WO2020080549A1 - Robot de nettoyage - Google Patents

Robot de nettoyage Download PDF

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Publication number
WO2020080549A1
WO2020080549A1 PCT/JP2019/041232 JP2019041232W WO2020080549A1 WO 2020080549 A1 WO2020080549 A1 WO 2020080549A1 JP 2019041232 W JP2019041232 W JP 2019041232W WO 2020080549 A1 WO2020080549 A1 WO 2020080549A1
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WO
WIPO (PCT)
Prior art keywords
solar cell
frame
cell array
brush
unit
Prior art date
Application number
PCT/JP2019/041232
Other languages
English (en)
Japanese (ja)
Inventor
三宅　徹
Original Assignee
株式会社未来機械
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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 JP2020553371A priority Critical patent/JP7359450B2/ja
Publication of WO2020080549A1 publication Critical patent/WO2020080549A1/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
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • B08B1/32—
    • 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 cleaning robot. More specifically, the present invention relates to a cleaning robot that cleans surfaces such as a solar cell array used for solar power generation and a condenser 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 general houses to large-scale power generation facilities with a power generation capacity of over 1 megawatt for commercial use.
  • large-scale solar thermal power generation facilities having a power generation capacity exceeding 1 megawatt, and they are expected as an alternative power generation facility for thermal power generation and nuclear power generation.
  • each solar cell module has a power generation output of 100 watts.
  • the entire solar power generation facility has 10,000 solar cell modules. If 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 this solar cell array is approximately 50 to 1000 square meters, although it varies depending on various conditions in the field. Therefore, in a large-scale photovoltaic power generation facility, a cleaning robot that automatically or remotely runs on a solar cell array or a panel frame to automatically perform cleaning is an effective cleaning means.
  • Patent Documents 1 to 4 disclose cleaning robots that run along the rows of the solar cell array in equipment where a plurality of solar cell arrays are arranged in one row (or multiple rows). It is described in these cleaning robots that the surface of the solar cell array or the like can be cleaned by a brush or the like by running a single row (or a plurality of rows) of the solar cell array along the row.
  • the cleaning robots of Patent Documents 1 to 4 can also clean the solar cell array while self-propelled, but the cleaning robot that can more effectively clean the surface of the solar cell array, and the cleaning robot that can effectively perform tasks other than cleaning Is required.
  • an object of the present invention is to provide a cleaning robot capable of effectively performing work such as cleaning of a solar cell array.
  • a cleaning robot is a robot for cleaning a surface of a solar cell array having a plurality of solar cell modules installed side by side, the cleaning section including a brush for cleaning the surface of the solar cell modules, A frame; and a traveling unit provided on the frame for traveling the frame in a direction intersecting the rotation axis direction of the brush of the cleaning unit.
  • the frame has a shaft of the brush of the cleaning unit.
  • a cleaning robot according to a second aspect of the present invention is characterized in that, in the first aspect, the brush of the cleaning unit includes two brushes.
  • a cleaning robot is the cleaning robot according to the second aspect, wherein the frame includes a first end portion and a second end portion that are separated from each other in a rotation axis direction of the brush of the cleaning unit.
  • a first frame portion having an end portion, a second frame portion having the second end portion, a connecting portion that connects the first frame portion and the second frame portion, and Of the two brushes, one end of the first brush is held by the first end of the first frame portion, and the other end thereof is held by the second end side.
  • One end of the two brushes is held by the second end of the second frame part, and the other end of the second brush is different from the first brush when viewed from the direction in which the frame is run by the running part.
  • a cleaning robot of a fourth invention is characterized in that, in the first, second or third invention, the bearing is a spherical bearing.
  • a cleaning robot according to a fifth aspect of the present invention is the cleaning robot according to any one of the first to fourth aspects, further including a control unit that controls the operation of the cleaning unit and the traveling unit, and the control unit is a tip of a brush of the cleaning unit. The operation of the traveling unit and / or the cleaning unit is controlled so that the peripheral speed of the traveling unit is faster than the traveling speed of the frame by the traveling unit.
  • a cleaning robot is a robot for cleaning a surface of a solar cell array having a plurality of solar cell modules arranged side by side, the cleaning section having a brush for cleaning the surface of the solar cell modules,
  • the cleaning device further includes: a frame; and a traveling unit that is provided on the frame and that causes the frame to travel in a direction intersecting a rotation axis direction of the brush of the cleaning unit.
  • a brush cover that is longer than the length of the solar cell array in the parallel direction is provided, and the brush cover has a lower end opening at the lower end and extends axially of the brush that covers the brush from above.
  • a cleaning robot according to a seventh aspect of the present invention is the cleaning robot according to the sixth aspect, wherein the first cover is provided with a vent for introducing outside air into the brush cover from the outside.
  • a cleaning robot according to an eighth aspect of the present invention is the cleaning robot according to the seventh aspect, wherein the second cover is provided at both ends of the first cover, and the second cover has air discharged from the inside of the brush cover to the outside.
  • a cleaning robot according to a ninth invention is the cleaning robot according to the sixth, seventh or eighth invention, wherein the brush cover is arranged between an edge facing the surface of the solar cell array and the surface of the solar cell array. It is characterized by having a member.
  • a cleaning robot according to a tenth aspect of the present invention is the cleaning robot according to any one of the first to ninth aspects, wherein the cleaning unit includes a brush cover that covers the brush from above, and the brush of the cleaning unit has a rotating shaft of the brush. The upper portion is rotated so that the tip of the brush moves in a direction opposite to the traveling direction of the frame, and a baffle plate is installed in the brush cover above the rotation axis of the brush.
  • a cleaning robot is a robot for cleaning a surface of a solar cell array having a plurality of solar cell modules installed side by side, the frame being provided on the frame, and the frame being provided on the solar cell array.
  • the solar cell module includes a traveling unit that travels along the surface and a cleaning unit that cleans the surface of the solar cell module, and the frame is relatively movable along a direction orthogonal to the traveling direction of the traveling unit.
  • a first frame part and a second frame part provided on the first frame part, and the cleaning part has two brushes, and the first brush of the two brushes is provided on the first frame part. And a second brush of the two brushes is provided in the second frame portion.
  • a cleaning robot according to a thirteenth invention is the cleaning robot according to the eleventh or twelfth invention, characterized in that the first frame portion and the second frame portion are connected so as to be relatively movable and separable by a connecting mechanism. .
  • a cleaning robot is a robot for cleaning the surface of a solar cell array having a plurality of solar cell modules installed side by side, the frame being provided in the frame, and the frame being provided in the solar cell array.
  • a traveling unit that travels along the surface, a guide unit that is provided at the first end of the frame, and that guides the traveling of the frame along the first end edge of the solar cell array, and the operation of the traveling unit.
  • the solar cell module includes a control unit that controls the surface of the solar cell module, and a cleaning unit that cleans the surface of the solar cell module.
  • the control unit includes an attitude detection unit that detects the attitude of the frame.
  • a cleaning robot is the cleaning robot according to the fourteenth aspect, wherein the posture detection unit includes a first posture detection unit provided at a first end of the frame and a second posture provided at a second end of the frame.
  • a posture detecting unit; and the control unit after the first posture detecting unit detects that the frame is tilted by a first tilt angle or more with respect to the first end edge of the solar cell array, When the second attitude detection unit detects that the frame is tilted by a second tilt angle or more with respect to the second edge of the solar cell array, the operation of the traveling unit is stopped.
  • a cleaning robot according to a sixteenth invention is the cleaning robot according to the fifteenth invention, wherein the solar cell module is provided with a panel frame around a light-receiving surface, and the traveling unit is provided with wheels traveling on the panel frame of the solar cell module.
  • the second inclination angle is set to an angle smaller than an angle at which the wheels of the traveling unit fall from the panel frame.
  • the cleaning robot of the seventeenth invention is characterized in that, in the fourteenth, fifteenth, or sixteenth invention, the width of the wheel of the traveling portion is wider than the width of the panel frame of the solar cell module.
  • a cleaning robot according to an eighteenth invention is the cleaning robot according to the fourteenth, fifteenth, sixteenth or seventeenth invention, wherein the traveling unit includes a wheel traveling on a panel frame of the solar cell module and a drive source for driving the wheel.
  • the guide unit includes an edge roller arranged on the first end surface of the solar cell array, and a transmission mechanism for transmitting the driving force generated by the driving source of the traveling unit to the edge roller of the guide unit. Is provided.
  • a cleaning robot is the cleaning robot according to any one of the fourteenth to eighteenth aspects, wherein, in the traveling direction of the frame, the control section is located in a traveling direction forward of a position where the traveling section is in contact with the solar cell array.
  • a deceleration control for decelerating the traveling speed of the frame when the first detection unit detects an edge of the solar cell array located forward of the frame in the traveling direction.
  • a cleaning robot according to a twentieth aspect of the invention is the cleaning robot according to the nineteenth aspect of the invention, in the traveling direction of the frame, the traveling direction is located behind the second detection section and ahead of the location where the traveling section contacts the solar cell array. It is characterized in that it is equipped with a danger detection unit.
  • a cleaning robot according to a twenty-first aspect of the present invention is the cleaning robot according to the twentieth aspect, wherein the traveling unit includes wheels traveling on a panel frame of the solar cell module and a drive source for driving the wheels.
  • a cleaning robot according to a twenty-second aspect is the cleaning robot according to any one of the first to twenty-first aspects, wherein the frame has a first handle provided at a first end of the frame and a second handle provided at a second end of the frame. Two handles are provided, and the first handle has, in the frame, a grip portion that is bent toward a surface facing the solar cell array when the frame is arranged on the solar cell array.
  • a cleaning robot according to a twenty-third aspect of the present invention is the cleaning robot according to the twenty-second aspect, wherein the second handle is bent in the frame on a side opposite to a surface facing the solar cell array when the frame is arranged on the solar cell array. It is characterized by having a grip portion.
  • a cleaning robot according to a twenty-fourth aspect of the present invention is the cleaning robot according to any one of the first to twenty-third aspects, wherein the cleaning unit includes a brush, and the frame has a rear portion in the traveling direction of the frame in the traveling direction behind the brush of the cleaning unit.
  • the static elimination member is provided so that its tip is in contact with the solar cell array or the tip is slightly separated from the solar cell array.
  • a cleaning robot according to a twenty-fifth aspect of the present invention is the cleaning robot according to any one of the first to twenty-fourth aspects, further comprising a connecting member arranged on the solar cell module and passed between adjacent solar cell modules, wherein the connecting member has a longitudinal direction. Is provided with a main body having a length longer than the gap between the solar cell modules, and an end member provided so as to be bendable with respect to the longitudinal end of the main body.
  • a cleaning robot according to a twenty-sixth aspect of the present invention is the cleaning robot according to the twenty-fifth aspect, wherein the main body portion and the end member are arranged on a solar cell module, and a fixing portion for fixing the traveling portion to a panel frame of the solar cell module. And are provided.
  • a cleaning robot according to a twenty-seventh aspect of the present invention is the cleaning robot according to any one of the first to twenty-sixth aspects, further including a lifting mechanism for lifting the cleaning robot, wherein the lifting mechanism includes an engaging member provided at an end of the frame and the engaging member.
  • a lift member removably connected to the coupling member including a main body, a handle provided at one end of the main body for an operator to hold, and the main body. And an engaging portion which is provided at the other end of the engaging portion and is connected to the engaging member.
  • a cleaning robot according to a twenty-eighth aspect of the present invention is the cleaning robot according to the twenty-seventh aspect, wherein the lift member is separated from the upper engaging portion having an upper engaging groove having an opening on the lower surface and is separated from the upper engaging portion.
  • a lower engaging portion having a lower engaging groove that is parallel to the axial direction of the upper engaging groove of the upper engaging portion and has an opening on the upper surface, and the engaging member is above the lift member.
  • a cleaning robot according to a twenty-ninth aspect of the present invention is the cleaning robot according to the twenty-eighth aspect, wherein the upper insertion portion of the engagement member is formed into a shape that can be swung while being inserted into the upper engagement groove of the upper engagement portion of the lift member.
  • the length from the inner bottom surface to the upper surface of the lower engagement portion is larger than the length from the upper insertion portion to the lower insertion portion.
  • a cleaning robot according to a thirtieth aspect of the present invention is the cleaning robot according to any one of the first to twenty-ninth aspects, further including a state detection mechanism for detecting a state of the solar cell array, the state detection mechanism detecting a state of the solar cell array. And a determination unit that determines the state of the solar cell array based on the information detected by the state detection unit.
  • a cleaning robot according to a thirty-first invention is characterized in that, in the thirtieth invention, the state detection unit includes a temperature detection unit that detects a temperature of the solar cell module.
  • a cleaning robot according to a thirty-second invention is the cleaning robot according to the thirtieth invention, wherein the state detection unit irradiates the surface of the solar cell array with light, and the light emitted by the light irradiation unit is the surface of the solar cell array.
  • a light receiving unit that receives the reflected light reflected by the light receiving unit, and the determination unit has a function of determining the dirt on the surface of the solar cell array based on the reflected light received by the light receiving unit. Is characterized by.
  • a cleaning robot according to a thirty-third aspect of the present invention is the cleaning robot according to any one of the first to thirty-second aspects, including a manual brush for an operator to operate and clean the surface of the solar cell module, and the frame holds the manual brush. It is characterized by being provided with a manual brush holder.
  • the cleaning efficiency can be increased.
  • the length of each brush can be shortened, whirling when the brush rotates can be suppressed.
  • the second end portion of the first brush and the second end portion of the second brush overlap, so it is possible to suppress cleaning leakage.
  • the structure of the bearing portion can be simplified.
  • the surface of the solar cell module can be reliably cleaned by the cleaning unit.
  • ⁇ Brush cover> since the airflow flowing in the axial direction of the first cover can be formed by the air blower, the airflow can be formed inside the brush cover. Then, since the brush cover is longer than the length of the solar cell module in the direction parallel to the rotation axis direction of the brush, it is possible to discharge dust or the like from the solar cell module from the end portion of the brush cover by the airflow into the brush cover. it can. According to the ninth aspect of the present invention, dust and the like rolled up from the solar cell module can be easily retained in the brush cover, so that the effect of discharging dust and the like from the end portion of the brush cover can be enhanced. .
