WO2020166067A1

WO2020166067A1 - Contactless snow removal system for solar panels

Info

Publication number: WO2020166067A1
Application number: PCT/JP2019/005579
Authority: WO
Inventors: 高雄伊藤
Original assignee: 株式会社エコ革
Priority date: 2019-02-15
Filing date: 2019-02-15
Publication date: 2020-08-20
Also published as: JP6755062B1; JPWO2020166067A1

Abstract

The present invention addresses the problem of providing a contactless snow removal system for solar panels that contactlessly removes snow from the surface of solar panels efficiently and at low cost, without construction of equipment in advance or loading the weight of equipment onto the solar panels or onto frames. A contactless snow removal system (1) for solar panels that includes: frames (3) and solar panels (4) that are arranged on the ground; a snow accumulation sensor (15) that detects the amount of snow accumulated on the surface of the solar panels (4); an unmanned aircraft (5) such as a drone or a UAV that moves in three-dimensional space and is configured from a plurality of lift generation parts that comprise a motor and a propeller that is connected to the motor and an unmanned aircraft control device that performs rotational control of the motors and performs flight posture control on the basis of lift (thrust) that is generated by rotation of the propellers; and a three-dimensional flight path instruction part that sets a movement route for the unmanned aircraft (5) in advance and outputs instructions to a rotation control device. When the amount of snow accumulated has reached a prescribed amount, the snow that has accumulated on the solar panels (4) is contactlessly removed from the surface of the solar panels (4) by exhaust flows from the propellers as the unmanned aircraft (5) flies on the basis of commands from the three-dimensional flight path instruction part.

Description

Non-contact snow removal system for solar panels

The present invention uses the airflow emitted from an unmanned aerial vehicle (drone device) to deposit snow on the surface of a solar panel of a power plant using a solar panel such as a mega solar, a roof of a house, or a roof of a building. The present invention relates to a non-contact snow removal system for a solar panel that blows away snow accumulated on installations such as installed solar panels and snow accumulated on roofs of houses and roofs of buildings.

In recent years, drone devices have been dramatically developed, and various types of drone devices have been put to practical use, including large size and long-term support. It also has a wide variety of uses, such as shooting, security, and moving cargo to remote areas. Furthermore, a field trial is underway in which a person is put on the drone device and a manned flight is carried out. The environment for creating map information has improved dramatically, and it is now possible to easily and inexpensively create three-dimensional topographic data and three-dimensional map data on the ground.

In addition, the number of large-scale power generation systems with a large number of solar panels installed has increased significantly, and the installation of large-scale solar power generation systems called megasolar has increased rapidly even in areas where snowfall occurs. doing. However, in the snowfall area, snow accumulates on the surface of the solar panel during the winter, and while the snow accumulates on the surface of the solar panel, light is blocked and the amount of power generation decreases significantly. Had a problem that it was damaged or collapsed together with the solar panel mount.

In addition, in a large-scale power generation system that uses solar panels, as a configuration to prevent snow accumulation, increase the inclination above the optimal inclination angle at the expense of the amount of power generation, and slightly decrease the amount of power generation efficiency with the power generation area. Electricity is also being considered as a temporary measure to increase the area of solar panels.

On the other hand, in recent years, the number of households that install solar panels on the roofs of their houses has increased significantly. However, when snow accumulates on the surface of the solar panel, the amount of power generation is significantly reduced, and there is a problem that it does not function as a power generation system during a snowfall period.

Moreover, snow removal has been a heavy burden especially in houses in the Hokuriku region, Tohoku, and Hokkaido, and in many homes, elderly people and women climbed onto the roof to remove snow manually. The types of snow vary, and Hokkaido and other areas are relatively dry and easily blown away by the wind, but the snow in the Hokuriku region is a heavy snow that contains a lot of water, and its specific gravity is heavy and it easily adheres. The above may be reached. Depending on the type of snow, in the case of solid snow, the mass of 100 kg to 200 kg per 1 m 2 can reach the durability of roofs, houses, and solar panels for 1 m of snow. Furthermore, there are many accidents caused by snowfall work, and the number of fatalities during snow removal exceeds 100 in some years.

