmitting a signal from the sensor cx to the operation state control unit SU. Yes.

The state of the structure SP monitored by the monitoring unit RU is the temperature, the degree of contamination of the surface of the structure SP (when cleaning is performed), etc., but is not particularly limited. Moreover, when the inclination of the surface (target plane SF) changes like a collector mirror in a solar cell array or a solar thermal power generation facility, the monitoring unit RU also monitors the inclination angle, direction (direction), and the like. It is included in the state of the structure SP. Although the method in which the monitoring part RU grasps | ascertains an inclination angle is not specifically limited, The angle sensor, the acceleration sensor, etc. which were installed in structure SP (or object plane SF) can be mentioned. In addition, when the self-propelled robot 1 itself has an angle sensor for detecting the inclination angle of the target plane SF, information on the inclination angle detected by the angle sensor or the like is transmitted from the control unit 30 to the monitoring unit RU. You may make it do.

The ambient environment of the structure SP monitored by the monitoring unit RU means a climatic state (for example, wind direction, wind speed, temperature, humidity, etc.) where the structure SP is installed. The sensor cx for detecting these states is not particularly limited, and a necessary sensor cx may be used as appropriate.

(Operating state control unit SU)
The operation state control unit SU has a function of switching the operation of the self-propelled robot 1 between a working state (cleaning state) and a standby state according to information from the monitoring unit RU. When the self-propelled robot performs cleaning, the working state (cleaning state) means a state in which the self-propelled robot 1 performs self-propelled cleaning on the target plane SF of the structure SP. Further, when the self-propelled robot performs cleaning, the standby state means a state in which the self-propelled robot 1 is moved to the retreat position. For example, a state where the self-propelled robot 1 is fixed to the target plane SF in the retreat space set on the target plane SF, or a state where the self-propelled robot 1 is accommodated in the robot base RB. Can do. In this case, the retreat space or the robot base RB is the retreat position.

As described above, the operation (work such as movement and cleaning) of the self-propelled robot 1 is controlled by the control unit 30 of the self-propelled robot 1. For this reason, the operation switching of the self-propelled robot 1 by the operation state control unit SU is performed via the control unit 30. That is, when information regarding the operation of the self-propelled robot 1 is transmitted from the operation state control unit SU to the control unit 30 by electromagnetic communication means such as wireless, infrared, and ultrasonic waves, the control unit is based on the information. 30 controls the operation of the self-propelled robot 1.

In addition, when the self-propelled robot 1 does not have the control unit 30, the operation state control unit SU may directly control the operation of the moving unit 4 and the pair of cleaning units 10 and 10.

Since the configuration is as described above, it is possible to cause the self-propelled robot 1 to self-propell the target plane SF of the structure SP and perform work such as cleaning on the target plane SF. That is, since the operation such as cleaning can be automatically performed on the target plane SF of the structure SP, the operation such as cleaning of the target plane SF of the structure SP is facilitated.

Moreover, the monitoring unit RU monitors the state of the structure SP and the surrounding environment, and the operation state control unit SU performs the operation of the self-propelled robot 1 according to the information from the monitoring unit RU (cleaning state). ) And standby. Accordingly, since the self-propelled robot 1 can perform the cleaning and the like on the target plane SF of the structure SP in a state suitable for the cleaning and the like, it can be safely and appropriately performed on the target plane SF of the structure SP. Work such as cleaning can be performed.

For example, if the inclination angle of the target plane SF of the structure SP changes, the state in which the inclination angle of the target plane SF is large (specifically, the state where the inclination angle is greater than 15 degrees from the horizontal) is cleaned. This corresponds to an unsuitable state for performing the work. Also, the environment in which the traveling of the self-propelled robot 1 becomes unstable or breaks down, such as when it is rainy and windy or when the temperature is too high (for example, when the temperature is 50 ° C. or higher). This corresponds to an unsuitable state for the traveling robot 1 to perform operations such as cleaning.
On the contrary, if the inclination angle of the target plane SF of the structure SP changes, the inclination angle at which the self-propelled robot 1 can self-propelled (a state where the target plane SF is nearly horizontal, specifically, Is an angle suitable for performing a work such as cleaning.

In the above example, the case where the control means CU is provided separately from the self-propelled robot 1 has been described. In this case, since the self-propelled robot 1 only needs to be equipped with a device that realizes a minimum function capable of carrying out operations such as cleaning by self-propelling the target plane SF, the weight of the self-propelled robot 1 can be reduced. The structure can be simplified. Then, as will be described later, when the worker transports the self-propelled robot 1, the transportation work becomes easier. In addition, the risk of failure of the self-propelled robot 1 can be reduced.

On the other hand, the control means CU may be provided in the self-propelled robot 1 itself. For example, the control unit 30 of the self-propelled robot 1 may have the function of the control means CU. In this case, since the signal transmission to the self-propelled robot 1 can be reliably performed, the operation of the self-propelled robot 1 can be stabilized. When the control means CU is provided in the self-propelled robot 1 itself, if an angle sensor, an acceleration sensor, or the like is installed on the structure SP (or the target plane SF), a signal from the angle sensor or the like is used. What is necessary is just to make it transmit to the control part 30 of the self-propelled robot 1 by an electromagnetic communication means. Further, when the sensor cx for measuring the surrounding environment is provided in the structure SP or other places, the signal from the sensor cx is transmitted to the control unit 30 of the self-propelled robot 1 by electromagnetic communication means or the like. Just keep it.

(Arrangement adjustment unit DU)
Further, it is desirable that the control unit CU includes an arrangement adjustment unit DU.
The arrangement adjusting unit DU has a function of determining a position where the self-propelled robot 1 is arranged on the target plane SF of the structure SP. Specifically, it has a function of arranging the self-propelled robot 1 at an appropriate position for performing work such as cleaning on the target plane SF of the structure SP. If such an arrangement adjusting unit DU is provided, operations such as cleaning of the target plane SF by the self-propelled robot 1 can be effectively performed.