  • the tenth aspect dust and the like attached to the brush can be removed by the air flow generated by the rotation of the brush.
  • ⁇ Frame configuration> since the length of the frame can be adjusted according to the size of the solar cell array, one robot can clean a plurality of panels. According to the twelfth invention, even if the length of the frame is changed, the second end portion of the first brush and the second end portion of the second brush overlap when viewed from the direction in which the frame travels, It is possible to suppress cleaning leakage. According to the thirteenth invention, the robot can be easily carried and stored. ⁇ Edge roller related> According to the fourteenth aspect, the robot can be stably run along the first end edge of the solar cell module.
  • the fifteenth aspect it is possible to prevent the robot from dropping from the solar cell module.
  • the sixteenth and seventeenth aspects it becomes easy to prevent the wheels from falling from the panel frame of the solar cell module.
  • the frame can be caused to travel by the traveling portion and the guide portion, so that the traveling of the frame can be stabilized and slip can be prevented. Furthermore, since the drive source is shared, the weight of the robot can be reduced.
  • the edge of the solar cell array is detected by the first detector, the traveling speed is reduced by the deceleration control function of the controller, and then the edge of the solar cell module is detected by the second detector. When detected, it is stopped by the stop control function of the control means.
  • the robot decelerates and then stops, the braking distance when stopping can be shortened. Therefore, even if the robot is moved at a high speed, it can be stopped before reaching the edge. Moreover, since the braking distance at the time of stopping can be shortened, even if the distance from the edge detection unit to the traveling unit is short, the robot can be stopped before the traveling unit reaches the edge. That is, even if the length of the robot in the traveling direction is shortened, it is possible to prevent the robot from falling from the edge of the solar cell array.
  • the danger detection unit detects the edge of the solar cell array, the danger of wheel removal or wheel removal can be reduced.
  • the robot can be prevented from falling.
  • the danger control section even if the control section fails, it is possible to prevent derailment and dropping of the robot.
  • the cleaning robot can be prevented from being charged.
  • the cleaning robot can be moved between the adjacent solar cell modules.
  • the connecting member can be stably arranged in the solar cell module.
  • the cleaning robot can be lifted and lowered by the lift member to a place where the operator cannot reach. Moreover, by removing the lift member from the engaging member, it is possible to prevent the lift member from interfering with the traveling of the cleaning robot.
  • the engaging member engages with the lift member.
  • the member can be connected and the lift member and the engaging member can be easily connected and separated.
  • connection and separation of the lift member and the engagement member are facilitated, and moreover, the cleaning robot using the lift member can be stably lifted and lowered.
  • the thirty-first invention it is possible to carry out work according to the temperature of the solar cell module.
  • the thirty-second aspect since the dirt on the surface of the solar cell module can be detected, the work can be performed according to the dirt condition.
  • the thirty-third aspect even if there is a portion that cannot be cleaned by the cleaning unit, only that portion can be cleaned by the operator's hand. Further, since the manual brush is held by the cleaning robot, it is not necessary for an operator to carry the manual brush.
  • FIG. 2 It is a schematic perspective view of the cleaning robot 1 of this embodiment. It is a schematic plan view of the cleaning robot 1 of this embodiment. It is a schematic bottom view of the cleaning robot 1 of this embodiment. It is a schematic left side view of the cleaning robot 1 of this embodiment. It is a schematic right side view of the cleaning robot 1 of this embodiment.
  • (A) is a VIA-VIA sectional view of FIG. 2, and
  • (A) is a VIB-VIB sectional view of FIG. 2.
  • FIG. 1 It is a schematic explanatory drawing of the photovoltaic power generation facility SP in which the cleaning robot 1 of this embodiment performs work, such as cleaning. It is a schematic explanatory drawing of the attitude control in the cleaning robot 1 of this embodiment. It is a schematic explanatory drawing of the cleaning robot 1 which provided the brush cover 15, (A) is a top view, (B) is a side view. 6 is a schematic cross-sectional view when a baffle plate 16 is provided in the brush cover 15. FIG. It is a schematic explanatory drawing at the time of providing the ventilation part 17 in the brush cover 15, (A) is a schematic sectional drawing when providing the ventilation part 17 in the upper 2nd cover 15b, (B) is a ventilation part 17. FIG.
  • FIG. 6B is a view taken along the line B-1 and B-2 of (A) when the upper second cover 15b is provided, and (C) is a view when (A) is provided when the blower unit 17 is provided on the lower second cover 15b. It is a C-1 line and a C-2 line arrow line view.
  • (A) is a schematic front view of the lift member 75 of the lifting mechanism 70,
  • (B) is a schematic side view of the lift member 75, and (C) shows the pair of engaging portions 78, 79 of the lift member 75.
  • FIG. 9 is a schematic explanatory view of a work of connecting a lift member 75 and an engagement member 71 of the lifting mechanism 70.
  • (A) is a schematic explanatory diagram of a state in which the cleaning robot 1 of the present embodiment provided with the state detection mechanism 80 is retracted to the retracting section EA
  • (B) is a schematic explanatory diagram of the temperature detecting section 82.
  • (C) is a schematic explanatory diagram in the case where a state detection unit 81 that measures the color and strength (gloss) of the surface of the solar cell module P is provided. It is a schematic block diagram of the cleaning robot 1 of this embodiment.
  • the cleaning robot of the present invention is a robot that cleans the surfaces of solar cell modules that are arranged side by side while traveling along the direction in which the solar cell modules are arranged, and efficiently and stably cleans the surfaces of the solar cell modules. It has the feature that it can be cleaned by cleaning.
  • the “surface of the solar cell module” means the surface of the power generation region in which the solar cell module generates power.
  • the area other than the panel frame is the power generation area.
  • the “surface of the solar cell array” means the “surface of the solar cell module”.
  • the photovoltaic power generation facility SP has a plurality of rows of solar cell arrays LP each including a plurality of solar cell modules P (two rows in FIG. 10).
  • the solar cell modules P are arranged such that their side end surfaces face each other, and their upper end edges and lower end edges are arranged in substantially the same straight line. is there.
  • each of the plurality of solar cell modules P constituting the solar cell array LP is irradiated onto the surface of the earth at the place where the plurality of solar cell modules P is installed (hereinafter, simply the surface of the earth is irradiated with the sunlight. It is installed so that it is not parallel to sunlight.
  • the plurality of solar cell modules P are provided such that the surface makes an angle (hereinafter, simply referred to as an angle made by the surface) with respect to the sunlight applied to the ground surface. .
  • the solar cell array LP may be configured by arranging the solar cell modules P in a line (see FIG. 11), or by arranging the solar cell modules P in a plurality of upper and lower rows (see FIGS. 2 and 3). You may comprise LP.
  • "arranging the solar cell modules P vertically" means that the lower end surface of the solar cell module P located above the solar cell module P and the upper end surface of the solar cell module P located below are opposed to each other. It means to line up.
  • the angles formed by the surfaces of the plurality of solar cell modules P may be fixed, or the angles formed by the surfaces may be changed.
  • a plurality of solar cell modules P of a solar cell array LP are rotatably provided on a mount MT so that their surfaces are located on substantially the same plane. Or multiple rotary shafts that rotate simultaneously). Then, by rotating the rotation axis SS, the angles formed by the surfaces of the plurality of solar cell modules P of the solar cell array LP can be simultaneously changed by the same angle.
  • the “upper edge and lower edge of the solar cell module P” means a line of intersection between a surface (an upper end surface or a lower end surface) intersecting the surface of the solar cell module P and the surface of the solar cell module P. There is.
  • the upper and lower edges of the solar cell modules P are aligned so as to be aligned in substantially the same straight line
  • the upper edge edges (or the lower edge edges) of adjacent solar cell modules P are completely linear. It includes a case where they are arranged side by side and a case where the upper end edges (or the lower end edges) of adjacent solar cell modules P are slightly misaligned.
  • the upper end edges (or the lower end edges) of the adjacent solar cell modules P are slightly misaligned, the upper end edges (or the lower end edges) of the adjacent solar cell modules P are substantially parallel to each other, but the height is slightly different.
  • there is a deviation in the horizontal position for example, about 0 to 30 mm
  • the upper edges (or the lower edges) of adjacent solar cell modules P are relatively slightly inclined (for example, 0 to 3 degrees).
  • the angles formed by the surfaces of the plurality of solar cell modules P are substantially the same is a concept including the case where the angles formed by the surfaces of the adjacent solar cell modules P are deviated by about 0 to 1 degree. This is the same when the angles formed by the surfaces of the plurality of solar cell modules P of the solar cell array LP are simultaneously changed by the same angle. Even when the angles formed by the surfaces of the adjacent solar cell modules P have a deviation of the above range or more, the angles formed by the surfaces of all the solar cell modules P may be almost the same as a whole. . For example, this corresponds to the case where the angles formed by the surfaces of all the solar cell modules P are within 0 to 3 degrees with respect to the average angle obtained by averaging the angles formed by the surfaces of all the solar cell modules P.
  • the edge (upper edge) located above in the inclination direction is referred to in the claims as “first of the solar cell module P”. It corresponds to "edge”.
  • the edge (lower edge) located below in the inclination direction of the solar cell module P, in other words, the edge facing the first edge is referred to as the “second edge of the solar cell module P” in the claims. Equivalent to.
  • the inclination angle of the solar cell module P that is, the solar cell array LP
  • the edge located up and down in the inclination direction of the solar cell module P changes.
  • the solar cell module P when the solar cell module P receives sunlight and generates electric power, the solar cell module P is positioned above in the inclination direction of the solar cell module P in the state of the highest power generation efficiency (inclination angle). The edge to do becomes a "1st edge of the solar cell module P.”
  • the upper end edge (first end edge) and the lower end edge (second end edge) of the solar cell module P are formed so as to be aligned in substantially the same straight line.
  • the edge becomes the first edge and the second edge of the solar cell array LP.
  • the upper end edge (first end edge) of the solar cell module P located at the uppermost position has substantially the same linear shape.
  • the edge that is formed so as to be aligned with is the first edge of the solar cell array LP.
  • An edge formed by aligning the lower edge (second edge) of the solar cell module P located at the lowest position so as to be aligned in substantially the same straight line is the second edge of the solar cell array LP.
  • a first end edge of the solar cell array LP and “a second end edge of the solar cell array LP” mean that the solar cell module P forming the solar cell array LP is the frameless solar cell module P.
  • it means an intersection line between a surface (first end surface or second end surface) that intersects the surface of the solar cell array LP at the upper end portion and the lower end portion and the surface of the solar cell array LP.
  • the solar cell module P forming the solar cell array LP is the solar cell module P having the panel frame
  • the side surface of the panel frame intersecting the upper surface of the panel frame at the upper end portion and the lower end portion is the first end surface or It becomes the second end face.
  • a line of intersection between the upper surface of the panel frame and the first end surface or the second end surface is “first end edge of solar cell array LP” or “second end edge of solar cell array LP” Becomes
  • each of the “solar cell modules P” has a surface (first end surface or second surface) that intersects with the surface of the solar cell module P at the upper end portion and the lower end portion of the solar cell module P.
  • the line of intersection between the end surface) and the surface of the solar cell array LP is the “first end edge (second end edge) of the solar cell module P”.
  • the line of intersection between the upper surface of the solar cell module P at the upper end and the lower end of the panel frame and the side surface of the panel frame intersecting the upper surface of the panel frame is the It becomes the "first end edge (second end edge) of the battery module P".
  • the cleaning robot 1 of the present embodiment travels along the solar cell array LP including the plurality of solar cell modules P in the solar power generation facility SP to clean the surfaces of the plurality of solar cell modules P. is there. Specifically, the surfaces of the plurality of solar cell modules P are cleaned while traveling along the upper edges of the plurality of solar cell modules P of the solar cell array LP.
  • the cleaning robot 1 includes a frame 2, a traveling section 20 for traveling the frame 2 on the solar cell array LP, and a traveling section 20 for traveling on the solar cell array LP by the traveling section 20. And a guide unit 50 for guiding the traveling direction.
  • the cleaning robot 1 also includes the cleaning unit 10 that cleans the surface of the solar cell array LP when the traveling unit 20 travels on the solar cell array LP.
  • the cleaning robot 1 includes a control unit 30 (not shown) that controls the operations of the cleaning unit 10, the traveling unit 20, and the guide unit 50.
  • the frame 2 is a member whose axial direction (vertical direction in FIGS. 2 and 3) is longer than its width (horizontal direction in FIGS. 2 and 3).
  • the cleaning unit 10, the traveling unit 20, the guide unit 50, and the control unit 30 are attached to the frame 2.
  • the guide unit 50 is not necessarily provided, and the cleaning robot 1 may have the frame 2 provided with the cleaning unit 10, the traveling unit 20, and the control unit 30. Even in this case, the cleaning robot 1 can run on the solar cell array LP and clean the surface of the solar cell array LP. If the guide portion 50 is provided, the traveling of the cleaning robot 1 can be stabilized, as will be described later.
  • the frame 2 is not limited to one formed by combining shaft-shaped members as shown in FIGS. 1 to 5, and various structures can be adopted.
  • the frame 2 may be formed in a box shape by combining a plate material and a shaft-shaped member, or the frame 2 may be formed in a box shape with only the plate material.
  • a simple plate material or a shaft-shaped member can be used as the frame.
  • the first traveling mechanism 21 of the traveling unit 20 is provided at the first end portion (upper end portion in FIGS. 2 and 3) and the second end portion (lower end portion in FIGS. 2 and 3) of the frame 2.
  • Each second traveling mechanism 22 is provided.
  • the first traveling mechanism 21 includes a pair of wheels 21a, a pair of wheels 21a, and a pair of wheels 21a, a drive source (not shown) such as a motor for driving the wheels 21a.
  • the pair of wheels 21a and 21a are provided on the lower surface side of the frame 2, that is, on the surface side facing the surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP. That is, the pair of wheels 21a and 21a are the upper ends of the upper solar cell modules P in the solar cell array LP when the frame 2 is placed on the solar cell array LP (when the solar cell module P has a panel frame. Is provided so that it can be placed on the upper panel frame) (see FIGS. 2 and 3).