Against this background, various automatic snow removal systems have been proposed to remove snow accumulated on the surface of solar panels (Patent Documents 1 and 2). Furthermore, various automatic removal systems for removing snow accumulated on the roof of a house have been proposed (Patent Documents 3 and 4).

In Patent Document 1, a snow sensor installed near a solar panel detects snowfall and moves a transparent sheet member covered on the solar panel to remove snow accumulated on the solar panel. There is.

In Patent Document 2, a cutter frame that is a rectangular frame, a traveling device, and a slide plate are used, and the snow accumulated by the cutter frame and the traveling device is divided into rectangles while the snow is dropped by the slide plate.

In Patent Document 3, snow removal is performed by rotating a snow removal spiral wing while using a snow removal robot composed of an engine as a power source, a ridge guide rail, a snow removal spiral wing, and the like.

In Patent Document 4, it is composed of a fuel cell system, a hot water storage tank, a heater, an outdoor hot water pipe, a pump, etc., and the hot water of the hot water storage tank stored by utilizing the exhaust heat of the fuel cell system is pumped to the outdoor hot water pipe and the heater. Is used to melt the snow on the roof or slide down the snow on the roof.

Japanese Patent Laid-Open No. 2017-112699 Japanese Patent Laid-Open No. 2018-61307 JP, 2016-205108, A Japanese Patent Laid-Open No. 2001-262868

In the conventional automatic snow removal system described above, when removing snow accumulated on a solar panel in a large-scale solar power generation system, a large-scale automatic snow removal system is preliminarily provided around the solar panel or on the mount of the solar panel. Or, since it is necessary to install the related equipment, a huge initial cost is required and the investment payback period is significantly lengthened. In addition, a large load is applied to the solar panel and the pedestal due to the weight of the installed equipment, so that the solar panel may be deformed or damaged, or the pedestal may be deformed or collapsed. This is when the life and reliability of the product is affected.

Furthermore, if a strong wind or an earthquake occurs with the equipment on the roof of a house or the surface of a solar panel, the load on the house or solar panel will be exceeded by a large load, and the house will collapse or the solar panel will be damaged. It will also lead to.

In addition, since large-scale mechanical equipment will be permanently installed outdoors, it will be left outdoors for a long period of time because of the temperature difference between day and night and in direct contact with snow and rain, which will require a lot of man-hours and costs for equipment maintenance. It becomes necessary, and it becomes difficult to extend the service life of equipment due to the generation of rust.

On the other hand, when removing snow from the roofs of houses and solar panels installed on the roofs of buildings and houses, it is necessary to install large-scale equipment in advance on the roofs of the buildings and roofs of the houses, In addition to requiring a large amount of initial investment, there will be restrictions on the number of houses that can be installed in terms of the load capacity of the houses. In addition, the weight of a large-scale facility is applied to the roof, which affects the life of the roof and the house. Furthermore, since it is permanently installed on the roof of a building or roof of a house, it will be left outdoors for a long period of time in direct contact with snow and rain, and it will take a lot of man-hours and costs to maintain the equipment. Rust may also occur, making it difficult to extend the service life of the equipment.

The present invention has been made in view of such a situation, and is provided in advance around a solar power generation system and a solar power generation system, a roof of a building, a roof of a house, and a solar panel around the roof and the roof of the building. Since there is no need to install snow removal equipment and the system removes snow in a non-contact manner, there is no load due to equipment weight on the solar power generation system, solar panels, pedestals, houses, etc. Is unnecessary, the automatic snow removal system and solar power generation system are highly reliable, and snow removal work can be performed efficiently even in large-scale solar power generation systems and multiple houses, and it is necessary to leave the snow removal equipment outdoors. Since it does not exist, it provides a highly efficient, highly reliable, highly accurate and low cost snow removal system with excellent maintenance cost effectiveness.

The circumstances that led to the present invention are as follows.

That is, the present inventor has diligently studied the conventional snow removal system such as the conventional solar power generation panel and the roof described in “Background Art”, and in the conventional automatic snow removal system, large-scale equipment is installed in advance around the snow removal target. It has become clear that the installation of the above is required, and that the construction period and large initial investment are required.