For example, as shown in FIG. 6A, if the target plane SF of the structure SP is rectangular, the position in the long side direction (or short side direction) is changed and the short side (or long side) is changed. It is assumed that the movement route of the self-propelled robot 1 is programmed in the control unit 30 so that the self-propelled robot 1 is moved along. In this case, if the self-propelled robot 1 starts an operation such as cleaning from any one of the four corners of the target plane SF, the operation such as cleaning can be performed all over the entire target plane SF. Therefore, when the target plane SF of the structure SP is rectangular, the arrangement adjustment unit DU arranges the self-propelled robot 1 at any one of the four corners (work start positions) on the target plane SF of the structure SP. To be determined. Then, if the information regarding the work start position is transmitted from the arrangement adjustment unit DU to the control unit 30 of the self-propelled robot 1, the control unit 30 receives a command of the work state (cleaning state) from the operation state control unit SU. When this is done, the self-propelled robot 1 on the target plane SF moves to the work start position. Then, since the operation such as cleaning is started from the position, the operation such as cleaning can be performed all over the entire target plane SF.
In addition, even if the target plane SF of the structure SP is not rectangular, if the self-propelled robot 1 is arranged at the corner portion where the end edge intersects, the self-propelled so as to perform all operations such as cleaning. The robot 1 can be easily moved.

(Work control unit PU)
It is desirable that the control means CU also includes a work control unit PU.
The work control unit PU has a function of determining a path along which the self-propelled robot 1 moves in the target plane SF of the structure SP. Specifically, based on various information transmitted from the monitoring unit RU, the self-propelled robot 1 is moved so that operations such as cleaning can be efficiently performed on the target plane SF of the structure SP. The work control unit PU has a function of determining a path that can be performed. The work control unit PU also has a function of transmitting the information to the control unit 30 of the self-propelled robot 1. If such a work control unit PU is provided, work such as cleaning of the target plane SF by the self-propelled robot 1 can be effectively performed according to the surrounding environment. In this case, the work control unit PU may determine a path for moving the self-propelled robot 1 based on a predetermined program, or each time based on information from the monitoring unit RU or the like. A path for moving the traveling robot 1 may be determined.

Further, when the self-propelled robot 1 cleans the target plane SF of the structure SP, the function of determining the path along which the self-propelled robot 1 moves based on the information on the wind direction transmitted from the monitoring unit RU. Is desirably included in the work control unit PU. When cleaning in a situation where the wind is blowing, it is more efficient to clean from the windward to the leeward than to clean from the leeward to the windward. Therefore, the work control unit PU has a function of setting a path that moves so as to be sequentially cleaned from the windward to the leeward based on the information on the wind direction transmitted from the monitoring unit RU. Can be efficiently cleaned.

In particular, when the cleaning unit 10 of the self-propelled robot 1 has a function of forming an airflow that flows outward from the robot body 2 as described later, the above-described function is performed by the work control unit PU. It is desirable to have. In this case, the traveling direction of the self-propelled robot 1 is determined so that dust blown off by the airflow formed by the self-propelled robot 1 is effectively removed from the target plane SF by the wind. Keep it. Then, the cleaning efficiency by the self-propelled robot 1 can be improved, and the cleaning ability can be further increased.

Of course, when the self-propelled robot 1 cleans the target plane SF of the structure SP, even if the self-propelled robot 1 does not have the function of forming the airflow described above, it has the above-described functions. It is desirable to provide a work control unit PU. When the object plane SF is cleaned by the brush 12, the dirt is rolled up (discharged). However, if the direction in which the dirt is discharged and the wind direction are appropriately matched, the dirt can be effectively removed from the object plane SF.

In the case where the work control unit PU is provided as described above, it is desirable that the arrangement adjustment unit DU has a function of changing the position at which cleaning is started depending on the wind direction. For example, if it has a function of setting a location located on the windward as a work start position, the self-propelled robot 1 can be efficiently moved and cleaned.

(Movement between target planes SF)
When performing operations such as cleaning on a plurality of target planes SF, when the target planes SF of the structure SP are adjacent to each other, the self-propelled robot 1 is self-propelled and moves from one target plane SF to another. It is also possible to move to the target plane SF.

However, when there is an obstacle OB between the target planes SF where the self-propelled robot 1 cannot travel, the self-propelled robot 1 cannot move from one target plane SF to another target plane SF. That is, the self-propelled robot 1 alone cannot perform operations such as cleaning of the plurality of target planes SF. For example, when the target planes SF are set apart from each other to some extent (for example, when a space such as a passage is provided between the target planes SF), the self-propelled robot 1 is between the target planes SF. If it is going to move, self-propelled robot 1 will fall from object plane SF. For this reason, when it is not possible to move to the next target plane SF even after the work such as cleaning of the one target plane SF is completed, the self-propelled robot 1 moves the retreat space or robot base of the one target plane SF. It will be in a standby state by RB etc. Then, when carrying out operations such as cleaning a plurality of target planes SF with the number of the target planes SF less than the number of target planes SF, the self-propelled robot 1 is moved from one target plane SF by some method. Must be moved to the target plane SF.

In the work system using the self-propelled robot 1 of the present embodiment, basically, it is assumed that the movement of the self-propelled robot 1 between the target planes SF separated by the obstacle OB is performed by an operator. . That is, the movement of the self-propelled robot 1 from one target plane SF to another target plane SF is configured on the assumption that the operator carries it by human power. Conveying manually means that the self-propelled robot 1 is lowered from one target plane SF, the work of placing the self-propelled robot 1 on another target plane SF, and another target plane SF from the vicinity of one target plane SF. This includes both the case where all the operations for transporting to the vicinity are performed manually and the case where one or two of these operations are performed by means other than human power (such as work equipment or robots). It is out.