  • the first traveling mechanism 21 is provided such that the pair of wheels 21 a and the wheels 21 a have their rotation axes parallel to the axial direction of the frame 2.
  • the pair of wheels 21 a and the wheels 21 a are provided so as to be aligned in the width direction of the frame 2.
  • the pair of wheels 21a, 21a are provided such that the rotation axis of the brush 12 of the cleaning unit 10 described later is located between the pair of wheels 21a, 21a when viewed from the axial direction of the frame 2. (See FIG. 6A).
  • the wheels 21a are provided on the lower surface side of the frame 2" as used herein means that when the frame 2 is placed on the solar cell array LP, the lower ends of the wheels 21a precede the solar cells of the frame 2. Means touching the surface of the array LP. The same applies to the description of the wheels 22a and 23a below.
  • the second traveling mechanism 22 includes a pair of wheels 22a and 22a, and a pair of wheels 22a and a drive source (not shown) such as a motor for driving the wheels 22a.
  • the pair of wheels 22a and the wheels 22a are provided on the lower surface side of the frame 2, that is, on the surface side facing the surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP. That is, the pair of wheels 22a and the wheels 22a are the lower end portion of the lower solar cell module P in the solar cell array LP when the frame 2 is placed on the solar cell array LP (when the solar cell module P has a panel frame. Is mounted so that it can be mounted on the lower panel frame) (see FIGS. 2 and 3).
  • the second traveling mechanism 22 is provided with a pair of wheels 22a and 22a such that the rotation axis thereof is parallel to the axial direction of the frame 2. Further, the pair of wheels 22 a and the wheels 22 a are provided so as to be aligned in the width direction of the frame 2. Moreover, the pair of wheels 22a, 22a are also provided such that the rotation axis of the brush 12 of the cleaning unit 10 described later is located between the pair of wheels 22a, 22a when viewed from the axial direction of the frame 2. There is.
  • the traveling unit 20 may have the third traveling mechanism 23 having a pair of wheels 23a and a pair of wheels 23a between the first end and the second end of the frame 2.
  • the lower end edge of the upper solar cell module P in the solar cell array LP lower panel frame when the solar cell module P has a panel frame
  • the third traveling mechanism 23 may be provided at a position corresponding to the upper edge of the lower solar cell module P (in the case where the solar cell module P has a panel frame, the upper panel frame) (FIG. 2, FIG. 3).
  • the pair of wheels 23a and the wheels 23a form the lower edge of the upper solar cell module P (and / or the lower solar cell module P). (Upper edge of P). That is, the frame 2 is arranged on the solar cell array LP while being supported by the wheels 21a to 23a at three locations in the axial direction of the frame 2. Then, even if the rigidity of the frame 2 is lowered, the frame 2 can be stably arranged on the solar cell array LP, so that the weight of the frame 2 can be reduced.
  • the third traveling mechanism 23 may be, for example, one provided on the lower surface side of the frame 2 and having a pair of wheels 23a and 23a whose rotation axis is provided parallel to the axial direction of the frame 2.
  • the pair of wheels 23 a and the wheels 23 a be provided side by side in the width direction of the frame 2.
  • the pair of wheels 23a and the wheels 23a may be provided such that the brush 12 of the cleaning unit 10 described later is located between the pair of wheels 23a and the wheels 23a when viewed from the axial direction of the frame 2. Desirable (see FIG. 6B).
  • the diameters and widths of the wheels 21a to 23a are not particularly limited, and the wheels 21a, 22a, and 23a may all have the same diameter or width or different diameters and widths.
  • the width of the wheels 21a to 23a is the width of the panel frame of the solar cell module P, more specifically, the width of the upper panel frame or the lower panel frame of the solar cell module P. It should be wider than it is wide. If the widths of the wheels 21a to 23a are such widths, the cleaning robot 1 will move against the upper edge (first edge) and the lower edge (second edge) of the solar cell module P, as described later.
  • a guide portion 50 is provided at the first end of the frame 2.
  • the guide unit 50 has an upper end edge (first end edge) of the solar cell array LP when the cleaning robot 1 travels (in the upper stage of the solar cell array LP in FIGS. 2 and 3). It has a function of guiding the vehicle to travel along the upper edge of the solar cell module P.
  • the guide unit 50 includes a pair of edge rollers 51, 51. The pair of edge rollers 51, 51 are provided so as to be able to contact the upper end surface of the solar cell array LP when the frame 2 is placed on the solar cell array LP.
  • the pair of edge rollers 51, 51 are wholly or at least partly below the pair of wheels 21a and the lower ends of the wheels 21a (on the solar cell module P side when the frame 2 is placed on the solar cell array LP). ) Is provided (see FIG. 6A).
  • the rotation axes of the pair of edge rollers 51, 51 are orthogonal to the axial direction of the frame 2 and are orthogonal to the surface of the solar cell module P when the frame 2 is placed on the solar cell array LP. It is provided.
  • the pair of edge rollers 51, 51 are provided so as to be arranged in a direction substantially parallel to the direction in which the pair of wheels 21a and the wheels 21a are arranged.
  • the pair of edge rollers 51, 51 may be free rollers that can rotate freely, but like the wheels 21a, 22a of the traveling mechanisms 21, 22 described above, the pair of edge rollers 51 are provided with a drive source in the guide portion 50. , 51 may be driven. In this case, the operation of the drive source of the guide unit 50 is controlled so that the peripheral speeds of the wheels 21a and 22a of the traveling mechanisms 21 and 22 and the peripheral speeds of the pair of edge rollers 51 and 51 are the same. Further, the guide portion 50 may be provided with no drive source, and the guide portion 50 may be provided with a transmission mechanism that transmits the drive source of the traveling mechanism 21 to the pair of edge rollers 51, 51.
  • the cleaning robot 1 can be reduced in weight. Moreover, if the peripheral speeds of the wheels 21a to 23a of the traveling mechanisms 21 to 23 and the peripheral speeds of the pair of edge rollers 51 and 51 are set to be the same by the transmission mechanism, the wheels 21a to 23a and the edge roller 51 are prevented from slipping. Since this can be prevented, the traveling of the cleaning robot 1 can be stabilized.
  • the structure of the transmission mechanism is not particularly limited, and a known transmission mechanism can be adopted.
  • the driving force can be transmitted by a gear mechanism or a belt mechanism.
  • the cleaning unit 10 includes a pair of rotating brushes 12, 12.
  • the pair of brushes 12, 12 includes a shaft portion and brush portions provided around the shaft portion, and the rotation axes thereof are parallel to each other and parallel to the axial direction of the frame 2.
  • the pair of brushes 12, 12 have substantially the same structure, and are provided so that the distance from the rotation axis to the lower surface of the frame 2 is substantially the same.
  • the cleaning unit 10 has a drive source such as a motor, and the drive source rotates the pair of brushes 12, 12. Therefore, by rotating the pair of brushes 12, 12, the cleaning unit 10 can sweep and clean the surface of the solar cell array LP.
  • One of the pair of brushes 12, 12 (the brush 12 on the right side in FIG. 3, hereinafter referred to as the first brush 12a) has one end rotated by a bearing portion on the lower surface of the first end of the frame 2. Held possible.
  • the other end portion of the first brush 12a is a portion between the first end portion and the second end portion of the frame 2, and is formed by a bearing portion on the lower surface of the portion closer to the second end portion than the first end portion. It is held rotatably.
  • the other brush 12 (the left brush 12 in FIG. 3, hereinafter referred to as the second brush 12b) has one end portion on the lower surface of the second end portion of the frame 2 and the bearing portion. It is rotatably held by.
  • the other end portion of the second brush 12b is a portion between the first end portion and the second end portion of the frame 2 on the lower surface of the portion closer to the first end portion than the second end portion of the frame 2. It is rotatably held by the bearing portion.
  • the other end of the second brush 12b is formed by the bearing so that there is a portion that overlaps with the other end of the first brush 12a when viewed from the traveling direction of the frame 2 (that is, the traveling direction of the cleaning robot 1). It is held (see FIGS. 4 and 5).
  • the cleaning robot 1 is moved. When this is done, the brush 12 does not come into contact with the surface of the solar cell array LP. Then, since it is possible to suppress the cleaning leakage of the surface of the solar cell array LP, it is possible to increase the cleaning efficiency of the surface of the solar cell array LP by the cleaning robot 1.
  • the other end of the first brush 12a and the other end of the second brush 12b may be overlapped to some extent as described above.
  • the end portion located closest to the second end portion of the frame 2 and the end portion of the brush portion of the second brush 12b located closest to the first end portion of the frame 2 are , May be provided so as to be substantially the same distance from the first end or the second end. Even in this case, it is possible to prevent a portion of the surface of the solar cell array LP that the brush 12 does not contact when the cleaning robot 1 runs.
  • the rotation speeds of the two brushes 12a and 12b of the cleaning unit 10 are not particularly limited. However, in order to reliably clean the surface of the solar cell array LP by the two brushes 12a and 12b of the cleaning unit 10, the traveling speed of the cleaning robot 1 traveling on the solar cell array LP by the traveling unit 20 is higher than the traveling speed. It is desirable that the peripheral speeds of the tip portions of the two brushes 12a and 12b be high. In other words, the speed at which the tips of the brush portions of the brushes 12a and 12b move along the surface of the solar cell array LP is preferably higher than the traveling speed at which the cleaning robot 1 travels on the solar cell array LP by the traveling unit 20. . That is, the control unit 30 may control the operation of the traveling unit 20 or the cleaning unit 10, or the operation of both the traveling unit 20 and the cleaning unit 10 so that the above state is achieved.
  • the two brushes 12a and 12b of the cleaning unit 10 do not necessarily need to have their rotation axes provided in parallel with the axial direction of the frame 2, and may be slightly inclined with respect to the axial direction of the frame 2. Further, the two brushes 12a and 12b do not have to have the same structure, and their rotation axes do not have to be parallel to each other.
  • the cleaning unit 10 does not necessarily need to have two brushes 12, and may have one brush or three or more.
  • the cleaning unit 10 sweeps dust and the like on the surface of the solar cell array LP by rotating the brush 12 to clean the solar cell array LP.
  • the brush 12 sweeps the surface of the solar cell array LP
  • dust on the surface of the solar cell array LP rises up.
  • the cleaning unit 10 may be provided with a brush cover 15 that covers the brush 12.
  • the brush cover 15 When the brush cover 15 is provided, dust and the like swept by the brush 12 is retained in the brush cover 15, and if left as it is, there is a possibility that it will be deposited again on the surface of the solar cell array LP. Therefore, when the brush cover 15 is provided, it is desirable to adopt the following configuration.
  • the brush cover 15 will be described below with reference to FIGS. 12 to 14. 12 to 14, the configuration of the cleaning robot 1 is shown in a simplified manner in order to make the configuration of the brush cover 15 easier to understand.
  • the brush cover 15 is a hollow member having a lower end opening at the lower end and extending in the axial direction of the brush 12, and is provided so as to cover the brush 12 from above. Specifically, the brush cover 15 closes the space between the pair of wall members provided so as to sandwich the brush 12 from the front and rear (the left and right direction in FIG. 13) of the cleaning robot 1 in the traveling direction, and the upper end portion of the wall members. And a ceiling member provided as described above, and an opening (lower end opening) is formed between the lower ends of the pair of wall members. The brush 12 comes into contact with the surface of the solar cell array LP through the lower end opening.
  • the brush cover 15 is provided so that its lower end edge (lower end edges of the pair of wall members described above) is located near the surface of the solar cell array LP.
  • a baffle plate 16 is provided in the brush cover 15.
  • the baffle plate 16 is provided above the brush 12 and vertically above the rotation axis of the brush 12 or in front of the rotation axis of the brush 12 in the traveling direction. Note that FIG. 13 shows the case where the cleaning robot 1 travels from left to right, and the baffle plate 16 is arranged vertically above the rotation axis of the brush 12.
  • the baffle plate 16 is provided so as to block a gap between the upper end of the brush 12 and the inner surface of the brush cover 15 (the lower surface of the ceiling member described above).
  • the brush 12 is rotated so that the tip of the brush moves on the surface of the solar cell array LP toward the front in the traveling direction of the cleaning robot 1 (to the right in FIG. 13, sometimes hereinafter referred to simply as the front in the traveling direction). There is. Therefore, if the baffle plate 16 is provided, dust and the like swept by the brush 12 can be collected in front of the brush 12 in the traveling direction. That is, the rotation of the brush 12 forms an air flow above the brush 12 toward the rear in the traveling direction. Therefore, the dust or the like swept by the brush 12 tends to move behind the brush 12 together with the airflow generated by the rotation of the brush 12.
  • the baffle plate 16 is provided, the airflow generated above the brush 12 and directed rearward in the traveling direction can be converted by the baffle plate 16 into a flow forward in the traveling direction. Therefore, even if dust or the like swept by the brush 12 moves with the airflow generated by the rotation of the brush 12, it is possible to prevent the dust or the like from moving behind the brush 12 in the traveling direction. Then, the dust and the like swept by the brush 12 will be deposited on the solar cell array LP ahead of the brush 12 in the traveling direction. Therefore, when the brush 12 moves as the cleaning robot 1 travels, dust and the like on the solar cell array LP can also move in the traveling direction of the cleaning robot 1 together with the brush 12.
  • the baffle plate 16 blocks the gap between the upper end of the brush 12 and the inner surface of the brush cover 15
  • a gap is formed between the upper end of the brush 12 and the inner surface of the brush cover 15 by the baffle plate 16. It includes both the case where there is no state (for example, the state where the brush 12 and the baffle plate 16 are in contact) and the case where there is a slight gap between the baffle plate 16 and the brush 12.
  • the end portion in the axial direction may be closed or open. However, if the end portion in the axial direction is closed, the effect of collecting dust and the like in front of the brush 12 can be enhanced.
