WO2015199197A1 - Système de travail mettant en œuvre un robot automoteur - Google Patents

Système de travail mettant en œuvre un robot automoteur Download PDF

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Publication number
WO2015199197A1
WO2015199197A1 PCT/JP2015/068408 JP2015068408W WO2015199197A1 WO 2015199197 A1 WO2015199197 A1 WO 2015199197A1 JP 2015068408 W JP2015068408 W JP 2015068408W WO 2015199197 A1 WO2015199197 A1 WO 2015199197A1
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WO
WIPO (PCT)
Prior art keywords
self
propelled robot
work
robot
plane
Prior art date
Application number
PCT/JP2015/068408
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English (en)
Japanese (ja)
Inventor
三宅　徹
和郎 森田
Original Assignee
株式会社未来機械
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Publication date
Application filed by 株式会社未来機械 filed Critical 株式会社未来機械
Priority to JP2016529663A priority Critical patent/JP6583733B2/ja
Publication of WO2015199197A1 publication Critical patent/WO2015199197A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
    • H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
    • H02S40/10—Cleaning arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

Definitions

  • 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.
  • 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.
  • 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.
  • the equipment is installed in a general house, people can also clean it regularly.
  • 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.
  • the solar power generation system is composed of solar cell modules having a power generation output of 100 watts per sheet.
  • the number of solar cell modules reaches 10,000.
  • the area of one solar cell module is 1 square meter, the area to be cleaned reaches 10,000 square meters.
  • 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.
  • Patent Documents 1 and 2 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.
  • 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.
  • 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.
  • 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 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 work system using a self-propelled robot 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the instruction function instructs the operator to which plane to move.
  • Robot transfer work can be made more efficient.
  • 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.
  • cleaning can be performed safely and appropriately on the plane of the structure.
  • the work control unit sets an appropriate cleaning path based on the wind direction, the plane of the structure can be efficiently cleaned.
  • 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.
  • the operator can remove the self-propelled robot from the structure. And repair can be done easily.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the work performed by the self-propelled robot is not particularly limited.
  • 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.
  • 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.
  • a self-propelled robot that is, each light receiving surface, hereinafter referred to as a target plane SF.
  • 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. .
  • the work system using the self-propelled robot 1 of this embodiment includes a control unit CU and the 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.
  • 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.
  • 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.
  • 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 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.
  • 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
  • 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.
  • 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.
  • the working state means a state in which the self-propelled robot 1 performs self-propelled cleaning on the target plane SF of the structure SP.
  • the standby state means a state in which the self-propelled robot 1 is moved to the retreat position.
  • 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.
  • the retreat space or the robot base RB is the retreat position.
  • 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.
  • 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.
  • the self-propelled robot 1 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control means CU is provided separately from the self-propelled robot 1 .
  • the self-propelled robot 1 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.
  • control means CU may be provided in the self-propelled robot 1 itself.
  • the control unit 30 of the self-propelled robot 1 may have the function of the control means CU.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control unit 30 receives a command of the work state (cleaning state) from the operation state control unit SU.
  • the self-propelled robot 1 on the target plane SF moves to the work start position.
  • the operation such as cleaning can be performed all over the entire target plane SF.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the weight of the self-propelled robot 1 is light when the above-described operation is performed manually.
  • 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.
  • the obstacle part OB is not limited to the space as described above.
  • the obstacle OB includes irregularities and wall surfaces that the self-propelled robot 1 cannot get over.
  • 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.
  • 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.
  • a function for preventing the self-propelled robot 1 from falling from the target plane SF is provided. It is desirable.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an electromagnet or a permanent magnet can be used as the magnet.
  • the fixed release can be controlled by turning on and off the switch.
  • the fixed release can be controlled by changing the distance. .
  • 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.
  • 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.
  • 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.
  • 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.
  • the device for notifying the operator of the instruction is not particularly limited.
  • 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.
  • 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.
  • 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.
  • 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
  • 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.
  • 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.
  • 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.
  • the self-propelled robot is mounted on the robot base RB. 1 is equivalent to retracting the self-propelled robot 1.
  • 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).
  • 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.
  • 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.
  • 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.
  • the target plane SF is the surface of the solar cell array or the surface of the condensing mirror
  • 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.
  • 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.
  • the control unit 30 controls the self-propelled robot 1 to move to the retreat position.
  • 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.
  • each apparatus of the self-propelled robot 1 may not operate
  • 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.
  • the control unit 30 controls the self-propelled robot 1 to move to the retracted position by the control unit 30 that has received the signal.
  • 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.
  • the robot base RB and the retreat space are moved by the operator. It is desirable that it is provided at a reachable position.
  • a solar cell module for solar power generation or a condensing mirror for solar power generation has a slope that changes in order to maintain high power generation efficiency (see FIG. 6 (B) and FIG. 7 (B)).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • a signal notifying the abnormality occurrence is transmitted from the control unit 30 to the control means CU.
  • 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.
  • 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.
  • the control unit 30 and the control means CU have a function of notifying the operator of the occurrence of the abnormality.
  • 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.
  • the method of notifying an operator of abnormality of the self-propelled robot 1 is not particularly limited.
  • 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.
  • 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.
  • 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.
  • the direction in which the side surface where the pair of side drive wheels 4 a and 4 a are not provided corresponds to 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.
  • each drive motor is controlled by the control unit 30, and the movement of the self-propelled robot 1 is controlled.
  • the movement of the self-propelled robot 1 is controlled by a command from the control means CU.
  • 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.
  • 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.
  • 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.
  • a passive wheel may be employed for the intermediate drive wheel 4b.
  • 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.
  • 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.
  • 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).
  • each brush portion 12b is formed in a spiral shape on the side surface of the shaft portion 12a.
  • 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).
  • 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
  • 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.
  • the cleaning unit 10 cleans the target plane SF with the brush 12
  • the method by which the cleaning unit 10 cleans the target plane SF is not particularly limited.
  • 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.
  • a vacuum cleaner suction type vacuum cleaner
  • only the vacuum cleaner suction type vacuum cleaner
  • 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.
  • 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.
  • 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.
  • the self-propelled robot 1 can be moved to turn.
  • 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.
  • 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.
  • 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).
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the self-propelled robot 1 of this embodiment 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.
  • 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.
  • 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.
  • the dust floating from the plane can be finally scattered outward.
  • 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.
  • 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.
  • the blade 12f can be formed by standing a plate-like member on the shaft portion 12a.
  • 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.
  • 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.
  • 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.
  • air supply means such as a blower
  • 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.
  • a member for squeezing the brush portion 12b of the brush 12 may be provided.
  • 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.
  • 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