Needless to say, it is preferable that the weight of the self-propelled robot 1 is light when the above-described operation is performed manually. For example, if the weight of the self-propelled robot 1 is 20 kg or less, work by human power is possible. In consideration of the burden on the worker, 18 kg or less is preferable, and 15 kg or less is more preferable.

Of course, in the work system, all the above work may be performed using work equipment. However, if a certain amount of work is performed manually, the amount of power generated by the power generation facility can be reduced. In addition, since the configuration of the work system itself can be simplified, troubles such as stoppage of the work system due to equipment failure can be suppressed.

In addition, the obstacle part OB is not limited to the space as described above. For example, the obstacle OB includes irregularities and wall surfaces that the self-propelled robot 1 cannot get over.

Further, the structure of the robot base RB described above is not particularly limited as long as the self-propelled robot 1 can be accommodated and held. For example, the robot base RB is arranged so that its floor surface is flush with the target plane SF, and the self-propelled robot 1 can be smoothly moved between the robot base RB and the target plane SF. Is desirable.

Furthermore, when the robot base RB is not provided and the self-propelled robot 1 enters a standby state in the retreat space of the target plane SF, a function for preventing the self-propelled robot 1 from falling from the target plane SF is provided. It is desirable. For example, if the self-propelled robot 1 is provided with a fixing means for fixing the self-propelled robot 1 itself to the target plane SF, the self-propelled robot 1 can be prevented from falling from the target plane SF. The method by which the fixing means prevents the self-propelled robot 1 from falling is not particularly limited. For example, a method of adsorbing and fixing to the surface of the solar panel SS using a suction cup, a magnet, or the like, a method of fixing by a member that engages with an edge of the solar panel SS such as a hook-shaped hook, and the like can be given. it can. When using a magnet, a magnet may be provided on the self-propelled robot 1 side, a magnet may be provided on the structure SP side, or a magnet may be provided on both. In this case, if the self-propelled robot 1 and / or the structure SP is formed of a ferromagnetic material, the self-propelled robot 1 and the structure SP can be fixed by a magnet. In addition, when the self-propelled robot 1 and / or the structure SP is formed of a material other than a ferromagnetic material, a fixing portion formed of a ferromagnetic material is provided in the self-propelled robot 1 and / or the structure SP. Just keep it. Furthermore, an electromagnet or a permanent magnet can be used as the magnet. In the case of an electromagnet, the fixed release can be controlled by turning on and off the switch. In the case of a permanent magnet, if the distance between the magnet and the self-propelled robot 1 and / or the structure SP can be changed by an actuator or the like, the fixed release can be controlled by changing the distance. .

(Arrangement instruction)
On the other hand, when the worker moves the self-propelled robot 1 from one target plane SF to another target plane SF, the source target plane (one target plane SF) and the destination target plane SF (other The target plane SF) must be known.

However, in the case of a facility having an enormous number of target planes SF, for example, a photovoltaic power generation facility or a solar thermal power generation facility, it is difficult for an operator to grasp the target plane SF of the movement source and the movement destination. Also, it is practically difficult to move while looking at the manual.

Therefore, it is desirable that the arrangement adjusting unit DU of the control unit CU has a function of instructing the operator on the target plane SF of the movement source and the movement destination. Then, since the worker only has to move the self-propelled robot 1 based on an instruction from the arrangement adjustment unit DU, the burden on the worker can be reduced, and work mistakes can be prevented.

The method for the operator to grasp the instruction from the placement adjustment unit DU is not particularly limited. For example, an instruction is transmitted to a device carried by the worker (for example, a dedicated terminal, a smartphone, or a mobile phone) by electromagnetic communication means such as wireless, infrared, or ultrasonic waves, and the worker views the device and instructs the device. You may make it confirm.

Further, the structure SP provided with the target plane SF, each target plane SF, and the self-propelled robot 1 may be provided with a function of notifying the operator of an instruction from the arrangement adjusting unit DU. In particular, if the self-propelled robot 1 itself is provided with a function for notifying the operator of an instruction from the arrangement adjusting unit DU, the operator can easily confirm the instruction. Moreover, since it becomes easy to confirm an instruction | indication when the operator is moving the self-propelled robot 1, it is preferable.

The device for notifying the operator of the instruction is not particularly limited. For example, an instruction may be notified by voice from a speaker, or a display such as a liquid crystal display or an electric bulletin board may be provided to display the instruction.

Also, the content of the instruction is not particularly limited. For example, if the number or address of the target plane SF or the structure SP is determined, the instruction may be issued by the number, or the destination is indicated by an arrow or the like. A method may be adopted.

In particular, as shown in FIG. 5, when a work such as cleaning is performed by a plurality of self-propelled robots 1 on a plurality of target planes SF, the work such as cleaning by each self-propelled robot 1 is efficiently performed. Furthermore, it is necessary to appropriately arrange each self-propelled robot 1 on the target plane SF. That is, it is necessary to consider which self-propelled robot 1 is arranged on which target plane SF, in other words, which target plane SF the self-propelled robot 1 on which target plane SF is moved. Therefore, in order to efficiently clean the plurality of target planes SF with the plurality of self-propelled robots 1, the placement adjustment unit DU moves to which target plane SF each self-propelled robot 1 on the target plane SF. It is preferable to have a function of determining whether or not to perform. In this case, the arrangement adjustment unit DU may determine the arrangement of the plurality of self-propelled robots 1 based on a predetermined program. Further, a GPS module or the like is attached to the self-propelled robot 1 and the position adjustment unit DU arranges each self-propelled robot 1 on which target plane SF each time while grasping the position information of each self-propelled robot 1. It may be determined. Such a function is a case where a plurality of target planes SF are cleaned by a plurality of self-propelled robots 1, and the number of self-propelled robots 1 is less than the number of target planes SF. This is particularly effective when implementing

Here, efficient cleaning or the like means that, for example, when the self-propelled robot 1 is moved from one plane to another plane, the distance is shortened, or a portion with large dirt is given priority. In the case of cleaning (when the work is cleaning), it means the case where the work such as cleaning is preferentially performed for a portion that has passed since the previous cleaning or the like.