  • the ceiling member of the brush cover 15 is formed in a substantially semi-cylindrical shape and the pair of wall members are formed of flat plates, but the cross-sectional shape of the brush cover 15 is not particularly limited.
  • the entire brush cover 15 may have a semi-cylindrical shape.
  • the brush cover 15 may be formed in a rectangular shape having a ceiling member as a flat plate and an open lower end.
  • the brush cover 15 has the following configuration.
  • the brush cover 15 includes a first cover 15a provided so as to cover the brush 12 from above.
  • the first cover 15a includes a pair of wall members provided so as to sandwich the brush 12 from the front and the rear in the traveling direction of the cleaning robot 1 (the left and right direction in FIG. 12) and the upper end portion of the wall members.
  • the ceiling member is provided so as to close it, and an opening (lower end opening) is formed between the lower ends of the pair of wall members.
  • the brush 12 comes into contact with the surface of the solar cell array LP through the lower end opening.
  • the first cover 15a is provided such that its lower end edge (lower end edges of the pair of wall members described above) is located near the surface of the solar cell array LP.
  • the length of the first cover 15a in the axial direction of the brush 12 is longer than the length between the first and second edges of the solar cell array LP. Is formed in. That is, the first cover 15a is formed such that the axial end portion of the first cover 15a is located outside the first and second end edges of the solar cell array LP. A pair of second covers 15b, 15b for closing both ends of the first cover 15a are provided at both ends of the first cover 15a. Therefore, when the cleaning robot 1 is placed on the solar cell array LP and the cleaning robot 1 is viewed from the back surface of the solar cell array LP, the brush cover extends outward from the first and second edges of the solar cell array LP.
  • the 15 openings can be visually recognized. That is, an opening surrounded by the pair of wall members of the first cover 15a, the second cover 15b, and the edge of the solar cell array LP is formed outside the first and second edges of the solar cell array LP. It looks like you are.
  • the upper portion (ceiling member) of the first cover 15a may be formed in an arc shape in a sectional view (see FIG. 13), but the sectional shape of the first cover 15a is not particularly limited. For example, it may have a rectangular shape with an open lower end or a polygonal shape with an open lower end.
  • an opening h is provided in the second cover 15b (upper second cover 15b) located at the first end edge of the solar cell array LP.
  • the blower 17 is provided in the opening h.
  • the blower unit 17 is, for example, a blower fan or the like, and can introduce outside air into the brush cover 15 from the outside.
  • the air blower 17 is provided in the brush cover 15 so that an air flow (see the arrow in FIG. 14A) is formed along the axial direction thereof.
  • the blower unit 17 is a blower fan, the rotation axis of the fan is provided parallel to the axial direction of the brush cover 15.
  • an air flow is formed in the brush cover 15 from the upper second cover 15b to the other second cover 15b (lower second cover 15b) along the axial direction of the brush cover 15.
  • the air that has entered from the upper second cover 15b flows in the first cover 15a along the axial direction of the brush cover 15, and from the space between the lower second cover 15b and the solar cell array LP to the first cover 15a. Is discharged to the outside through the lower end opening (see the arrow in FIG. 14 (A)).
  • the dust or the like wound up from the surface of the solar cell array LP by the brush 12 can be moved toward the lower second cover 15b by the air flow formed by the blower unit 17.
  • dust or the like that has reached the lower second cover 15b can be discharged to the outside of the brush cover 15 and dropped from the lower edge (second edge) of the solar cell array LP.
  • the blower 17 may be provided on the lower second cover 15b.
  • dust and the like that have reached the upper second cover 15b are discharged to the outside of the brush cover 15 and the upper end of the solar cell array LP. It can be dropped from the edge (first edge).
  • the air blower 17 is provided on the upper second cover 15b. Is desirable.
  • the air blower 17 may be provided in the lower second cover 15b.
  • the blower unit 17 is operated so as to discharge the air inside the brush cover 15 to the outside.
  • dust and the like reaching the lower second cover 15b are discharged to the outside of the brush cover 15 by the airflow formed from the upper second cover 15b toward the lower second cover 15b, and the dust is discharged to the lower side of the solar cell array LP. Can be dropped from the edge (second edge).
  • the air blower 17 may be provided in the upper second cover 15b and the opening h may be provided in the lower second cover 15b.
  • the second cover is provided at the end of the first cover 15a where the blower unit 17 is not provided.
  • the cover 15b does not necessarily have to be provided. That is, the end of the first cover 15a where the air blower 17 is not provided may be open.
  • the shape of the second cover 15b is not particularly limited. It is sufficient that dust or the like can be discharged from between the second cover 15b and the edge of the solar cell array LP.
  • a plate-shaped member may be adopted, and a plate-shaped member may be simply installed so as to close the end of the first cover 15a to form the second cover 15b.
  • the second cover 15b at the end portion where the air blower 17 is not provided the lower end portion is located below the back surface of the solar cell array LP, and the lower end is bent toward the back surface side of the solar cell array LP. It may have any shape.
  • the lower end of the second cover 15b may be formed in a tubular shape, and the lower end may extend below the back surface of the solar cell array LP.
  • both of the second covers 15b may be provided with the air blowers 17, respectively, and a vent hole for introducing outside air into the first cover 15a may be provided at the central portion in the axial direction of the first cover 15a.
  • both air blowers 17 are operated so as to discharge the air inside the brush cover 15 to the outside. Then, it is possible to generate an air flow in the first cover 15a from the ventilation hole at the central portion in the axial direction of the first cover 15a toward both the second covers 15b. Then, the dust and the like that have reached each of the second covers 15b can be discharged to the outside of the brush cover 15 and dropped from both end edges of the solar cell array LP.
  • vent holes and openings are provided in the first cover 15a and the second cover 15b, the positions and number of the vent holes and openings, and the shapes of the vent holes and openings are not particularly limited.
  • the baffle plate 16 described above may be provided in the first cover 15a.
  • each brush 12 may be provided with a brush cover 15, or the brush cover 15 may be provided so as to cover all the plurality of brushes 12.
  • the plurality of brushes 12 shorter than the axial length of the frame 2 are provided, if the dust and the like are discharged from the vertical edge of the solar cell array LP, the axis of the frame 2 is reduced.
  • a brush cover 15 is provided so as to cover all of the plurality of brushes 12 arranged in the direction.
  • ⁇ Seal member 15s> In order to prevent dust and the like swept by the brush 12 from scattering around, the surface of the solar cell array LP is located at the lower end of the brush cover 15, that is, at the edge of the brush cover 15 facing the surface of the solar cell array LP. It is desirable to provide a seal member 15s that seals the gap between and (FIG. 13). Then, the effect of accumulating dust and the like when the baffle plate 16 is provided in front of the brush 12 and the effect of forming an air flow along the axial direction of the brush cover 15 when the air blower 17 is provided can be enhanced. .
  • the seal member 15s is not particularly limited. For example, if a brush-like member is provided as the sealing member 15s, the gap between the lower end of the brush cover 15 and the surface of the solar cell array LP can be sealed.
  • sealing the gap does not mean completely sealing the gap (preventing air from leaking), but means that it is possible to prevent some air and dust from leaking. is doing.
  • the brush 12 may sweep the surface of the solar cell array LP, so that the dust or the like may adhere to the brush portion of the brush 12. If dust or the like adheres to the brush portion, the effect of removing the dust or the like decreases even if the surface of the solar cell array LP is swept, and the dust or the like adhered to the brush portion adheres to the surface of the solar cell array LP. There is also a possibility that it will adhere.
  • a cleaning member such as a wire or a blade that comes into contact with the brush portion may be provided to remove dust and the like adhering to the brush 12.
  • the cleaning member is provided above the brush 12 and vertically above the rotation axis of the brush 12 or ahead of the rotation axis of the brush 12 in the traveling direction.
  • the baffle plate 16 described above is provided so that the lower end thereof contacts the brush 12, the baffle plate 16 can also function as a cleaning member.
  • the structure of the cleaning unit 10, that is, how the cleaning unit 10 cleans the surface of the solar cell array LP is not particularly limited.
  • the brush 12 is not limited to one having a brush provided on the rotary shaft, but one having a plate-shaped blade erected on the surface of the rotary shaft, or the entire surface or a part of the surface of the rotary shaft being covered with a sponge-like member. It is also possible to use a broken piece or one in which cloth is attached to the entire surface or a part of the surface of the rotating shaft.
  • a sprinkler spray nozzle or the like
  • a wiper blade squeegee
  • a vacuum cleaner suction type cleaner
  • the cleaning unit 10 may be provided with an air nozzle that ejects gas.
  • the brush cover 15 described above, a cover having a shape similar to the brush cover 15 described above, the baffle plate 16 and a member having the same function as the baffle plate 16 are provided as necessary. Just do it.
  • the structure of the bearing is not limited as long as it can rotatably hold the end of the brush 12, that is, the end of the first and second brushes 12a and 12b.
  • the bearing has a structure in which a general bearing is held by a gimbal structure or the like, the ends of the first and second brushes 12a and 12b can be swingably held.
  • the ends of the first and second brushes 12a and 12b can be swingably held even if the bearing itself does not have the gimbal structure as described above. That is, there is an advantage that the structure of the bearing portion can be simplified.
  • the frame 2 may be integrally formed as a whole, but the frame 2 may be formed of a plurality of members.
  • the frame 2 is made of a plurality of members so as to have a first end portion and a second end portion, and a portion connecting the portion between the first end portion and the second end portion. You may form.
  • the frame 2 the first frame portion 3 having the above-mentioned first end portion and provided with the first traveling mechanism 21 of the traveling portion 20 and the second frame portion of the traveling portion 20 having the above-mentioned second end portion.
  • the second frame portion 4 provided with the traveling mechanism 22 is provided.
  • the frame 2 may be formed by connecting the first frame portion 3 and the second frame portion 4 by the connecting mechanism 5.
  • the connecting mechanism 5 be capable of adjusting the relative positions of the first frame portion 3 and the second frame portion 4 along the axial direction of the frame 2. Then, when the connection between the first frame portion 3 and the second frame portion 4 by the connecting mechanism 5 is released, the first frame portion 3 and the second frame portion 4 are moved along the axial direction of the frame 2 to move the frame 2 You can adjust the length of. That is, the position of the second traveling mechanism 22 of the traveling unit 20 provided at the second end portion (in other words, the distance from the first traveling mechanism 21 to the second traveling mechanism 22) is adjusted along the axial direction of the frame 2. it can.
  • the movement of both can be fixed, so that the frame 2 can be held at a predetermined length. Then, even if the length between the first and second ends of the solar cell array LP changes, the first frame part 3 and the second frame part 4 can be relatively moved along the axial direction of the frame 2. For example, the length of the frame 2 can be adjusted so that the length is suitable for the solar cell array LP.
  • the structure of the connecting mechanism 5 is not particularly limited, but for example, the structures shown in FIGS. 1 to 5 can be adopted.
  • first connecting end portion 3b is provided at an end portion of the main body portion 3a opposite to the first end portion.
  • the first connecting end portion 3b is formed by narrowing the width of the main body portion 3a so that a space is formed on the side (right side in FIG. 2) of the first connecting end portion 3b.
  • second frame portion 4 a second connecting end portion 4b is provided at an end portion of the main body portion 4a opposite to the second end portion.
  • the second connecting end portion 4b is also formed by narrowing the width of the main body portion 4a so that a space is formed at the side of the second connecting end portion 4b (left side in FIG. 2).
  • the second connecting end 4b is located in the space lateral to the first connecting end 3b, and the first frame 3b is located in the space lateral to the second connecting end 4b.
  • the part 3 and the second frame part 4 are arranged. In this state, the connecting member 6 of the connecting mechanism 5 connects the first connecting end 3b and the second connecting end 4b.
  • the first connecting end portion 3b and the second connecting end portion 4b can be fixed by the connecting member 6 so that the first frame portion 3 and the second frame portion 4 do not move. Further, when the connection between the first connecting end portion 3b and the second connecting end portion 4b by the connecting member 6 is released, the first frame portion 3 and the second frame portion 4 are relatively moved in the axial direction of the frame 2. be able to.
  • the structure of the connecting member 6 can fix and release the first connecting end 3b and the second connecting end 4b, and in the released state, the first frame 3 and the second frame 4 are in the axial direction of the frame 2.
  • the structure is not particularly limited as long as it can be moved to.
  • the first brush 12a is provided on the first frame portion 3 and the second brush 12b is provided on the second frame portion 4. .
  • one end of the first brush 12a is attached to the first end portion of the main body portion 3a of the first frame portion 3 via a bearing portion, and the other end thereof is attached to the second connecting end portion 4b via a bearing portion.
  • the second brush 12b has one end attached to the second end portion of the main body portion 4a of the second frame portion 4 via a bearing portion, and the other end attached to the second connecting end portion 3b via a bearing portion.
  • the first brush 12a and the second brush 12b are always connected to the other end portion of the first brush 12a and the second brush 12a.
  • the other end of 12b is provided so as to overlap when seen from the traveling direction of the cleaning robot 1. Then, when the length between the first and second edges of the solar cell array LP (the length in the vertical direction in FIGS. 2 and 3) changes, the first frame portion 3 and the second frame portion 4 are moved relative to each other. The brush 12 does not come into contact with the surface of the solar cell array LP even if it is moved.
  • the cleaning robot 1 since it is possible to suppress the cleaning leakage of the surface of the solar cell array LP, it is possible to increase the cleaning efficiency of the surface of the solar cell array LP by the cleaning robot 1.
  • the length between the first and second end edges of the solar cell array LP changes, the length of the solar cell module P constituting the solar cell array LP (the length between the upper edge and the lower edge) has changed. This may be the case, for example, when the number of solar cell modules P arranged above and below the solar cell array LP has changed, or when the width of the gap between the solar cell modules P in the vertical direction has changed.
  • the first frame part 3 and the second frame part 4 of the frame 2 may be separably connected by the connection mechanism 5, or they can be separated but are connected so as to be movable in the axial direction of the frame 2. It may have been done. If the first frame part 3 and the second frame part 4 are separably connected to each other, the cleaning robot 1 can be carried part by part when it is carried, which facilitates the carrying work. In addition, the storage space can be reduced by disassembling each part.