Also, maintenance man-hours such as maintenance of electric equipment and machinery installed outdoors and measures against rust are required. Part of the load of the installed equipment is added to the solar panel, pedestal or roof, so the equipment load and snow load may cause deformation, damage, collapse, etc., resulting in reliability and longevity of the solar power generation system and automatic snow removal system. The negative impact and large repair cost will occur.

-Since the load of large-scale equipment is added to the solar panels and pedestals, it is necessary to further increase the strength of the solar panels and pedestals in order to prevent the equipment from collapsing, which increases equipment costs. It turned out that it has many problems. There was a problem of whether an automatic snow removal system with a high snow removal effect could be realized because there was no need to equip the equipment to be installed beforehand, there was no load on the snow removal equipment, maintenance of the equipment was easy.

Therefore, as a result of repeated studies on this problem, the present inventor has obtained the following knowledge.

That is, if the exhaust flow emitted from an unmanned aerial vehicle (drone device) is used effectively, and if automatic flight is performed by combining three-dimensional land information, the accuracy of which has evolved significantly in recent years, solar panels such as mega solar can be used. Snow accumulated on the surface of the solar panel of the power plant used, snow accumulated on the installation such as the solar panel installed on the roof of the house or the roof of the building, the snow accumulated on the roof of the house and the roof of the building We have come up with the idea that we can realize a drone snow removal system that effectively and efficiently blows away snow and removes snow accumulated on the surface of solar panels. In addition, although it takes time to complete a fully automatic flight, at the beginning I thought that the drone snow removal system would have a great effect even if a person carried out some maneuvering.

The exhaust flow discharged from the unmanned aerial vehicle (drone device) has sufficient flow rate and flow velocity to fly the accumulated snow, depending on the size and rotation speed of the propeller. Further, depending on the configuration, the flow velocity of the exhaust flow can be further increased. Further, the unmanned aerial vehicle (drone device) controls its flight attitude such as forward, backward, rotation, ascent, descent and hovering by the rotation angle and the number of rotations of the rotation axis of each propeller. Therefore, it came to the idea that an optimum automatic snow removal process can be constructed by combining the three-dimensional topography, the angle of the solar panel, the flight attitude of the unmanned aerial vehicle (drone device), and the effective flow velocity of the exhaust flow.

There is no need to install equipment for snow removal around large-scale solar power generation systems, roofs of houses, rooftops of buildings and solar panels in advance, and exhaust flow generated from propellers of unmanned air vehicles (drone equipment) is used. Since it is a non-contact snow removal system, there is no load on the house or building and solar panels due to the weight of the equipment. It is intended to provide a highly efficient snow removal system capable of efficiently removing snow from a plurality of houses. In addition, since it is not necessary to permanently install equipment, it is possible to significantly reduce the maintenance man-hours and prevent the occurrence of rust, etc., and to provide a snow removal system that is highly effective in reducing reliability and maintenance costs. .. Furthermore, because it is possible to perform snow removal work while flying in a non-contact manner, it is possible to easily move and remove snow even to a place that is not equipped with equipment, and to perform snow removal work efficiently in a short time. Therefore, the inventors have found a configuration that realizes a high efficiency, high reliability, and low cost snow removal system, and arrived at the present invention. In addition, by considering the amount of snow and the timing of work, it is possible to prevent snow from freezing on the surface of the solar panel, and to effectively remove snow so that the amount of power generation and power generation efficiency are not reduced. An excellent non-contact snow remover was found.

In the present invention, in order to solve the above problems, a gantry and a solar panel installed on the ground, a snow amount detecting means for detecting the amount of snow on the surface of the solar panel, and a rotation drive unit. It is composed of a plurality of lift generators connected to propellers and a rotation controller that controls the rotation of the rotation drive unit and controls the flight attitude by the lift and thrust generated by the rotation of the propeller. It has an unmanned aerial vehicle such as a drone or a UAV, and a three-dimensional flight route instructing unit that presets a movement route of the unmanned aerial vehicle and issues an instruction to the rotation control unit, and when the amount of snow reaches a predetermined amount. , The snow accumulated on the solar panel is removed from the surface of the solar panel in a non-contact manner by the exhaust flow generated from the propeller of the unmanned air vehicle by flying based on the command of the three-dimensional flight route instruction unit. It is configured as a non-contact snow removal system for solar panels, which is characterized in that