(Evacuation control unit EU)
Further, the control means CU may include a retraction control unit EU. The retreat control unit EU has a function of retreating the self-propelled robot 1 when a specific situation occurs in a state where the self-propelled robot 1 is arranged on the target plane SF of the structure SP. Yes.

Retracting the self-propelled robot 1 means moving the self-propelled robot 1 from the target plane SF or moving it to a specific location on the target plane SF.
Specifically, when a robot base RB capable of accommodating and holding the self-propelled robot 1 on the target plane SF of the structure SP is provided, the self-propelled robot is mounted on the robot base RB. 1 is equivalent to retracting the self-propelled robot 1.
Further, when there is no robot base RB, the self-propelled robot 1 can be retreated by moving the self-propelled robot 1 to a retreat space such as a peripheral edge or a corner of the target plane SF and fixing it to the target plane SF. It corresponds to.

The robot base RB and the retreat space where the self-propelled robot 1 retreats are set or set at a height that can be reached by the operator. If the robot base RB and the retreat space are set or set at such a height, if the self-propelled robot 1 is arranged at the retreat position, the operator lowers the self-propelled robot 1 from the robot base RB and the retreat space. (Fig. 7).

It should be noted that the height that can be reached by the operator includes both the height that the worker can reach using a platform or a stepladder and the height that can be reached without using these instruments. For example, if the height of the robot base RB and the evacuation space is 0 to 2000 mm, preferably about 0 to 1500 mm, a general worker can use the robot base RB and evacuation without using an instrument. The self-propelled robot 1 evacuated to the space can be lowered or placed on the robot base RB or the evacuation space.

Further, the specific situation for retracting the self-propelled robot 1 is not particularly limited, and is set as appropriate according to the environment in which the structure SP is installed, the structure of the structure SP, and the like.

For example, it includes a state where work such as cleaning by the self-propelled robot 1 has been completed. When the target plane SF is the surface of the solar cell array or the surface of the condensing mirror, if the self-propelled robot 1 that has completed the work such as cleaning exists on the target plane SF, the power generation efficiency is reduced. Therefore, it waits in the retracted position until the next timing of performing work such as cleaning. In addition, when the self-propelled robot 1 performs an operation such as cleaning on another target plane SF, the self-propelled robot 1 is placed at the retreat position in order to move to another target plane SF. That is, in order for the operator to lower the self-propelled robot 1 from the target plane SF, the self-propelled robot 1 is disposed at the retreat position. This function has not only the retraction control unit EU but also the operation state control unit SU. Therefore, when the movement to the retraction position is performed according to an instruction from the operation state control unit SU, the retraction control unit The EU may not issue this instruction.

Further, when abnormality occurs in the self-propelled robot 1 or the structure SP, the control unit 30 controls the self-propelled robot 1 to move to the retreat position.
In addition, when the abnormality of the self-propelled robot 1 or the structure SP occurs, for example, when the battery capacity of the self-propelled robot 1 is less than a certain value or when a sensor abnormality is detected, the control unit 30 When an error signal is received from the control unit CU or the like, a temperature rise exceeding the reference value, or a temperature drop below the reference value is detected. When a temperature rise exceeding the reference value occurs, there is a possibility that the control device malfunctions (thermal runaway) or the device is damaged by heat. Moreover, when the temperature fall which falls below a reference value arises, each apparatus of the self-propelled robot 1 may not operate | move well by temperature fall. In addition, when the temperature is less than 0 degrees Celsius, the traveling of the self-propelled robot 1 may be hindered due to freezing of the target plane SF or frost. Therefore, when the above-described state occurs, it is desirable to move the self-propelled robot 1 to the retreat position so as to prevent work defects such as damage and cleaning of the self-propelled robot 1.

Furthermore, when it is determined based on the information of the monitoring unit RU that the operation state control unit SU is in a state that is not suitable for work such as cleaning or is likely to be in a state that is not suitable for work such as cleaning The self-propelled robot 1 is controlled to move to the retracted position by the control unit 30 that has received the signal. When it is determined that the operating state control unit SU is in a state suitable for work such as cleaning based on the information of the monitoring unit RU, the control unit 30 that receives the signal causes the self-propelled robot 1 Moves from the retracted position to the target plane SF and starts work such as cleaning.

(If the slope changes)
In particular, in the case where the structure SP can change the inclination angle of the target plane SF with respect to the horizontal, when the inclination angle of the target plane SF is changed, the robot base RB and the retreat space are moved by the operator. It is desirable that it is provided at a reachable position.

For example, a solar cell module for solar power generation or a condensing mirror for solar power generation (hereinafter, both are collectively referred to as a solar panel SS) has a slope that changes in order to maintain high power generation efficiency (see FIG. 6 (B) and FIG. 7 (B)). Such a solar panel SS is arranged at the upper end of a support column or the like so that the inclination angle can be changed. In such a solar panel SS, the height of the column is often about 5 m, and at an angle at which the self-propelled robot 1 can self-travel (in other words, the angle at which the self-propelled robot 1 can perform operations such as cleaning). The height of the upper surface is about 5 m from the ground. On the other hand, the solar panel SS has a square shape with a side of about 10 m, and in this solar panel SS, a support column is connected to the center of the back surface. For this reason, when the inclination angle of the solar panel SS is increased, one end edge thereof is positioned in the vicinity of the ground. Therefore, when the inclination angle is increased so that the solar panel SS is almost vertical (see FIG. 7B), a robot base RB and a retreat space should be provided in a portion disposed near the ground. For example, the worker can reach the robot base RB and the retreat space.