  • ⁇ About brush 12> When the frame 2 is formed of a plurality of members or when the length thereof changes, it is desirable to provide the same number of brushes 12 as the members forming the frame 2, as described above. However, even if the frame 2 is formed of a plurality of members or the length thereof changes, the number of brushes 12 may be one. In this case, the brush 12 may be provided according to the length of the frame 2 and the brush 12 may be replaced according to the length of the frame 2. Further, as the brush 12, a brush whose axial length can be adjusted may be used. Similarly, only one brush cover 15 may be provided even when the frame 2 is formed of a plurality of members or the length thereof changes.
  • a plurality of brush covers 15 may be prepared according to the length of the frame 2 and the brush covers 15 may be replaced according to the length of the frame 2. Further, as the brush cover 15, a brush cover whose length in the axial direction can be adjusted may be used.
  • the control unit 30 has a function of controlling the operation of the traveling unit 20 and controlling the traveling of the cleaning robot 1. For example, when each of the traveling mechanisms 21 and 22 of the traveling unit 20 is provided with a drive motor as a drive source, the operation of the drive motor is controlled to control the traveling direction and traveling speed of the frame 2, that is, the cleaning robot 1. It controls the traveling direction and traveling speed of the vehicle. For example, when the drive motors are operated so that the traveling speeds of the traveling mechanisms 21 and 22 by the wheels 21a and 22a (specifically, the rotational speed (rotational speed) ⁇ the circumferential length of the wheels) are the same, The cleaning robot 1 can run straight ahead.
  • the first end of the cleaning robot 1 may precede the second end.
  • the second end can precede the first end. That is, the posture of the frame 2 of the cleaning robot 1 can be adjusted.
  • the control unit 30 includes a posture detection unit 45 that detects the posture of the cleaning robot 1, that is, the posture of the frame 2.
  • the guide portion 50 is provided only on one end of the frame 2. Therefore, depending on the traveling state of the cleaning robot 1, the frame 2 causes the frame 2 to have an upper edge (first end edge) of the solar cell array LP, in other words, an upper edge (first end edge) of the solar cell module P forming the solar cell array LP.
  • the angle formed with respect to the edge may change. Therefore, if an attitude detection unit 45 as described below is provided, the angle formed by the frame 2 with respect to the upper edge of the solar cell array LP can be suppressed within a certain range.
  • the “predetermined angle” is an angle formed by both the axial direction of the frame 2 and the upper edge of the solar cell array LP substantially orthogonal to each other. Further, in the present specification, that the frame 2 is inclined with respect to the upper edge of the solar cell array LP means that the angle formed by the axial direction of the frame 2 and the upper edge of the solar cell array LP is the “predetermined angle” described above. It means that it is out of alignment.
  • the attitude (inclination) of the frame 2 is determined with reference to the upper edge (first edge) of the solar cell array LP, so the first attitude detection unit 46 of the attitude detection unit 45 is set to the frame 2. It is provided at the first end, and the second attitude detection unit 47 is provided at the second end of the frame 2.
  • the attitude (tilt) of the frame 2 may be determined based on the lower end edge (second end edge) of the solar cell module P forming the solar cell array LP.
  • the first posture detecting unit 46 of the posture detecting unit 45 is provided at the second end of the frame 2
  • the second posture detecting unit 47 is provided at the first end of the frame 2.
  • the posture detection unit 45 includes a first posture detection unit 46 provided at the first end of the frame 2 and a second posture detection unit 47 provided at the second end of the frame 2.
  • the first attitude detection unit 46 has a pair of sensors 46a, 46a.
  • the pair of sensors 46a, 46a detect the upper edge of the solar cell array LP.
  • the pair of sensors 46a, 46a are arranged outside the pair of wheels 21a, 21a of the first traveling mechanism 21 of the traveling unit 20 in the traveling direction of the cleaning robot 1, respectively.
  • the solar cell array LP specifically, a portion inside the upper end edge of the solar cell module P is detected. It is provided in a position where you can.
  • the sensors 46a, 46a are provided. Specifically, as shown in FIG. 11, when the lower end of the frame 2 is tilted to the right by the first tilt angle ⁇ 1 or more (the state of IB in FIG. 11 (B)), the sensor 46a located on the right side detects the solar cell array LP. When the lower end of the frame 2 is tilted to the left by the first tilt angle ⁇ 1 or more (state of IA in FIG. 11B), the sensor 46a located on the left cannot detect the solar cell array LP.
  • the sensors 46a, 46a are provided.
  • the second posture detection unit 47 has a pair of sensors 47a, 47a.
  • the pair of sensors 47a, 47a detect the lower end edge (second end edge) of the solar cell array LP.
  • the pair of sensors 47a, 47a are arranged outside the pair of wheels 22a, 22a of the second traveling mechanism 22 of the traveling unit 20 in the traveling direction of the cleaning robot 1, respectively.
  • the solar cell array LP (specifically, the portion inside the lower edge of the solar cell module P) is detected. It is provided in a position not to.
  • one of the pair of sensors 47a, 47a detects the solar cell array LP.
  • the pair of sensors 47a, 47a are disposed at the positions where Specifically, as shown in FIG. 11, when the lower end of the frame 2 is tilted to the right by a second tilt angle ⁇ 2 or more (the state of IB in FIG. 11C), the sensor 47a located on the right is placed in the solar cell array LP.
  • the second tilt angle ⁇ 2 or more as shown in FIG. 11 (state of IA in FIG.
  • the second inclination angle is a state in which the wheels 22a of the second traveling mechanism 22 of the traveling unit 20 fall from the panel frame of the solar cell module P when the frame 2 is inclined with respect to the upper edge of the solar cell array LP.
  • the angle is set smaller than the angle.
  • the control unit 30 to which the signals from the first posture detection unit 46 of the posture detection unit 45 and the sensors 46a, 47a of the second posture detection unit 47 as described above are transmitted controls the operation of the traveling unit 20 as follows. To do.
  • the control unit 30 controls the pair of sensors 46 a and 46 a of the first attitude detection unit 46. Indicates that the solar cell array LP is detected, and the pair of sensors 47a, 47a of the second attitude detector 47 does not detect the solar cell array LP.
  • the control unit 30 controls the first traveling mechanism 21 and the first traveling mechanism 21 so that the pair of wheels 21a, 21a of the first traveling mechanism 21 and the pair of wheels 22a, 22a of the second traveling mechanism 22 have the same peripheral speed.
  • the drive units 21b and 22b of the second traveling mechanism 22 are operated. Even if the frame 2 is tilted, if the angle is smaller than the first tilt angle, the above state is maintained.
  • the control unit 30 causes the first traveling mechanism 21 to make a difference between the peripheral speeds of the pair of wheels 21a and 21a and the peripheral speeds of the pair of wheels 22a and 22a of the second traveling mechanism 22 so as to make a difference.
  • the drive units 21b and 22b of the traveling mechanism 21 and the second traveling mechanism 22 are operated. Specifically, the drive units 21b and 22b of the first traveling mechanism 21 and the second traveling mechanism 22 are operated so that the inclination of the frame 2 becomes smaller than the first inclination angle ⁇ 1.
  • the cleaning robot 1 is traveling to the left in FIG.
  • the first attitude detection unit located in the front in the traveling direction. Since the sensor 46a of 46 (the sensor 46a on the left side in FIG. 11) cannot detect the solar cell array LP, the signal thereof is transmitted to the control unit 30. Then, the control unit 30 controls the first traveling mechanism 21 so that the peripheral speeds of the pair of wheels 22a, 22a of the second traveling mechanism 22 are lower than the peripheral speeds of the pair of wheels 21a, 21a of the first traveling mechanism 21. And the drive parts 21b and 22b of the second traveling mechanism 22 are operated. Then, the frame 2 moves so that its lower end moves rearward in the traveling direction, so that the inclination of the frame 2 can be made smaller than the first inclination angle ⁇ 1.
  • the first attitude detection unit 46 located rearward in the traveling direction.
  • Sensor 46a (the sensor 46a on the right side in FIG. 11) cannot detect the solar cell array LP, the signal thereof is transmitted to the control unit 30.
  • the control unit 30 sets the first traveling mechanism 21 so that the peripheral speed of the pair of wheels 22a, 22a of the second traveling mechanism 22 is higher than the peripheral speed of the pair of wheels 21a, 21a of the first traveling mechanism 21.
  • the drive parts 21b and 22b of the second traveling mechanism 22 are operated.
  • the frame 2 moves so that its lower end moves forward in the traveling direction, so that the inclination of the frame 2 can be made smaller than the first inclination angle ⁇ 1.
  • the control unit 30 receives a signal indicating that the solar cell array LP has been detected by any one of the pair of sensors 47a, 47a of the second attitude detection unit 47. Sent. Then, the control unit 30 stops the operation of the driving units 21b and 22b of the first traveling mechanism 21 and the second traveling mechanism 22, and stops the traveling of the cleaning robot 1. Then, the pair of wheels 22a, 22a of the second traveling mechanism 22 can be prevented from dropping from the panel frame of the solar cell module P.
  • attitude (tilt) of the frame 2 may be determined with reference to the lower edge of the solar cell module P forming the solar cell array LP.
  • the attitude detector 45 may be provided only at the first end of the frame 2 or only at the second end of the frame 2. However, as described above, by providing the posture detection units at both the first end portion of the frame 2 and the second end portion of the frame 2, it is easy to avoid wheel removal or the like when the posture of the frame 2 changes. Become. Particularly, when the solar cell module P has a panel frame and the wheels 21a to 23a are mounted on the panel frame, it is possible to effectively prevent the wheels 21a to 23a from derailing from the panel frame. it can.
  • the control unit 30 may also include an edge detection unit 31 that detects an end of the solar cell array LP (an end located forward of the cleaning robot 1 in the traveling direction). In this case, if the control unit 30 controls the operation of the traveling unit 20 based on the signal detected by the edge detection unit 31, the cleaning robot 1 can be prevented from falling from the solar cell array LP.
  • the edge detector 31 includes a first detector 32 and a second detector 33. 1 to 5, the first detection unit 32 and the second detection unit 33 are both provided so as to be located at an intermediate portion in the axial direction of the frame 2 of the cleaning robot 1, but the axis of the frame 2 is not shown.
  • the position where the first detection unit 32 and the second detection unit 33 are provided in the direction is not particularly limited.
  • the first detection unit 32 is provided so as to be located in front of the traveling unit 20 in the traveling direction in the traveling direction of the cleaning robot 1.
  • the first detection unit 32 is provided so as to be located at the most front of the cleaning robot 1 in the traveling direction of the cleaning robot 1.
  • the second detection unit 33 is provided so as to be located behind the first detection unit 32 in the traveling direction and in front of the traveling unit 20 in the traveling direction of the cleaning robot 1 in the traveling direction.
  • the first detection unit 32 and the second detection unit 33 are provided in either direction when reciprocating. For example, when the cleaning robot 1 moves in any of the left and right directions in FIG.
  • the first detection unit 32 and the second detection unit 33 are provided on both sides of the frame 2 of the cleaning robot 1 as shown in FIG. Is provided.
  • “forward of the traveling unit 20 in the traveling direction” means in front of the wheels 21a to 23a of the traveling mechanisms 21 to 23. More specifically, it means forward of the position where the wheels 21a to 23a of the traveling mechanisms 21 to 23 of the traveling unit 20 are in contact with the solar cell module P.
  • the reference wheels 21a to 23a are not particularly limited, but wheels that contact the solar cell module P at the most forward position in the traveling direction of the cleaning robot 1 are desirable.
  • the control unit 30 controls the operation of the traveling unit 20 based on the signals detected by the first detection unit 32 and the second detection unit 33, and prevents the cleaning robot 1 from falling from the solar cell array LP. A method for doing so will be described based on FIG. 7. In addition, in FIG. 7, a case where the cleaning robot 1 moves from the right side to the left side will be described. In the following description, the end of the solar cell array LP means the end of the cleaning robot 1 in the front in the traveling direction.
  • the cleaning robot 1 When the cleaning robot 1 further travels from the state of FIG. 7 (A), it eventually reaches the end of the solar cell array LP (FIG. 7 (B)). In this case, the first detection unit 32 detects that the solar cell array LP does not exist below and transmits the signal (hereinafter sometimes referred to as an OFF signal) to the control unit 30.
  • the signal hereinafter sometimes referred to as an OFF signal
  • a signal indicating that the solar cell array LP exists below the second detection unit 33 (hereinafter referred to as an ON signal). It may be said that) is sent. Then, the control unit 30 recognizes that the end of the solar cell array LP exists between the detection units 32 and 33. However, since the second detection unit 33 is located ahead of the traveling unit 20 in the traveling direction, the control unit 30 determines that there is no risk of falling, and continues the traveling and cleaning of the cleaning robot 1.
  • control unit 30 that understands the above situation may cause the cleaning robot 1 to run at the same speed as before, or may control the operation of the running unit 20 so as to slightly reduce the speed.
  • control unit 30 grasps the above situation. Instructs the cleaning unit 10 to perform a special running or operation at the end of the solar cell array LP.
  • the second detection unit 33 also reaches the end of the solar cell array LP (FIG. 7 (C)). Then, not only the first detection unit 32, but also the second detection unit 33 detects that the solar cell array LP does not exist below and transmits the signal to the control unit 30. Then, the control unit 30 recognizes that it has reached the end of the solar cell array LP, and that it may fall from the end of the solar cell array LP if it advances further. Then, the control unit 30 controls the operation of the traveling unit 20 to stop the traveling of the cleaning robot 1.
  • the cleaning robot 1 can be prevented from falling from the solar cell array LP. It can be prevented.
  • control unit 30 has a function of receiving signals from the edge sensors of the first detection unit 32 and the second detection unit 33 and controlling the traveling unit 20 so that the cleaning robot 1 travels as follows. ing. That is, it has a deceleration control function for decelerating the cleaning robot 1 and a stop control function for stopping the cleaning robot 1.
  • control by each function will be described based on FIG. 7.
  • the cleaning robot 1 is traveling while working on the solar cell array LP.