In the first aspect of the present invention, a gantry and a solar panel installed on the ground or a solar panel installed on a roof, and a surface of the solar panel, a roof of a house, a roof of a building or a solar panel. Snow amount detection means for detecting the amount of snow in the vicinity of the, a plurality of lift generation unit connected to the rotation drive unit and the propeller, the rotation control of the rotation drive unit to fly by the lift and thrust generated by the rotation of the propeller An unmanned air vehicle such as a so-called drone or UAV that is composed of a rotation control unit that performs attitude control and moves in a three-dimensional space, and a three-dimensional flight route instruction that presets the movement route of the unmanned air vehicle and issues an instruction to the rotation control unit. When the amount of snowfall reaches a predetermined amount, the air of the large-scale solar power generation system is generated by the exhaust flow generated from the propeller of the unmanned air vehicle by flying based on the command of the three-dimensional flight route instruction unit. Non-contact removal of snow accumulated on the surface of optical panels, roofs of houses, and solar panels installed on the roofs of houses and buildings.

According to the above configuration, the amount of snow on the surface of the solar panel is detected by the amount of snow detection means, and when the snowfall starts and the amount of snow reaches a predetermined amount set in advance, or when the amount of snow has reached the predetermined amount. When using an unmanned aerial vehicle such as a drone device or UAV consisting of a plurality of lift generators in which a rotary drive unit and a propeller are connected, according to a preset flight route instruction from a three-dimensional flight route instruction unit In addition, the rotation speed of each propeller changes according to the flight attitude of an unmanned aerial vehicle such as a drone device or UAV, and the exhaust flow exhausted from each lift generation part is used for solar panels and pedestals. It is possible to remove the snow accumulated on the solar panel from the surface of the solar panel in a contactless manner without applying the load of the snow removal equipment.

By not applying a load to the solar panels and pedestals, it is possible to prevent deterioration, deformation, and collapse of the solar panels and pedestals due to equipment loads and snow loads, and there is no need to install snow removal equipment in advance to remove snow. This has the effect of significantly reducing the preparation man-hours and installation costs. Also, because it is not necessary to permanently install snow removal equipment outdoors, it is possible to reduce deterioration factors such as equipment deterioration due to water, snow, and ultraviolet rays from the sun, as well as rust, and to significantly reduce the maintenance man-hours of snow removal equipment. It will be possible.

Furthermore, by combining the inclination of the solar panel, the flight path, and the flight attitude, it is possible to efficiently remove snow from the lower end of the inclination of the solar panel toward the upper end of the inclination. Besides, it is possible to realize the reliability, durability, high efficiency and cost reduction of the snow removal system for the solar panel.

Further, a non-contact snow removal system for a solar panel according to a second aspect of the present invention is the configuration of the non-contact snow removal system for a solar panel according to the first aspect, wherein the rotation drive unit is composed of an engine and/or a motor. The engine is driven by light oil or gasoline, and the motor is driven by a battery.

With the above configuration, various power sources can be used and long-distance and long-time flight and snow removal work can be performed, and flight attitudes (forward, backward, hovering, etc.) and flight modes (climb, climb, The output of the rotation drive unit is further increased by lowering, turning, etc.), and by increasing the number of revolutions of the propeller, the amount and flow rate of the exhaust flow generated from the propeller are greatly increased, and the solar panel is deposited. A high-performance solar panel that can greatly improve the snow removal capacity, can be used for long hours of work, can fly a long distance, can handle various snow qualities and conditions, and has a large output exhaust flow. The non-contact snow removing device can be realized.

Further, a non-contact snow removal system for a solar panel according to a third aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first and second aspects, wherein the snow accumulation amount detecting means is a solar panel. Installed in the vicinity of or in an unmanned aerial vehicle to detect the mass of snow accumulated per unit area or the thickness of the accumulated snow and/or snow image information taken by an image camera mounted on the unmanned aerial vehicle. It is based on the configuration.

With the above-mentioned configuration, the amount of snow accumulated on the solar panel can be accurately captured according to the environment and the situation, and the operation accuracy is high and the cost of the solar panel is low, which has the effect of reducing the equipment installed in advance. A contact snow removal device can be realized.