If the robot base RB and the retreat space are provided as described above, the self-propelled robot 1 is moved to the robot base RB and the retreat space when an abnormality occurs in the self-propelled robot 1, and the target plane SF If the tilt angle is adjusted, the self-propelled robot 1 can be replaced or repaired.

In this case, it is desirable that the control unit 30 has a function of transmitting that the abnormality has occurred in the self-propelled robot 1 to the control unit that controls the operation of the target plane SF. For example, when an abnormality occurs in the self-propelled robot 1, a signal notifying the abnormality occurrence is transmitted from the control unit 30 to the control means CU. If the control means CU includes a plane control unit FS having a function of controlling the operation of the target plane SF, the inclination angle of the target plane SF can be adjusted by the plane control unit FS. In addition to the plane control unit FS, when the structure SP is provided with a control unit that controls the operation of the target plane SF, a command to change the inclination angle from the plane control unit FS is given to the control unit. Keep sending. Then, the inclination angle of the target plane SF can be adjusted by the control unit of the structure SP.

And, if an abnormality occurs in the self-propelled robot 1, it is desirable that either one or both of the control unit 30 and the control means CU have a function of notifying the operator of the occurrence of the abnormality. In this case, when the target plane SF changes the inclination angle, it is possible to prevent the leakage of information transmission to the operator, and the self-propelled robot 1 can be collected, replaced, and repaired. Then, since the target plane SF can be quickly returned to the original state, a decrease in power generation efficiency due to the abnormality of the self-propelled robot 1 can be suppressed.

In addition, the method of notifying an operator of abnormality of the self-propelled robot 1 is not particularly limited. For example, it is possible to employ a method in which a lamp or an alarm device is provided in the self-propelled robot 1 or the structure SP and the lamp is turned on or an alarm sound is sounded in the case of an abnormality. Moreover, you may make it transmit the signal which notifies abnormality generation from the control part 30 etc. directly to the terminal etc. which an operator has.

(Description of self-propelled robot 1)
An example of the self-propelled robot 1 used for cleaning the target plane SF in the work system of the present invention will be described below.
In addition, the self-propelled robot 1 used for cleaning the target plane SF by the work system of the present invention is not limited to the following configuration, and the self-propelled robot 1 having various configurations can be adopted.

As shown in FIG. 2, the self-propelled robot 1 of the present embodiment includes a robot main body 2 including a moving unit 4 for traveling on a target plane SF (see FIG. 5) of a structure SP, and the robot. A pair of cleaning units 10, 10 provided in the main body 2 and a control unit 30 (see FIG. 1) for controlling the operation of the moving means 4 and the pair of cleaning units 10, 10 are provided.

The control unit 30 may have a posture detection function for detecting the posture of the robot body 2. Specifically, it may have a function capable of detecting whether the robot body 2 is tilted, that is, whether the robot body 2 is tilted with respect to the horizontal.

(Robot body part 2)
As shown in FIGS. 2 and 3, the robot main body 2 includes moving means 4 for moving the self-propelled robot 1 along the target plane SF of the structure SP to be cleaned.

The moving means 4 includes a pair of side drive wheels 4a and 4a and one intermediate drive wheel 4b. Specifically, the pair of side drive wheels 4a and 4a and the intermediate drive wheel 4b are arranged to form a triangle in plan view (see FIG. 2). For this reason, the self-propelled robot 1 can be stably arranged on the target plane SF.

The pair of side drive wheels 4a and 4a employs general wheels that can only rotate around the rotation axis, but the intermediate drive wheel 4b employs omni wheels (omnidirectional wheels). Yes. Moreover, all the drive wheels 4a and 4b of the moving means 4 are connected to drive motors, respectively, so that each drive motor can independently drive the drive wheels 4a and 4b. The operating states of all the drive motors are controlled by the control unit 30 provided in the robot body 2. For this reason, if the operation state of each drive motor is controlled by the control unit 30, the self-propelled robot 1 can be moved linearly or turned.

In the robot body 2, the direction in which the side surface where the pair of side drive wheels 4 a and 4 a are not provided (the vertical direction in FIG. 2) corresponds to the front-rear direction of the self-propelled robot 1. Hereinafter, in the front-rear direction of the self-propelled robot 1, the intermediate drive wheel 4b side (lower side in FIG. 2) is referred to as the rear portion with respect to the pair of side drive wheels 4a and 4a, and the opposite side (upper side in FIG. 2). ) Is called the front part.

In addition, the operation state of each drive motor is controlled by the control unit 30, and the movement of the self-propelled robot 1 is controlled. As described above, the movement of the self-propelled robot 1 is controlled by a command from the control means CU. Of course, the movement path may be stored in the control unit 30 and automatically moved on the target plane SF along the movement path. It is also possible to control the movement of the self-propelled robot 1 by remote control using a remote controller or the like.

Furthermore, the drive wheel 4 is not limited to the above-described configuration, and may be configured so that the self-propelled robot 1 can be moved linearly or turned. For example, the omni wheel that is the intermediate drive wheel 4b may not be used as the drive wheel, but only the pair of drive wheels 4a and 4a may be used as the drive wheels. Further, instead of the omni wheel, a passive wheel (caster) may be employed for the intermediate drive wheel 4b. Even in this case, the moving direction of the self-propelled robot 1 can be freely changed by adjusting the rotation speeds of the pair of drive wheels 4a and 4a. Furthermore, it is good also as a structure similar to vehicles, such as a passenger car. That is, four wheels may be provided, and the front (or rear) two wheels may be used as steering wheels and the other wheels may be used as drive wheels, or may be set as four-wheel drive.