Abstract

Cette invention concerne un système de travail mettant en œuvre un robot automoteur, capable de déplacer le robot automoteur efficacement de manière à effectuer efficacement un travail sur une surface plane. Ledit système de travail (S) conçu pour effectuer un travail sur une structure, comprend : un robot automoteur (1) qui se déplace par lui-même sur une surface plane cible d'une structure (SP) de manière à exécuter un travail sur la surface plane ; et des moyens de commande (CU) pour commander les opérations du robot automoteur (1). Lesdits moyens de commande (CU) sont équipés d'une partie de surveillance (RU) pour surveiller l'état de la structure (SP) et/ou le milieu environnant, et d'une partie de commande d'état de fonctionnement (SU) pour commuter le robot automoteur (1) entre un état de travail et un état de veille en fonction d'informations provenant de la partie de surveillance (RU). Ladite partie de surveillance (RU) surveille l'état de la structure (SP) et/ou le milieu environnant, et la commutation entre l'état de travail et l'état de veille est réalisée conformément aux informations provenant de la partie de surveillance (RU).
PCT/JP2015/068408 2014-06-25 2015-06-25 Système de travail mettant en œuvre un robot automoteur WO2015199197A1 (fr)

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WO2019100625A1 (fr) * 2017-11-23 2019-05-31 浙江国自机器人技术有限公司 Procédé de nettoyage d'un robot de nettoyage photovoltaïque
WO2019100623A1 (fr) * 2017-11-23 2019-05-31 浙江国自机器人技术有限公司 Procédé de commande applicable à un robot de nettoyage de réseau photovoltaïque
US10842333B2 (en) 2016-05-09 2020-11-24 Vorwerk & Co. Interholding Gmbh System and method for cleaning a floor using a cleaning robot

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