Further, a non-contact snow removal system for a solar panel according to a fourth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to third aspects, wherein the solar panel is installed in a rectangular shape. As described above, the three-dimensional flight algorithm is configured to gradually move along the short side from the end of the short side of the rectangular solar panel.

With the configuration described above, it is possible to efficiently remove the amount of snow accumulated on the surface of the solar panel from the surface of the solar panel while utilizing the inclination of the solar panel and the flight attitude of the unmanned air vehicle. It is possible to realize a solar panel non-contact snow removal device that can improve efficiency.

Further, a non-contact snow removal system for a solar panel according to a fifth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to fourth aspects, wherein the solar panel is installed in a rectangular shape. The three-dimensional flight algorithm is configured to gradually move along the short side from the end of the long side of the rectangular solar panel.

With the above configuration, it is possible to perform snow removal work while utilizing the inclination of the solar panel and the flight attitude of the unmanned air vehicle, and to reduce the number of reciprocating operations of the unmanned air vehicle, and the snow accumulated on the surface of the solar panel. Since the amount can be efficiently removed from the surface of the solar panel in a shorter time, it is possible to realize a solar panel non-contact snow removing device that can further improve work efficiency.

Further, a non-contact snow removal system for a solar panel according to a sixth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to fifth aspects, wherein the solar panel has a constant inclination angle. The unmanned aerial vehicle has a certain angle with respect to the rotation axis of the propeller so that the accumulated snow is blown off below the solar panel. It is configured to fly along.

With the configuration described above, it is possible to efficiently remove the amount of snow accumulated on the surface of the solar panel from the surface of the solar panel in a shorter time while utilizing the inclination of the solar panel and the flight attitude of the unmanned air vehicle. Therefore, it is possible to realize a solar panel non-contact snow removing device that can further improve work efficiency.

Further, a non-contact snow removal system for a solar panel according to a seventh aspect of the present invention is the configuration of the non-contact snow removal system for a solar panel according to the first to sixth aspects, wherein the movement path is a snow removal target. The three-dimensional map around the solar panel and the information from the snow amount detecting means are set in advance, and the information on the snow amount from the snow amount detecting means during the snow removal work allows the unmanned air vehicle to fly over the solar panel. Is designed to remove snow accumulated on the surface of the solar panel in a non-contact manner by performing additional operations such as rolling, tilting, and rolling that periodically changes the tilt angle, and the exhaust flow generated from the propeller of an unmanned air vehicle. There is.

With the above-mentioned configuration, it is possible to effectively use the three-dimensional map information, the inclination of the solar panel, the flight attitude of the unmanned aerial vehicle, and the fluctuation of the snow removal load on the snow cover portion due to the magnitude of the flow velocity of the exhaust flow from the propeller of the unmanned aerial vehicle. However, the amount of snow accumulated on the surface of the solar panel can be removed efficiently from the surface of the solar panel in a shorter time, and the efficiency of the solar panel A contact snow removal device can be realized.

A non-contact snow removal system for a solar panel according to an eighth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to seventh aspects, except that the mass balance and the vertical direction of the unmanned air vehicle are different. The mass balance holding part is located approximately in the center of the direction. The mass balance is held or fixed by the mass balance holding part and the mass balance of different mass can be replaced. The mass of the unmanned aerial vehicle can be adjusted by changing the mass balance according to the above, and by changing the rotation speed of each propeller during flight attitude control of the unmanned aerial vehicle It is configured to change the flow velocity significantly.

With the above structure, when removing snow on the surface of the solar panel, the solar panel or the surface of the solar panel accumulates with a flight attitude such as ascending, descending, advancing, retracting, rotating, and hovering. While maintaining a certain distance from the surface of the snow, the exhaust flow from the propeller will be used to blow off around the solar panels for snow removal work, but the overall mass of the unmanned air vehicle will be changed by different mass balances. Therefore, the rotational speed of the propeller when performing each attitude control changes significantly, and the flow velocity of the exhaust flow can be changed significantly. By increasing the flow velocity of the exhaust flow, if the amount of snow is large or the snow quality is heavy, the flow velocity is increased to make the work more efficient and accurate. A snow removal device can be realized.