(Cleaning part 10)
As shown in FIGS. 2 to 4, the pair of cleaning parts 10 and 10 are provided at the front part and the rear part of the robot body part 2, respectively.

As shown in FIGS. 2 and 3, each cleaning unit 10 is connected to the robot body 2 by a frame 11. The cleaning unit 10 includes a brush 12. The brush 12 includes a shaft portion 12a and a pair of brush portions 12b and 12b provided on the outer peripheral surface of the shaft portion 12a (FIG. 3).

Both ends of the shaft portion 12a are rotatably supported by the frame of the cleaning unit 10. Moreover, when the self-propelled robot 1 is placed on the target plane SF, the axial direction thereof is provided so as to be substantially parallel to the target plane SF.

The pair of brush portions 12b and 12b are formed by arranging a plurality of brushes along the axial direction. Each brush portion 12b is provided such that the position of the brush is shifted along the circumferential direction as it moves in the axial direction of the shaft portion 12a (see FIGS. 2 and 4). In other words, each brush portion 12b is formed in a spiral shape on the side surface of the shaft portion 12a. In addition, the pair of brush portions 12b and 12b are arranged to form a double helix. That is, the pair of brush portions 12b and 12b are formed such that the brushes of the pair of brush portions 12b and 12b are rotated 180 degrees with respect to each other in the cross section orthogonal to the axial direction of the shaft portion 12a. (See Figure 4).

Moreover, as shown in FIG. 4, the cleaning part 10 is provided with the brush drive part 13 which rotates the axial part 12a of the brush 12 around an axis | shaft. Specifically, the brush drive unit 13 includes a brush drive motor 13a, and the main shaft of the brush drive motor 13a is connected to the end of the shaft 12a of the brush 12 by a belt pulley mechanism 13b. The operating state of the brush drive motor 13 a is controlled by the control unit 30.
For this reason, if the brush drive motor 13a is operated by the control part 30, the drive force will be transmitted to the axial part 12a of the brush 12 via the belt pulley mechanism 13b, and the brush 12 can be rotated.

Furthermore, in the above example, the case where the cleaning unit 10 cleans the target plane SF with the brush 12 has been described, but the method by which the cleaning unit 10 cleans the target plane SF is not particularly limited. For example, the cleaning unit 10 may be provided with a watering device (spray nozzle, etc.) and a wiper blade (squeegee) in addition to the brush 12, or a watering device (spray nozzle, etc.) and a wiper blade (squeegee) instead of the brush 12. May be. Further, in addition to the brush 12, a vacuum cleaner (suction type vacuum cleaner) may be provided, or only the vacuum cleaner (suction type vacuum cleaner) may be provided without providing the brush 12.

(Control unit 30)
Next, the control unit 30 will be described.
As shown in FIG. 1, the control unit 30 includes a movement control unit 31 and an operation control unit 32.

(Movement control unit 31)
First, the movement control unit 31 controls and monitors the operation of each drive motor that drives the pair of side drive wheels 4 a and 4 a and the intermediate drive wheel 4 b in the moving unit 4. The movement control unit 31 controls the operation of the three drive motors to control the moving direction and moving speed of the robot body 2, that is, the moving direction and moving speed of the self-propelled robot 1. For example, when the drive motors are operated so that the moving speeds (specifically, the rotational speed (rotational speed) × the peripheral length of the drive wheels) of all the drive wheels 4 are the same, the self-propelled robot 1 Can be moved straight ahead. On the other hand, when each drive motor is operated so as to cause a difference in moving speed between the pair of side drive wheels 4a, 4a, the self-propelled robot 1 can be moved to turn.

(Operation control unit 32)
The operation control unit 32 controls and monitors the operation of the brush drive motor 13a. In addition, when the self-propelled robot 1 performs work other than cleaning, the operation control unit 32 controls and monitors the operation of working devices, sensors, instruments, and the like.

(Airflow forming cover)
As shown in FIG. 8, the cleaning unit 10 preferably includes an airflow forming cover 15 between the brush 12 and the front surface of the robot body 2.

The airflow forming cover 15 is a member provided so as to cover a part of the brush 12 extending along the axial direction of the shaft portion 12 a of the brush 12. Specifically, the airflow forming cover 15 is provided so as to cover a portion above the brush 12 from a portion of the brush 12 on the robot body 2 side (that is, a portion located on the opposite side to the target plane SF). The air flow forming force bar 15 is formed so that the surface on the brush 12 side is a surface recessed from the brush 12 side. Specifically, it has an opening on the brush 12 side, and is formed in a substantially C shape in sectional view or a substantially reverse letter shape in sectional view.

Next, cleaning of the target plane SF by the self-propelled robot 1 having the airflow forming cover 15 will be described.

First, the self-propelled robot 1 of the present embodiment is placed on the target plane SF. Then, all the drive wheels 4 are arranged in contact with the target plane SF (see FIGS. 2, 3, and 8).

In this state, when the brush drive unit 13 of the pair of cleaning units 10 and 10 is operated, the brush 12 rotates. Then, the brush part 12b of each brush 12 moves so that the front-end | tip part sweeps the object plane SF.

If the self-propelled robot 1 is moved by the moving mechanism 4 in this state, the target plane SF can be sequentially swept by the brush portion 12b of the brush 12. Then, along with the movement of the self-propelled robot 1, the target plane SF can be sequentially cleaned (see FIG. 6).

Here, in the self-propelled robot 1 of this embodiment, only the target plane SF is swept by the brush portion 12b of the brush 12, and a mechanism for collecting the swept dust is not provided. For this reason, the dust etc. of the part (sweep part) which the brush part 12b of the brush 12 contacted only floats up from the object plane SF.