  • the first detection unit 32 and the second detection unit 33 detect that the solar cell array LP exists below them. Then, based on the ON signals sent from the first detection unit 32 and the second detection unit 33, the control unit 30 recognizes that the cleaning robot 1 is in a state where it can travel and clean stably.
  • the cleaning robot 1 When the cleaning robot 1 further travels from the state of FIG. 7 (A), it eventually reaches the end of the solar cell array LP (FIG. 7 (B)). In this case, the first detection unit 32 detects that the solar cell array LP does not exist below and transmits an OFF signal to the control unit 30. On the other hand, since the solar cell array LP exists below the second detection unit 33, an ON signal is transmitted from the second detection unit 33. Then, the control unit 30 controls the operation of the traveling unit 20 so as to reduce the traveling speed of the cleaning robot 1 (deceleration control).
  • the control unit 30 may cause the cleaning robot 1 to drop from the solar cell array LP if the OFF signal is further progressed. Understand what happens. Then, the control unit 30 controls the operation of the traveling unit 20 so as to stop the cleaning robot 1 (stop control). Then, the cleaning robot 1 stops before the traveling unit 20 reaches the end of the solar cell array LP, so that the cleaning robot 1 can be prevented from falling from the end of the solar cell array LP.
  • the edge detection unit 31 is provided with the first detection unit 32 and the second detection unit 33, when the cleaning robot 1 approaches the end portion of the solar cell array LP, it is decelerated and then stopped. be able to. Then, the braking distance at the time of stopping can be shortened as compared with the case where the vehicle stops suddenly from the normal traveling speed. In other words, if the cleaning robot 1 is stopped by the above-described control, the distance from the start of braking to the stop is about the same as the conventional one, even if the cleaning robot 1 travels faster than before. You can Therefore, the cleaning robot 1 can be run at high speed, and even in that case, the cleaning robot 1 can be prevented from falling from the end portion of the solar cell array LP.
  • the cleaning robot 1 can be stopped before the traveling unit 20 reaches the edge. it can. That is, even if the length of the cleaning robot 1 in the traveling direction is shortened, it is possible to prevent the cleaning robot 1 from falling from the end portion of the solar cell array LP, so that the cleaning robot 1 has a compact configuration. You can
  • the running speed may be reduced to a constant speed slower than the normal running speed to maintain the state, or the normal running speed may be gradually reduced. Moreover, control which combined both may be sufficient. That is, the speed may be greatly reduced at the start of deceleration and then gradually decreased.
  • the first detection unit 32 and the second detection unit 33 may determine the groove between the solar cell modules P as the edge of the solar cell array LP.
  • the signals of the first detection unit 32 and the second detection unit 33 are processed as follows, whether the detected edge is the edge of the groove between the solar cell modules P or the edge of the solar cell array LP. Can be determined. Then, it is possible to prevent the cleaning robot 1 from stopping by mistakenly recognizing the edge of the groove between the adjacent solar cell modules P as the end of the solar cell array LP.
  • an ON signal notifying that the solar cell array LP exists below both of the first detection unit 32 and the second detection unit 33 is a control unit. Has been sent to 30. In this state, the cleaning robot 1 runs normally.
  • both the first detection unit 32 and the second detection unit 33 are in a state of transmitting an OFF signal notifying that the solar cell array LP is not present below. Then, the cleaning robot 1 stops traveling.
  • the signal transmitted from the first detection unit 32 to the control unit 30 switches from the ON signal to the OFF signal.
  • the ON signal is continuously transmitted from the second detection unit 33 to the control unit 30.
  • the first detection unit 32 passes through the groove, and the solar cell module P exists again below the first detection unit 32. Then, the signal transmitted from the first detection unit 32 to the control unit 30 switches from the OFF signal to the ON signal.
  • the second detection unit 33 is arranged at the position of the groove, so that the signal transmitted from the second detection unit 33 to the control unit 30 is switched from the ON signal to the OFF signal.
  • the cleaning robot 1 can continue traveling even if there is a groove.
  • the edge of the groove between the solar cell modules P is not erroneously recognized as the end of the solar cell array LP. Therefore, even if the solar cell array LP has a plurality of solar cell modules P arranged side by side, the cleaning robot 1 Can be stably driven.
  • the first detection unit 32 and the second detection unit 33 When performing the above-described groove detection, it is necessary to dispose both the first detection unit 32 and the second detection unit 33 so as not to detect the groove at the same time. That is, it is necessary to properly set the distance between the first detection unit 32 and the second detection unit 33 in the traveling direction of the cleaning robot 1. For example, when the first detection unit 32 and the second detection unit 33 detect the presence or absence of the solar cell array LP or the solar cell module P by the laser sensor, the first detection unit 32 and the second detection unit 33, It is arranged so that the distance between them is wider than the width of the groove between the solar cell modules P. Then, the first detection unit 32 and the second detection unit 33 do not detect the groove at the same time, so that even if there is a groove between the solar cell modules P, the cleaning robot 1 does not stop traveling and can continue traveling.
  • the cleaning robot 1 is There is a possibility of falling from the end of the solar cell array LP.
  • a danger detection unit 41 that detects the end of the solar cell array LP may be provided. Specifically, as shown in FIGS. 1 to 5, a danger detection unit 41 is provided between the second detection unit 33 of the edge detection unit 31 and the traveling unit 20 in the traveling direction of the cleaning robot 1, When the danger detection unit 41 detects the end of the solar cell array LP, the control unit 30 stops the traveling of the cleaning robot 1. Then, even when the edge detection unit 31 does not detect the end of the solar cell array LP, the danger detection unit 41 detects the end of the solar cell array LP before the traveling unit 20 reaches the end of the solar cell array LP. The part can be detected. Therefore, even when the edge detection unit 31 does not detect the end of the solar cell array LP, the cleaning robot 1 can be prevented from falling from the end of the solar cell array LP.
  • “between the second detection unit 33 of the edge detection unit 31 and the traveling unit 20” means the position where the sensor of the second detection unit 33 of the edge detection unit 31 is provided and each of the traveling unit 20. Between the positions of the wheels 21a to 23a of the traveling mechanisms 21 to 23. More specifically, the position where the sensor of the second detection unit 33 of the edge detection unit 31 is provided and the wheels 21a to 23a of the traveling mechanisms 21 to 23 in the traveling unit 20 are in contact with the solar cell module P. It means between the existing position.
  • the reference wheels 21a to 23a are not particularly limited, but wheels that contact the solar cell module P at the most forward position in the traveling direction of the cleaning robot 1 are desirable.
  • the control unit 30 may be provided with a function of notifying the operator or the like that the traveling of the cleaning robot 1 has been stopped by a signal from the danger detecting unit 41. Then, by notifying the operator or the administrator that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired. For example, an alarm or an indicator may be used to notify the worker or the like of the failure, or a signal may be sent to the worker's mobile terminal, management center, or the like to send information regarding the failure.
  • the cleaning robot 1 does not stop running even if the edge detection unit 31 detects the end of the solar cell array LP, and the cleaning robot 1 falls from the solar cell array LP. There is a possibility of doing. However, if the danger control unit 40 that controls the traveling unit 20 according to the signal of the danger detection unit 41 is provided separately from the control unit 30, the cleaning robot 1 can operate the solar cell array even if the control unit 30 is out of order. It can be prevented from falling from the end of the LP.
  • the danger control unit 40 may be provided with a function of informing the worker etc. that the traveling of the cleaning robot 1 is stopped. Then, by notifying the operator or the administrator that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired. For example, an operator may be notified of the failure by an alarm device or an indicator, or a signal may be sent to the mobile terminal of the operator, a management center, or the like to send information about the failure. Further, if the signal from the edge detection unit 31 is also input to the danger control unit 40, it can be known which of the edge detection unit 31 and the control unit 30 is damaged. Then, when the cleaning robot 1 is repaired or the like, the operator can easily recognize the problem, and thus the time until recovery can be shortened.
  • the structure of the danger detection unit 41 is not particularly limited. However, if the danger detecting unit 41 has an outer sensor and an inner sensor so as to be aligned in the traveling direction of the cleaning robot 1, the groove between the solar cell modules P is mistaken as the end of the solar cell array LP. The probability of detection can be reduced.
  • the danger detecting unit 41 has only one sensor, if a plurality of danger detecting units 41 are provided and the positions of the plurality of danger detecting units 41 are shifted in the traveling direction of the cleaning robot 1, a groove, etc. It is possible to reduce the possibility of erroneous detection as the end of the solar cell array LP.
  • the sensors used for the edge detection unit 31, the danger detection unit 41, and the attitude detection unit 45 are not particularly limited, and a known sensor that can detect the edge of the solar cell array LP or the solar cell module P can be used.
  • a sensor such as a laser sensor, an infrared sensor, or an ultrasonic sensor that detects a contactless edge, or a contact sensor such as a limit switch can be used as the sensor.
  • the controller 30 may analyze an image taken by using a CCD camera or the like as a sensor to detect an edge.
  • the difference in temperature or capacitance between the solar cell array LP or the solar cell module P and the portion (space, etc.) outside the edges of the solar cell array LP or the solar cell module P is The edges of the solar cell array LP and the solar cell module P can be grasped.
  • the sensor when the sensor is a laser sensor, it is possible to detect whether or not the solar cell array LP and the solar cell module P are present as follows. First, it is assumed that the solar cell array LP and the solar cell module P are present immediately below the sensor. In this case, if laser light is emitted from the sensor, the sensor receives the reflected light reflected by the solar cell array LP and the solar cell module P. That is, it can be determined that the position of the sensor is located inside the edge. On the other hand, when the sensor cannot receive the reflected light, it can be determined that there is no solar cell array LP or solar cell module P directly below the sensor, that is, the position of the sensor is located outside the edge.
  • the control unit 30 controls the operation of the cleaning unit 10, the traveling unit 20, and the guide unit 50 and the cleaning work. Therefore, if the operation of the cleaning robot 1 is controlled so that the traveling and the work are performed in the procedure stored in the control unit 30, the cleaning of the surfaces of the plurality of solar cell modules P of the solar cell array LP is almost automatically performed. Can be implemented in.
  • the cleaning robot 1 may be operated by an operator from outside to control the work such as running and cleaning.
  • the cleaning robot 1 may be remotely controlled using wireless communication using wireless or infrared rays. That is, the operator may operate the wireless communication controller to remotely operate the cleaning robot 1.
  • an operator may operate the cleaning robot 1 by using a controller connected to the cleaning robot 1 by a signal line or the like. If a worker operates the cleaning robot 1 by using a controller for wireless communication or a controller connected by a signal line, the worker can carry out work while confirming the work status such as cleaning. Then, the cleaning robot 1 can be caused to perform an appropriate work in accordance with changes in the surrounding conditions.
  • the edge detection function as described above. With such a function, even if the operator makes an operation error, the cleaning robot 1 can be appropriately moved to perform the work. Further, even if the operator makes an operation error, the cleaning robot 1 can be prevented from falling from the solar cell array LP.
  • the cleaning robot 1 may be a combination of both an operator's operation and automatic traveling (work). That is, normally, the work or the traveling is performed automatically (that is, only the control of the control unit 30). The operation may be switched. In this case, when the input from the controller or the like is not more than a certain level, the state is switched to the automatic traveling (working) state. This is preferable because the work can be continued even if the operator makes a mistake in operation or forgets to switch to the automatic traveling (work) state.
  • ⁇ Manual brush BR> In the cleaning robot 1 of the present embodiment, the wheels of the traveling unit 20 are arranged outside the brush 12 of the cleaning unit 10 (that is, in the front or rear of the traveling direction) in the traveling direction of the cleaning robot 1. Therefore, in the cleaning robot 1 of the present embodiment, the brush 12 cannot clean the surface of the solar cell array LP up to the edge. That is, even if the cleaning robot 1 of the present embodiment is run to clean the surface of the solar cell array LP, an area that cannot be cleaned is created.
  • the cleaning robot 1 of the present embodiment may be provided with a manual brush holding unit that holds the manual brush BR. In this case, even if there is a portion that cannot be cleaned by the cleaning unit 10, the operator can clean only that portion. Moreover, since the manual brush BR is held by the cleaning robot 1 and the operator does not have to carry the manual brush BR, the burden on the operator can be reduced.
  • the cleaning robot 1 of this embodiment is placed on the solar cell array LP to clean the surface of the solar cell array LP. That is, when cleaning the surface of the solar cell array LP, the cleaning robot 1 of this embodiment must be placed on the solar cell array LP. In that case, the cleaning robot 1 may be placed on the solar cell array LP by holding the frame 2 itself, but if the frame 2 is provided with a handle or the like, the cleaning robot 1 can be carried or the surface of the solar cell array LP can be mounted. It becomes easier to put it on.
  • the structure of the handle is not particularly limited, but when the cleaning robot 1 is mounted on the solar cell array LP whose surface is inclined as shown in FIG. 10 (B), it is desirable to provide a handle having the following structure. With the following structure, it is easy to place the cleaning robot 1 on the solar cell array LP or lower the cleaning robot 1 from the solar cell array LP.
  • a first handle 61 is provided at the first end of the first frame portion 3 of the frame 2.
  • One end of the first handle 61 is connected to the first end of the first frame portion 3.
  • the first handle 61 is bent downward between its one end and the other end. That is, the first handle 61 is bent to the surface side arranged on the solar cell array LP side when the frame 2 is arranged on the solar cell array LP. Then, the first handle 61 is formed such that the other end thereof is located below the lower surface of the first frame portion 3. If the first handle 61 having such a structure is provided, the other end of the first handle 61 is located below the solar cell array LP even when the cleaning robot 1 is placed on the solar cell array LP. .
  • the cleaning robot 1 can be easily lifted when lowering the cleaning robot 1 from the solar cell array LP. Conversely, even when the cleaning robot 1 is placed on the solar cell array LP, the cleaning robot 1 is arranged above the solar cell array LP even if the height at which the first handle 61 is lifted is lower than the upper end of the solar cell array LP. can do. Then, the burden of the work of mounting the cleaning robot 1 on the solar cell array LP can be reduced.
  • a second handle 62 is provided at the first end of the second frame portion 4 of the frame 2.