Further, a non-contact snow removal system for a solar panel according to a ninth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to eighth aspects, and includes a compressor and a compressor for an unmanned air vehicle. It is equipped with an air nozzle that injects compressed air, and, according to the information from the snow cover detection means before and during snow removal work, the compressed air injected from the air nozzle is used to accumulate on the surface of the solar panel. It is designed to remove snow without contact.

With the above configuration, compressed air from the air nozzle will be injected in addition to the exhaust flow, so the snow removal load on the snow cover can be further increased, and the amount of snow accumulated on the surface of the solar panel can be efficiently used. Thus, it is possible to realize a solar panel non-contact snow removing device that can be removed from the surface of the solar panel in a shorter time, and that can further improve work efficiency and accuracy.

A non-contact snow removal system for a solar panel according to a tenth aspect of the present invention is the same as the non-contact snow removal system for a solar panel according to the first to ninth aspects, wherein the unmanned air vehicle and the solar panel are included. It is equipped with a relative distance measurement sensor that detects the distance to the surface of the snow accumulated in, and is configured to perform snow removal work while keeping the distance between the surface of the snow and the unmanned air vehicle at a predetermined value.

With the above configuration, the flow rate of the exhaust flow from the unmanned aerial vehicle can be efficiently and effectively blown to the snow-covered portion without weakening, and the unmanned aerial vehicle can collide with the snow-covered portion. Therefore, it is possible to realize a solar panel non-contact snow removing device that can prevent the operation, and can achieve higher efficiency, higher accuracy and safety of work.

A non-contact snow removal system for a solar panel according to an eleventh aspect of the present invention performs snow removal work by an unmanned air vehicle in the configuration of the non-contact snow removal system for a solar panel according to the first to tenth aspects. The timing is set such that the predetermined amount of snow is reached within a predetermined time from the time when the snow amount detection means determines that the snow has started, at the time of sunset, at early morning.

With the above configuration, the amount of snow accumulated on the surface of the solar panel and the work capacity can be effectively controlled, and at the same time, the upper surface of the solar panel at night that prevents the snow accumulated at night from freezing and sticking. It is possible to remove snow that has accumulated and to effectively generate power during the day, and it is possible to realize a solar panel non-contact snow removal device that can further improve work efficiency and accuracy while maintaining power generation efficiency.

Further, a non-contact snow removal system for a solar panel according to a twelfth aspect of the present invention is attached to an upper part of the mount in the configuration of the non-contact snow removal system for a solar photovoltaic panel according to the first to eleventh aspects. The solar panel has a predetermined inclination angle, and when the snow on the upper surface of the solar panel is blown off by the exhaust flow from the unmanned air vehicle to remove snow, the snow removed is possible to the extent possible. One row on the lower side of the inclined solar panels is blown off to the lower portion on the higher side of the inclined solar panels.

With the above-described configuration, the surface of the solar panel can be snow-removed, and the amount of snow removed from the solar panel can be significantly reduced, greatly reducing the number of times of snow removal work on the passage. Therefore, it is possible to realize an inexpensive non-contact snow removal system for solar panels with low maintenance cost.

The non-contact snow removal system for solar panels according to the present invention is configured as described above, and snow removal equipment is installed in advance around the large-scale solar power generation system, the roof of the house, the roof of the building or the solar panel. There is no need to do so, and because it is a non-contact snow removal system that uses the exhaust flow generated from the propeller of an unmanned air vehicle, there is no load (equipment load) on the house or building and solar panels due to the equipment weight. Since the snow load is not applied in addition to the equipment load, it is highly reliable and does not require man-hours such as equipment construction, and it is possible to remove snow efficiently over the entire large-scale photovoltaic power generation system and multiple houses. It provides a snow removal system with excellent work efficiency, work accuracy, and investment efficiency. In addition, since it is not necessary to permanently install equipment, it is possible to significantly reduce the maintenance man-hours and prevent the occurrence of rust, etc., and to provide a snow removal system that is highly effective in reducing reliability and maintenance costs. .. Furthermore, since snow removal work can be performed while flying in a non-contact manner, it is possible to easily move to and remove snow from a place that is not equipped with equipment in advance, and to perform snow removal work efficiently in a short time. Therefore, it is possible to realize a snow removal system with high efficiency, high reliability, and low cost.