However, the cleaning unit 10 is rotated in a direction in which the tip of the brush unit 12b of the brush 12 approaches the target plane SF while being separated from the robot body 2. Then, on the target plane SF side (downward) with respect to the shaft portion 12a of the brush 12, an air flow (blowout flow) outward from the robot body 2 is generated with the movement of the brush portion 12b. For this reason, dust and the like floating from the target plane SF are blown away outward from the sweeping portion by the blowing flow, so that the surface of the sweeping portion can be in a state with little dust.

On the other hand, an air flow toward the robot body 2 is generated above the shaft portion 12a of the brush 12. Then, the air flow is returned to the air flow outward from the robot body 2 by the airflow forming cover 15 (see arrow a in FIG. 8). That is, the airflow forming cover 15 enhances the blowing flow. Then, dust and the like floating from the target plane SF are blown farther from the sweeping portion by this blowing flow, so that it is possible to prevent the vicinity of the sweeping portion from being contaminated by the blown dust and the like.

Note that the dust blown off will eventually fall, but since the dust is diffused by the blowout flow, only a small amount of dust will fall in each place. Moreover, since the dust blown off is further diffused by the wind or the like, even when the dust is scattered, the surrounding dirt is in a state where the dirt is less than that of the sweeping part before the brush part 12b of the brush 12 contacts. Become. Therefore, it is possible to prevent other parts from becoming dirty by blowing off dust and the like as described above. Then, the target plane SF can be cleaned without collecting dust removed by sweeping from the target plane SF. And since it is not necessary to provide the robot main body 2 with the part which collects dust, the robot main body 2 is not enlarged. In addition, since it is not necessary to suck dust or the like, power consumption for operating the self-propelled robot 1 can be reduced, so that cleaning of a very large place can be continuously performed.

For example, in the case where the target plane SF is the surface of a solar cell array of a large-scale photovoltaic power generation facility installed in a desert or an area where volcanic ash falls, dust accumulated on the surface is fine sand or the like. In addition, in order to prevent the shade that hinders power generation from occurring, it is normal that no obstructing buildings or the like are arranged around the place where the power is installed. For this reason, the wind is blowing strongly around the large-scale photovoltaic power generation facility. Therefore, if the sand on the surface of the solar cell array is cleaned by the self-propelled robot 1 of this embodiment, and sand or ash is once peeled off from the surface of the solar cell array and blown away, the action of wind and the like is also helped. As a result, sand or the like diffuses far away, and the surface of the solar cell array can be made less dusty in sequence. And since the power consumption for the self-propelled robot 1 to clean can be reduced, the work can be executed continuously for a long time. Therefore, the cleaning of the solar cell array of the large-scale photovoltaic power generation facility as described above can be performed efficiently.

It should be noted that if the rotation direction of the brush 12 is rotated in the above-described direction, the efficiency of removing dust and the like can be increased, but the rotation direction of the brush 12 may be rotated in the opposite direction. In this case, an air flow toward the robot main body 2 is generated below the shaft portion 12 a of the brush 12, so that dust or the like that is lifted by the brush 12 flows into the airflow forming force bar 15. However, since air flows outward from the robot body 2 above the shaft portion 12a of the brush 12, the dust floating from the plane can be finally scattered outward.

Further, in FIG. 3, the tip of the airflow forming force bar 15 extends only above the axis of the brush 12, but the position of the tip of the airflow forming cover 15 is not particularly limited. However, the wider the area where the upper part of the brush 12 is covered by the airflow forming cover 15, the higher the airflow forming effect due to the rotation of the brush 12. Therefore, the airflow forming cover 15 is preferably provided so as to cover the entire upper portion of the brush 12 (see FIG. 8). For example, as shown in FIG. 8, the tip of the air flow forming force bar 15 may be extended to a position where the tip of the brush 12 is farthest from the robot body 2.

(Blade 12f)
Further, a blade 12f may be provided on the shaft portion 12a of the brush 12 separately from the brush portion 12b (see FIG. 8). If the blade 12f is provided, an air flow can be formed not only by the brush portion 12b but also by the blade 12f, so that the air flow formed by the rotation of the brush 12 can be strengthened. Since it is desirable to provide the blade 12f so as not to interfere with the brush portion 12b of the brush 12, when the brush portion 12b of the brush 12 is provided in a spiral shape as in the above example, the blade 12f is also spiraled. It is desirable to provide in a shape. The shape of the blade 12f is not particularly limited as long as the airflow can be formed by the rotation of the brush 12. For example, the blade 12f can be formed by standing a plate-like member on the shaft portion 12a. In this case, the length of the plate-like member (the length in the radial direction of the shaft portion 12a) is not particularly limited, but is preferably long enough not to obstruct the cleaning by the brush portion 12b. For example, if it is about half the length of the brush portion 12b, a sufficient airflow forming effect can be obtained. Furthermore, the position and number of the blades 12f are not particularly limited. For example, as shown in FIG. 8, if one (that is, two) is provided in the middle of the pair of brush portions 12b, 12b in the circumferential direction of the shaft portion 12a, the air flow is prevented while preventing the weight of the brush 12 from increasing. The formation effect can be sufficiently enhanced.

(Air supply means 20)
Further, an air supply means 20 that blows air toward the brush 12 may be provided. In this case, the flow of air supplied from the air supply means 20 can be applied to the brush portion 12 b of the brush 12. Then, dust and the like attached to the brush portion 12b of the brush 12 can be removed by this air flow, so that the brush portion 12b of the brush 12 can be maintained in a clean state. Then, the fall of the effect which cleans the object plane SF by the brush part 12b of the brush 12 can be prevented.

Although the structure of the air supply means 20 is not particularly limited, for example, a plurality of fans 21 can be provided on the inner wall of the airflow forming cover 15 to form the air flow as described above. Further, an air discharge port may be provided instead of the plurality of fans 21, and air may be supplied to the air discharge port from an air supply means such as a blower via a duct.