  • One end of the second handle 62 is connected to the first end of the second frame portion 4.
  • the second handle 62 is bent upward between its one end and the other end. That is, the second handle 62 is bent to the surface side that is arranged on the side opposite to the solar cell array LP side when the frame 2 is arranged on the solar cell array LP. If the second handle 62 having such a structure is provided, even when the cleaning robot 1 is placed on the solar cell array LP, even if the first end of the second frame portion 4 is at a lower position, the solar cell array is lowered.
  • the second handle 62 can be gripped at a position relatively higher than the lower end of the LP. Then, when the cleaning robot 1 is lowered from the solar cell array LP or when the cleaning robot 1 is placed on the solar cell array LP, it is not necessary for the worker to bend his / her waist so much that the work load can be reduced.
  • the portions on the other end side of the first handle 61 and the second handle 62 correspond to the gripping portion in the claims.
  • the first end portion of the second frame portion 4 may be arranged at a high position when the cleaning robot 1 is placed on the solar cell array LP.
  • a handle having the same structure as the first handle 61 may be provided on the first end of the second frame portion 4.
  • the first end portion of the first frame portion 3 of the frame 2 is also arranged at a low position.
  • a handle having the same structure as the second handle 62 may be provided at the first end of the first frame portion 3.
  • ⁇ Lifting mechanism 70> By providing the first handle 61 and the second handle 62 as described above, the cleaning robot 1 can be easily lifted and lowered on the solar cell array LP whose surface is inclined. However, when the solar cell array LP is arranged at a higher position, it is desirable to provide the following lifting mechanism 70.
  • the lifting mechanism 70 is detachable from the engaging member 71 provided at the first end portion and the second end portion of the frame 2 of the cleaning robot 1 and the engaging member 71. And a lift member 75 connected to the.
  • the engagement member 71 includes a pair of vertical axis portions 72, 72, one end of which is connected to the first end and the second end of the frame 2 of the cleaning robot 1.
  • the pair of vertical axis portions 72, 72 are provided so as to extend downward from one end portion (that is, extend toward the solar cell array LP side) with the cleaning robot 1 placed on the solar cell array LP. (See FIG. 15B).
  • An upper insertion portion 73 and a lower insertion portion 74 are provided between the pair of vertical axis portions 72, 72.
  • the upper insertion portion 73 and the lower insertion portion 74 are rod-shaped members and are provided at intervals in the axial direction of the pair of vertical axis portions 72, 72 (the direction in which the pair of vertical axis portions 72, 72 extend). .
  • the upper insertion portion 73 is located closer to one end (upper side) of the vertical axis portion 72 than the lower insertion portion 74.
  • the lower insertion portion 74 is located closer to the other end side (lower side) of the vertical axis portion 72 than the upper insertion portion 73.
  • the upper insertion portion 73 and the lower insertion portion 74 are provided so that their axial directions are parallel to each other.
  • the upper insertion portion 73 and the lower insertion portion 74 are provided such that their axial directions are parallel to the traveling direction of the cleaning robot 1 on the solar cell array LP.
  • the lift member 75 includes a main body portion 76, a handle 77 provided at one end portion of the main body portion 76, a pair of engagement portions 78 provided at the other end portion of the main body portion 76, 79 and.
  • the cleaning robot 1 is lifted or lowered onto the solar cell array LP.
  • any material having sufficient strength may be used. That is, the main body portion 76 may have any strength as long as it does not bend or bend when the cleaning robot 1 is lifted by the lift member 75.
  • a structure in which a shaft-shaped intermediate frame 76b is provided between the pair of main body shafts 76a and 76a can be adopted.
  • the body portion 76 may be formed by one shaft-shaped member or one plate-shaped member.
  • the handle 77 is a portion held by a person, and its structure is not particularly limited. Any structure may be used so long as the operator can lift the cleaning robot 1 with the handle 77 of the lift member 75 engaged with the engaging member 71.
  • the handle 77 may be formed by a simple horizontal bar.
  • the pair of engaging portions 78 and 79 are portions that engage with the upper inserting portion 73 and the lower inserting portion 74 of the engaging member 71, respectively.
  • the upper engaging portion 78 is located closer to the other end of the main body portion 76 than the lower engaging portion 79.
  • the upper engagement portion 78 can engage with the upper insertion portion 73 located above the upper insertion portion 73 and the lower insertion portion 74 of the engagement member 71 from above.
  • the upper engaging portion 78 is provided with an upper engaging groove 78g having an opening on its lower surface (the surface on the side of the handle 77).
  • the upper insertion portion 73 can be inserted into the upper engagement groove 78g.
  • the lower engaging portion 79 is located closer to one end side (the handle 77 side) of the main body portion 76 than the upper engaging portion 78.
  • the lower engagement portion 79 can engage with the lower insertion portion 74, which is located below the upper insertion portion 73 and the lower insertion portion 74 of the engagement member 71, from below.
  • the lower engagement portion 79 is provided with a lower engagement groove 79g having an opening on its upper surface (the surface opposite to the handle 77 side).
  • the lower engaging groove 79g is formed such that its axial direction is parallel to the axial direction of the upper engaging groove 78g of the upper engaging portion 78. Then, the lower insertion portion 74 can be inserted into the lower engagement groove 79g.
  • the pair of engaging portions 78 and 79 are provided on the opposite surface of the main body portion 76.
  • the upper engaging portion 78 is provided on the left side surface of the main body portion 76
  • the lower engaging portion 79 is provided on the right side surface of the main body portion 76.
  • the length LA from the inner bottom surface to the upper surface of the lower engagement portion 79 is longer than the length LR from the upper insertion portion 73 to the lower insertion portion 74. Is formed.
  • the length LB from the inner bottom surface to the lower surface of the upper engagement portion 78 is shorter than the length LR from the upper insertion portion 73 to the lower insertion portion 74. Is formed.
  • the length LR from the upper insertion portion 73 to the lower insertion portion 74 means that the upper insertion portion 73 is inserted into the upper engagement groove 78 g of the upper engagement portion 78 and the lower engagement portion 79.
  • the lower insertion portion 74 is inserted into the lower engagement groove 79g (hereinafter, simply referred to as an engaged state), it means the length of the main body portion 76 of the lift member 75 in the axial direction. More specifically, in the engaged state, the length at the position where the length from the upper insertion portion 73 to the lower insertion portion 74 in the direction along the axial direction of the main body portion 76 of the lift member 75 is the longest is I mean. For example, in FIG. 17C, the length from the upper end of the axial upper insertion portion 73 to the lower end of the axial lower insertion portion 74 in the direction parallel to the axial direction of the main body portion 76 of the lift member 75.
  • the other end portion of the main body portion 76 of the lift member 75 is passed between the upper insertion portion 73 and the lower insertion portion 74 of the engagement member 71, and the upper engagement portion 78 is projected above the upper insertion portion 73.
  • the opening of the upper engaging portion 78 is brought close to the upper inserting portion 73 from above, and the upper inserting portion 73 is inserted into the upper engaging groove 78g (FIG. 17A).
  • the upper engagement groove 78g of the upper engagement portion 78 has a length LA from its inner bottom surface to the upper surface of the lower engagement portion 79 longer than the length LR from the upper insertion portion 73 to the lower insertion portion. Has been formed.
  • the lower engagement portion 79 does not contact the lower insertion portion 74, and the upper engagement groove 79g can be arranged below the lower insertion portion 74. In that state, if the lift member 75 is pushed up in the arrow direction of FIG. 17B, the lower insertion portion 74 can be inserted into the lower engagement groove 79g.
  • the distance LB from the inner bottom surface of the upper engagement groove 79g of the lower engagement portion 79 to the lower surface of the upper engagement portion 78 is shorter than the distance LR from the upper insertion portion 73 to the lower insertion portion 74. Therefore, when the lower insertion portion 74 is inserted into the lower engagement groove 79g, the upper insertion portion 73 and the lower insertion portion 74 are held in the upper engagement groove 78g and the lower engagement groove 79g, respectively (Fig. 17 (C)). That is, the engagement member 71 and the lift member 75 can be connected in a stable state in which the upper insertion portion 73 does not come off from the upper engagement groove 78g.
  • the lower insertion portion 74 can be disengaged from the lower engagement portion 79 by pulling the main body portion 76 downward.
  • the upper insertion portion 73 and the upper engagement portion 78 can be disengaged by lifting the main body portion 76 upward. Therefore, the lift member 75 can be removed from the engagement member 71.
  • the number of the vertical axis portions 72 is not limited to one pair (two), and may be one or three or more. In the case of one, the upper insertion portion 73 and the lower insertion portion 74 may be provided upright on the side surface of the vertical axis portion 72.
  • the upper insertion portion 73 and the lower insertion portion 74 can be engaged with the pair of engaging portions 78 and 79 of the lift member 75, and the cleaning robot 1 can be mounted on the solar cell in the state of being engaged with the pair of engaging portions 78 and 79. It suffices if it can be lifted and lowered on the array LP.
  • the upper insertion portion 73 and the lower insertion portion 74 are provided so that their axial directions are parallel to the direction intersecting the direction in which the cleaning robot 1 travels on the solar cell array LP (for example, the orthogonal direction). Good.
  • the upper insertion portion 73 and the lower insertion portion 74 are formed of shaft-shaped members.
  • the upper insertion portion 73 and the lower insertion portion 74 do not necessarily have to be formed of shaft-shaped members.
  • the lift member 75 can be disposed between the upper insertion portion 73 and the lower insertion portion 74, and the upper insertion portion 73 can insert the upper engagement groove 78g of the upper engagement portion 78 of the lift member 75 from above, and the lower insertion portion 74 can be inserted. It suffices that it can be inserted into the lower engaging groove 79g of the lower engaging portion 79 of the lift member 75 from below.
  • the engaging member 71 is formed of a plate-like member to form a central through hole.
  • An upper through hole is provided above the central through hole, and a lower through hole is provided below the central through hole. Then, if the lift member 75 is passed through the central through hole, the portion between the upper through hole and the central through hole can function as the upper insertion portion, and the portion between the lower through hole and the central through hole can be lowered. It can function as an insertion part.
  • both the upper insertion portion 73 and the lower insertion portion 74 are engaged with each other while being in contact with the inner bottom surfaces of the upper engagement groove 78g of the upper engagement portion 78 and the lower engagement groove 79g of the lower engagement portion 79.
  • the joining member 71 and the lift member 75 can be connected. Then, the engagement member 71 and the lift member 75 can be connected in a more stable state.
  • the structure for connecting the engaging member 71 and the lift member 75 is not limited to the structure described above. Any structure may be used so long as they can be easily connected and disconnected, and that the cleaning robot 1 can be stably lifted and lowered when the cleaning robot 1 is lifted and lowered on the solar cell array LP in a connected state. .
  • the above-mentioned handles 61, 62 may have a function as the engaging member 71.
  • the cleaning robot 1 when the cleaning robot 1 is placed on the solar cell array LP, the cleaning robot 1 can be raised and lowered by the handles 61 and 62 if the height can be reached by the operator.
  • the cleaning robot 1 when the cleaning robot 1 is arranged on the solar cell array LP and the height is not reachable by the operator, the cleaning robot 1 can be lifted and lowered by the lift member 75. That is, it is not necessary to provide the handles 61 and 62 or the engaging member 71 depending on the height of the solar cell array LP.
  • a static eliminating member DB (not shown) on the frame 2.
  • the static elimination member DB contacts the surface of the solar cell array LP, the panel frame, or the like, or the static elimination member.
  • the tip of DB is provided so as to be slightly separated from the surface of the solar cell array LP, the panel frame, or the like.
  • the charge removal member DB is installed behind the brush 12 of the cleaning unit 10 in the running direction of the cleaning robot 1.
  • the cleaning robot 1 travels to contact the surface of the solar cell array LP, the panel frame, or the like where the static elimination member DB is charged, or when the cleaning robot 1 is slightly separated, the cleaning unit 10 is rubbed with the surface of the solar cell array LP.
  • the static electricity generated on the brush 12 is discharged from the tip of the static elimination member DB to the solar cell array LP, the panel frame, or the like. That is, it is possible to prevent the frame 2 from being charged by discharging the static electricity generated in the brush 12, so that it is possible to prevent a problem such as a malfunction of the microcontroller or the like.
  • the static elimination member DB is not limited to any particular shape, structure, or material as long as it can discharge the static electricity of the frame 2 to the outside.
  • a metal main body provided with a brush-like member at the tip can be adopted.
  • a band-shaped or string-shaped member having flexibility can be adopted as the static elimination member DB.
  • the cleaning robot 1 of the present embodiment is arranged between the adjacent solar cell arrays LP to enable the cleaning robot 1 of the present embodiment to move.
  • the communication member 100 may be provided.
  • the connecting member 100 includes a main body 101, and a pair of end members 102, 102 provided at both ends of the main body 101 in the longitudinal direction.
  • the main body 101 includes a traveling unit 101a that causes the wheels 21a and 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling unit 20 of the cleaning robot 1 to travel.
  • the running portion 101a is a long plate-shaped member, and is formed so that its length is longer than the gap between the adjacent solar cell arrays LP adjacent to each other.
  • a fixed portion 101b is provided on the back surface of the traveling portion 101a.
  • the fixed portion 101b is a plate-shaped member that is erected on one edge of the traveling portion 101a in the longitudinal direction. That is, the main body portion 101 is formed by the traveling portion 101a and the fixed portion 101b so that the cross section orthogonal to the longitudinal direction thereof has a substantially L shape (FIG. 8C).
  • the width of the traveling portion 101a of the main body 101 (the vertical length in FIG. 8A) and the width of the fixed portion 101b (the vertical length in FIG. 8B) are not particularly limited. It is desirable that the width of the portion 101a be approximately the same as the width of the wheels 21a and 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling unit 20 of the cleaning robot 1 traveling on the traveling unit 101a. Further, the width of the fixed portion 101b is preferably longer than the height of the panel frame of the solar cell module P.
  • the pair of end members 102, 102 also include a traveling portion 102a and a fixed portion 102b.