It is the perspective view which showed the outline of the non-contact snow removal system for solar panels which concerns on Embodiment 1. 1 is a perspective view showing the configuration of an unmanned aerial vehicle according to the first embodiment. 1 is a schematic cross-sectional view showing the configuration of an unmanned aerial vehicle according to the first embodiment. 1 is a schematic diagram showing an example of the flight attitude of an unmanned aerial vehicle according to the first embodiment. FIG. 3 is a schematic diagram showing the relationship between the rotational speed of a propeller and thrust in an unmanned aerial vehicle according to the first embodiment. 5 is an example of a CFD (Computational Fluid Dynamics) calculation result showing the state of the exhaust flow generated by the rotation of the propeller in the unmanned aerial vehicle according to the first embodiment. It is the perspective view which showed an example of the snow removal process of the non-contact snow removal system for solar panels which concerns on Embodiment 1. It is the schematic which showed an example of the work of the non-contact snow removal system for solar panels which concerns on Embodiment 1. It is the schematic which showed an example of the work of the non-contact snow removal system for solar panels which concerns on Embodiment 1. It is the schematic which showed an example of the work of the non-contact snow removal system for solar panels which concerns on Embodiment 1. It is the schematic which showed an example of the work of the solar panel non-contact snow removal apparatus which concerns on Embodiment 2. It is the schematic which showed an example of the work of the solar panel non-contact snow removal apparatus which concerns on Embodiment 3. It is the schematic which showed an example of the work of the solar panel non-contact snow removal apparatus which concerns on Embodiment 4.

Embodiments of the present invention will be described below with reference to the drawings. In the following, the same or corresponding components are denoted by the same reference symbols throughout all the drawings, and the description thereof will be omitted.

(Embodiment 1)
A solar panel non-contact snow removal device 1 according to the first embodiment will be described with reference to FIGS. 1 to 10. 1 to 10 are schematic diagrams showing an example of the configuration of the solar panel non-contact snow removal device 1 according to the first embodiment. FIG. 1 schematically shows a perspective view of a solar panel non-contact snow removing device 1 according to the first embodiment. FIG. 2 shows a perspective view of the schematic configuration of the unmanned aerial vehicle 5 according to the first embodiment. FIG. 3 shows a schematic cross-sectional view of the schematic configuration of the unmanned aerial vehicle 5 according to the first embodiment.

FIG. 4 is a schematic diagram showing an example in which various flight attitudes can be controlled by changing the number of revolutions of each propeller 8 of the unmanned aerial vehicle 5 according to the second embodiment and controlling the thrust of each propeller 8. It shows with.

FIG. 5 shows a schematic diagram of the relationship between the rotational speed of the propeller 8 of the unmanned aerial vehicle 5 and the thrust T according to the first embodiment.

FIG. 6 is a sample showing the state of the exhaust flow 17 generated by the rotation of the propeller 8 and is an example of the calculation of unsteady calculation using CFD (Computational Fluid Dynamics).

FIG. 7 schematically shows a perspective view of an example of the snow removal process of the solar panel non-contact snow removal device 1 according to the first embodiment.

8 to 10 show schematic views of an example of work of the non-contact snow removal system 1 for a solar panel according to the first embodiment.

As shown in FIG. 1, a solar panel non-contact snow removing device 1 includes a solar power generation system 2, an unmanned aerial vehicle 5 such as a drone device, and an unmanned aerial vehicle control device 6 (not shown). Only three rows of the photovoltaic power generation system 2 are extracted, and the snow removal section 22 is set as the lowermost step, and a state in which the unmanned aerial vehicle 5 performs the snow removal work of the second and third steps of the snow accumulation section 20 (unworked area) is schematic. Is shown in. The solar power generation system 2 includes a solar panel 4, a pedestal 3, and a snow sensor 15, and the pedestal 3 installed on the ground has the solar panel 4 mounted thereon. A snow sensor 15 is installed around the solar panel 4 to detect the mass of snow accumulated per unit area by a pressure sensor or the like, or an optical sensor such as a laser or an LED or an ultrasonic wave. The sensor is used to detect the amount of snow accumulated on the surface of the solar panel 4. When the snowfall amount detected by the snowfall sensor 15 or the increase in the snowfall amount within a specified time exceeds a predesignated value, the unmanned aerial vehicle 5 performs snow removal work.