Moreover, when supplying air from air supply means, such as a blower, you may make it blow off air from the axial part 12a of the brush 12 toward the brush part 12b. For example, a hollow pipe is adopted as the shaft portion 12a, and a blowout port is provided on the side surface. Then, if air is supplied into the pipe from the shaft end of the shaft portion 12a, the air can be blown out from the outlet. Then, since air can be reliably applied to the pair of brush portions 12b, 12b of the brush 12, the effect of cleaning the brush portion 12b can be enhanced.

(Squeeze member 15b)
As a method for cleaning the brush portion 12b, a member for squeezing the brush portion 12b of the brush 12 may be provided. For example, as shown in FIG. 8, if the ironing member 15b is provided inside the airflow forming force bar 15, when the brush 12 rotates, the brush portion 12b always comes into contact with the ironing member 15b during one rotation. The sand attached to the brush portion 12b can be removed. The position, shape, and installation method of the ironing member 15b are not particularly limited, but in order to prevent the airflow forming effect due to the airflow forming force bar 15 due to the ironing member 15b from being reduced, the ironing member 15b is It is desirable to install so that a gap is formed between the ironing member 15b and the inner surface of the airflow forming cover 15. For example, if a rod-shaped ironing member 15b is provided, both ends or the middle of the ironing member 15b are connected to the inner surface of the airflow forming cover 15 by a bracket or the like. Then, since a gap is formed between the ironing member 15b and the inner surface of the airflow forming cover 15 except for the position where the bracket is provided, the airflow forming effect by the airflow forming cover 15 due to the provision of the ironing member 15b is reduced. Can be prevented.

The self-propelled robot of the present invention is used for cleaning a solar cell array of a large-scale photovoltaic power generation facility, a condensing mirror of a solar thermal power generation facility, a light-receiving surface in a solar water heater, a defect inspection of the plane, a surface shape, etc. Thickness measurement, temperature measurement, surface roughness measurement, light reflectance and glossiness measurement on the surface, measurement of other physical quantities, collection and observation, peeling of surface deposits and paint, painting and It can be used for pretreatment, coating work, film sticking, polishing, marking, communication by information presentation, and the like.

CU control means RU monitoring unit SU operation state control unit DU placement adjustment unit PU work control unit EU retraction control unit FS plane control unit 1 self-propelled robot 2 robot body unit 10 cleaning unit 12 brush 12a shaft unit 12b brush unit 15 air flow formation Cover SP Structure SF Target plane OB Obstacle RB Robot base

Claims (9)

1. A work system for performing work on a structure,
   The work system is
   A self-propelled robot that self-propels and performs work on the plane of the structure;
   Control means for controlling the operation of the self-propelled robot,
   The control means includes
   A monitoring unit for monitoring the state of the structure and / or the surrounding environment;
   An operation state control unit that switches the self-propelled robot between a working state and a standby state in accordance with information from the monitoring unit, and a work system using the self-propelled robot .
2. A work system for performing work on a structure,
   The work system is
   A self-propelled robot that self-propels and performs work on the plane of the structure;
   Control means for controlling the operation of the self-propelled robot,
   The control means includes
   A monitoring unit for monitoring the state of the structure and / or the surrounding environment;
   Work using a self-propelled robot characterized by comprising an arrangement adjusting unit that determines a position where the self-propelled robot is arranged on the plane of the structure according to information from the monitoring unit system.
3. A work system for performing work on a structure,
   The work system is
   A self-propelled robot that self-propels and performs work on the plane of the structure;
   Control means for controlling the operation of the self-propelled robot,
   The structure is
   It has a plurality of planes to work with the self-propelled robot,
   Between adjacent planes, there is an obstacle that the self-propelled robot cannot travel,
   The control means includes
   A monitoring unit for monitoring the state of the structure and / or the surrounding environment;
   In accordance with information from the monitoring unit, the self-propelled robot includes a placement adjustment unit that determines a plane on which to perform work,
   The arrangement adjusting unit is
   A self-propelled robot comprising an instruction function for instructing an operator of a plane on which the self-propelled robot performs the next work after the self-propelled robot completes the work of one plane. Work system used.
4. The self-propelled robot is
   It is a self-propelled robot that self-propels and cleans the plane,
   The work system using the self-propelled robot according to claim 1, 2 or 3, wherein the work performed on the structure is a cleaning work.
5. The monitoring unit is
   It has a function to detect the wind direction,
   The control means includes
   The work using the self-propelled robot according to claim 4, further comprising a work control unit that determines a movement path of the self-propelled robot based on information on a wind direction detected by the monitoring unit. system.
6. The self-propelled robot is
   The work system using the self-propelled robot according to claim 5, further comprising an airflow forming unit that forms an airflow flowing outward from the robot body.
7. The control means includes
   In a state where the self-propelled robot is arranged on the plane of the structure, the operation by the self-propelled robot is completed and / or abnormality of the self-propelled robot and / or the structure is detected. The operation using the self-propelled robot according to any one of claims 1 to 6, further comprising a retraction control unit that moves the self-propelled robot to a retreat position when it is detected. system.
8. The structure is
   The inclination angle of the plane with respect to the horizontal can be changed,
   The retracted position is provided at a position where the height from the reference plane changes according to a change in the inclination angle of the plane.
   The control means includes
   When it is detected that the cleaning by the self-propelled robot has been completed and / or the abnormality of the self-propelled robot and / or the structure has occurred, the retreat position is a position that can be reached by an operator. The work system using the self-propelled robot according to claim 7, further comprising a plane control unit that changes an inclination angle of the plane on which the self-propelled robot is arranged.
9. The structure is
   The work system using a self-propelled robot according to any one of claims 1 to 8, wherein the work system is a solar cell array or a condensing mirror formed by one or a plurality of solar cell modules or mirrors.

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