  • One end of the traveling portion 102a of the pair of end members 102, 102 is foldably connected to the longitudinal end portion of the traveling portion 101a of the main body 101 by a hinge or the like.
  • the surface of the running portion 102a of the end member 102 is connected so as to be bendable only in the direction in which it overlaps with the surface of the running portion 101a of the main body 101.
  • the pair of end members 102, 102 also have a cross section that intersects the longitudinal direction of the running portion 101a of the main body portion 101 with the running portion 102a and the fixed portion 102b in substantially the same shape as the main body portion 101 (that is, the cross-section is substantially the same). L-shaped).
  • the width of the running portion 102a of the end member 102 (the vertical length in FIG. 8A) and the width of the fixed portion 102b (the vertical length in FIG. 8B) are not particularly limited.
  • the width of the portion 102a is preferably about the same as the width of the wheels 21a, 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling portion 20 traveling on the traveling portion 102a.
  • the width of the fixed portion 102b is preferably longer than the height of the panel frame of the solar cell module P.
  • the fixing portion 101b and the fixing portion 102b may be provided with a connecting mechanism that connects the panel frame of the solar cell module P and the fixing portion 101b and the fixing portion 102b. Then, the connecting member 100 can be stably fixed to the panel frame of the solar cell module P.
  • the work can be performed as follows.
  • the cleaning robot 1 of the present embodiment travels to the vicinity of the edge of the solar cell array LP forming a clearance to get over, it once travels (retracts) away from the edge (FIG. 9 (A)). Specifically, when the connecting member 100 is arranged in the gap between the solar cell arrays LP, the cleaning robot 1 retracts to a position where it does not interfere.
  • the two connecting members 100 are arranged in the gap between the adjacent solar cell arrays LP (FIG. 9 (B)).
  • the connecting member 100 is arranged such that both ends of the main body 101 of the connecting member 100 are arranged on the solar cell module P with a gap therebetween. More specifically, the main body 101 of the connecting member 100 is arranged between the panel frames at the upper end and the lower end of the solar cell module P that sandwich the gap. After that, the pair of end members 102, 102 is extended so that the pair of end members 102, 102 are placed on the surface of the solar cell module P.
  • the fixing portion 101b of the main body 101 and the fixing portion 102b of the end member 102 are arranged so as to contact the side surface of the panel frame of the solar cell module P.
  • the fixing portion 101b of the main body 101 or the fixing portion 102b of the end member 102 has a connecting mechanism
  • the fixing mechanism 101b of the main body 101 or the fixing portion 102b of the end member 102 is connected by the connecting mechanism. Secure to the panel frame.
  • the cleaning robot 1 runs toward the gap (FIG. 9 (C)). Then, the wheels 21a, 22a of the first traveling mechanism 21 and the second traveling mechanism 22 of the traveling portion 20 can be caused to travel on the surfaces of the traveling portions 101b, 102b of the main body portion 101 of the connecting member 100 and the end member 102. Therefore, the cleaning robot 1 can be moved from one solar cell module P forming the gap to the other solar cell module P.
  • a cushioning member such as rubber or urethane may be provided on the back surfaces of the running portions 101a and 102a of the main body 101 and the end member 102, that is, the surfaces that come into contact with the front surface of the solar cell module P. Then, when the connecting member 100 is arranged on the solar cell module P, the solar cell module P can be prevented from being damaged. Further, the main body 101 and the end member 102 do not necessarily need to be provided with the fixing portions 101b and 102b as long as the cleaning robot 1 of the present embodiment can travel stably. Further, the pair of end members 102 need not be provided, and may be provided only at one end of the main body 101.
  • the connecting member 100 may be carried to the place by the worker when the cleaning robot 1 moves between the adjacent solar cell arrays LP, but the connecting member 100 may be placed on the cleaning robot 1. Then, the operator does not have to carry the communication member 100, so that the burden on the operator can be reduced.
  • the connecting member 100 may be installed in advance in a place where a gap is formed.
  • the cleaning robot 1 may include a state detection mechanism 80 that measures the surface of the solar cell module P and detects the state of the surface of the solar cell module P. If such a state detection mechanism 80 is provided, the surface of the solar cell array LP can be properly grasped, so that it is possible to carry out an operation such as cleaning according to the state of the surface of the solar cell array LP.
  • the state detection mechanism 80 determines the state of the surface of the solar cell module P based on the state detection unit 81 that detects the state of the solar cell module P and the information detected by the state detection unit 81. It can be configured with the determination unit 85. Both the state detection unit 81 and the determination unit 85 may be provided in the cleaning robot 1, or only the state detection unit 81 may be provided in the cleaning robot 1 and the determination unit 85 may be provided in a management building or the like. Further, the state detection unit 81 may be provided in the solar cell module P or the like and the determination unit 85 may be provided in the management building or the like. When the determination unit 85 is provided in the management building or the like, the management building sends a command such as operation timing to the cleaning robot 1.
  • the state detection unit 81 is not particularly limited, but may be, for example, a temperature detection unit 82 that detects the temperature of the surface of the solar cell module P. In this case, depending on the temperature of the surface of the solar cell module P detected by the temperature detection unit 82, the cleaning robot 1 can be made to perform work suitable for that temperature.
  • the control unit 30 moves the cleaning robot 1 to perform cleaning when the temperature detecting unit 82 detects a state of the dew point temperature or lower. It is desirable that the
  • the cleaning robot 1 when the cleaning robot 1 has a cleaning unit 10 suitable for cleaning in a dry state such as a brush or a cloth, cleaning is performed in a state where the surface of the solar cell module P is at the dew point temperature or higher. It is desirable to do. Therefore, when the cleaning robot 1 includes the cleaning unit 10, the control unit 30 moves the cleaning robot 1 to perform cleaning when the temperature detecting unit 82 detects a state of the dew point temperature or higher. It is desirable that
  • the temperature detection unit 82 may be installed in the solar cell module P or the cleaning robot 1.
  • the temperature detection unit 82 can be provided on the panel frame or the like of the solar cell module P.
  • the cleaning robot 1 is arranged in the retreat portion EA, and the cleaning robot 1 is located at a position where the temperature of the surface of the solar cell module P can be measured.
  • the temperature detection unit may be provided in 1.
  • FIG. 18B it is possible to employ a method of providing the temperature detecting unit 82 on the stay S or the like protruding outward from the cleaning robot 1.
  • the temperature of the solar cell module P to be detected is not necessarily limited to the temperature of the front surface, and may be a predetermined area of the solar cell module P or its surface, the vicinity of the predetermined area or the back surface in the vicinity thereof, or the solar cell module P in the predetermined area.
  • the internal temperature may be measured.
  • a temperature detection unit may be provided on the back surface of the solar cell module P.
  • the temperature detection unit 82 is provided so as to measure the temperature of each cell constituting the solar cell module P, a hot spot is generated in the solar cell module P by moving the cleaning robot 1 on the solar cell array LP. It can be detected whether or not it is formed. Then, the cleaning robot 1 can detect that the solar cell module P is damaged (short-circuited or the like) as well as being cleaned, so that the maintainability of the solar cell module P constituting the solar cell array LP can be improved. it can.
  • the temperature detection unit 82 is provided on the stay S protruding outward from the cleaning robot 1, the lower surface of the cleaning robot 1, or the like along a direction intersecting the traveling direction of the cleaning robot 1 (preferably a direction orthogonal thereto).
  • the same number of temperature sensors as the number of cells of the solar cell array LP in the direction connecting the first end edge and the second end edge of the solar cell array LP are orthogonal to the traveling direction of the cleaning robot 1.
  • the cleaning robot 1 is provided so as to line up along the line. That is, the cleaning robot 1 is provided with the same number of temperature sensors as the number of cells arranged in the direction connecting the first end edge and the second end edge of the solar cell array LP at the position corresponding to each cell of the solar cell module P. .
  • the temperature of each cell of the solar cell module P can be detected, so that the hot spot can be detected and its position can be grasped. Therefore, the damaged portion of the solar cell module P forming the solar cell array LP can be grasped quickly and reliably, and the maintainability of the solar cell array LP can be improved.
  • the state detection unit 81 that detects the state of the surface of the solar cell module P
  • a unit that measures the color or strength (gloss) of the surface of the solar cell module P may be adopted.
  • the stain on the surface of the solar cell module P can be determined by detecting the color or strength (gloss) of the surface of the solar cell module P.
  • the cleaning robot 1 is provided with a state detection unit 81 that measures the color and strength (gloss) of the surface of the solar cell module P. Then, based on the information detected by the state detection unit 81, when the determination unit 85 determines that a certain amount or more of dirt remains, the control unit 30 causes the cleaning robot 1 to reciprocate the position a plurality of times. Let it work. For example, the control unit 30 operates the cleaning robot 1 so that the cleaning robot 1 reciprocates a plurality of areas in the solar cell module P where dirt remains. Then, the effect of removing dirt on the surface of the solar cell module P by the cleaning robot 1 can be enhanced.
  • a state detection unit 81 that measures the color and strength (gloss) of the surface of the solar cell module P. Then, based on the information detected by the state detection unit 81, when the determination unit 85 determines that a certain amount or more of dirt remains, the control unit 30 causes the cleaning robot 1 to reciprocate the position a plurality of times. Let it work. For example, the control unit
  • the controller 30 determines the area where the dirt remains. It may have a function of informing. In this case, an operator can manually clean the area (using water or the like) to remove stains that cannot be removed by the cleaning robot 1. Further, when the reciprocating work is performed a predetermined number of times, the cleaning of the area may be stopped and the other areas may be cleaned. That is, when the cleaning robot 1 reciprocates in the area where the dirt remains a predetermined number of times, the cleaning of the area is stopped even if the determination unit 85 determines that the dirt remains above a certain level. You may In this case, useless operation of the cleaning robot 1 can be prevented.
  • the state detecting mechanism 80 can employ the following configuration, for example (see FIG. 18C).
  • a light irradiation unit 83 that irradiates the surface of the solar cell module P with light is provided.
  • the light emitted by the light emitting section 83 is not particularly limited.
  • the light receiving portion 84 is provided so that the light emitted by the light emitting portion 83 can receive the reflected light reflected by the surface of the solar cell module P. Then, if the determination unit 85 determines the stain on the surface of the solar cell module P based on the signal received by the light receiving unit 84, the stain on the surface of the solar cell module P can be determined.
  • the determination unit 85 stores the color (reference color) and the intensity (reference intensity) of the reflected light at. Then, by comparing the reflected light received by the light receiving unit 84 with the reference color and the reference intensity, the determining unit 85 can determine the stain on the surface of the solar cell module P.
  • the configurations of the light irradiating section 83 and the light receiving section 84 are not particularly limited, but the plurality of light irradiating sections 83 and the plurality of light receiving sections 84 are arranged along a direction intersecting the moving direction of the cleaning robot 1 (for example, a direction orthogonal to each other). It is desirable to provide. In this case, the area where the surface of the solar cell module P cannot detect dirt can be reduced. In particular, if a line sensor is used as the light receiving section 84, it becomes easy to prevent omission of dirt detection.
  • the state detection unit 81 is provided behind the cleaning unit 10 in the moving direction of the cleaning robot 1, the state after cleaning by the cleaning unit 10 can be determined. If the cleaning robot 1 is provided in front of the cleaning unit 10 in the moving direction, the cleaning by the cleaning unit 10 can be adjusted according to the state of dirt. In particular, if the cleaning robot 1 is provided both in front of and behind the cleaning unit 10 in the moving direction, both functions described above can be exerted.
  • the state detection mechanism 80 may have, as the state detection unit 81, a wind speed sensor that measures the wind speed.
  • the control unit 30 operates the cleaning robot 1 when the wind speed is equal to or higher than a certain wind speed based on the wind speed information measured by the wind speed sensor, the cleaning effect can be enhanced. That is, when the cleaning unit 10 of the cleaning robot 1 rolls up dust or the like, the dust is easily scattered, so that the cleaning effect can be enhanced.
  • the control unit 30 controls the cleaning robot 1 not to operate.
  • the cleaning robot of the present invention is suitable for cleaning a solar cell array of a large-scale solar power generation facility.

Abstract

[Problème] Fournir un robot de nettoyage capable d'effectuer efficacement des opérations telles que le nettoyage d'un réseau de cellules solaires. [Solution] Un robot de nettoyage 1, qui nettoie la surface d'un réseau de cellules solaires LP dans lequel une pluralité de modules de cellules solaires P sont installés côte à côte, comprend : une unité de nettoyage 10 comprenant une brosse 12 qui nettoie la surface du solaire module de cellule P ; un cadre 2 ; et une unité de déplacement 20 qui est prévue dans le châssis 2 et amène le châssis 2 à se déplacer dans une direction coupant une direction d'axe de rotation de la brosse 12 de l'unité de nettoyage 10, dans laquelle le châssis 2 est pourvu d'une unité de roulement comprenant un roulement qui maintient en rotation une partie d'extrémité d'arbre de la brosse 12 de l'unité de nettoyage 10, et l'unité de palier est configurée pour maintenir de manière pivotante la partie d'extrémité d'arbre de la brosse 12 de l'unité de nettoyage 10.
PCT/JP2019/041232 2018-10-19 2019-10-19 Robot de nettoyage WO2020080549A1 (fr)

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CN111495814A (zh) * 2020-05-25 2020-08-07 优普美智(北京)科技有限公司 自调式光伏板清扫机器人
CN112295980A (zh) * 2020-10-22 2021-02-02 南京天创电子技术有限公司 一种可清扫光伏组件双面的光伏清扫机器人
CN112718762A (zh) * 2020-12-07 2021-04-30 合肥仁洁智能科技有限公司 清扫装置和光伏阵列
CN114400967A (zh) * 2022-01-18 2022-04-26 南京天创电子技术有限公司 一种多段式光伏组件清洗系统及机器人大风保护方法
CN116885649A (zh) * 2023-09-01 2023-10-13 国网山东省电力公司五莲县供电公司 一种用于电缆维护的机构
CN117277949A (zh) * 2023-11-21 2023-12-22 海通智能装备(江苏)有限公司 一种干式光伏板清扫机器人

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