At this time, the snow sensor 15 may not be mounted, and the snow removal worker may judge the start of the snow removal work.

The snow accumulated on the upper surface of the solar panel 4 is several mm to several tens of centimeters in the snow accumulation part 20 of the solar panel 4, and the solar power generation system 2 has significantly reduced the amount of power generation and the solar panel 4 And the pedestal 3 is in a state of being heavily loaded.

　If there is a little snow on the surface of the solar panel 4, the sunlight will be blocked and the power generation efficiency will drop significantly. In the worst case, the load applied by the snow accumulated on the solar panel 4 and the gantry 3 may cause the solar panel 4 to be deformed or cracked, or the gantry 3 may be deformed or collapsed. Therefore, leaving the snow on the upper surface of the solar panel 4 as it is becomes a large risk factor for the reliability of the solar power generation system 2, the life of the solar power generation system, and the maintenance of the power generation amount.

In the first embodiment, the snow sensor 15 is a pressure type, an optical type, an ultrasonic type, or the like, but any type can be used as long as it can detect the amount of snow. Alternatively, the snow accumulation sensor 15 may not be mounted and a snow removal operator may recognize the snow accumulation amount.

Note that a passage 24 is provided between each solar panel 4 and the pedestal 3, but snow removal work on the passage 24 may occur regularly if snow removal snow blocks the passage 24.

The unmanned aerial vehicle 5 will fly along a preset flight route based on the map information of the snow removal work site in response to a command from the three-dimensional flight route instruction device 23. At this time, there are various specifications for the ratio of operation intervention to the snow removal work of the snow removal worker, whether to fly completely automatically according to a command of the three-dimensional flight route instruction device 23 or to fly by radio operation by the operation of the snow removal worker. There is. At this time, the work coordinate system (x, y, z) is used for the three-dimensional map information of the snow removal work site and the flight route, and the airframe coordinate system (X, Y, Z) is used for the airframe attitude control of the unmanned air vehicle 5. They are used, and coordinate conversion is performed as needed.

2 and 3 show an unmanned aerial vehicle 5. The unmanned aerial vehicle 5 includes a frame 9, a battery 10 fixed to the frame 9, a motor-7 held by the frame 9, and a rotation shaft 18 of the motor-7. The lift force (thrust) generating section is composed of a propeller 8 coupled with the relative distance sensor 16, and the snow accumulation sensor 19 mounted on the airframe. The relative distance sensor 16 measures the relative distance between the unmanned aerial vehicle 5 and the surface of the snow cover 20 with ultrasonic waves, an LED, a laser, a camera, or the like. The vehicle-mounted snow accumulation sensor 19 is composed of a camera, a communication unit, and the like, transmits an image of the image to the three-dimensional flight route instruction device 23, and the three-dimensional flight route instruction device 23 performs image processing and calculation for the surface of the solar panel 4. Recognizing the amount of snowfall of, the flight control of the unmanned aerial vehicle 5 and the snow removal work are performed.

Information of the device-mounted snow accumulation sensor 19, the snow accumulation sensor 15, and the relative distance sensor 16 is transmitted to the three-dimensional flight route section indicating device 23 (installed on the ground or mounted on the unmanned aerial vehicle 5) and at the vicinity of the site where snow removal work is performed. The flight route is determined together with the three-dimensional map information, and an instruction to control the rotation of the motor 7 according to the flight route is transmitted to the unmanned aerial vehicle control device 6 (installed on the ground or mounted on the unmanned aerial vehicle 5). At this time, although not shown in FIG. 3, it goes without saying that the unmanned aerial vehicle 5 is equipped with a GPS and a gyro sensor and is used for checking the position of the unmanned aerial vehicle 5 and controlling the attitude of the aircraft.

Needless to say, in the first embodiment, if the three-dimensional flight route section indicating device 23 and/or the unmanned aerial vehicle control device 6 is installed on the ground, the unmanned aerial vehicle 5 must be equipped with a receiver.

In the first embodiment, the three-dimensional flight route instruction device 23 shown by the broken line in FIG. 3 is used to issue a command to the motor 7 according to the flight route to the unmanned aerial vehicle control device 6, which is shown in FIG. like,
The snow removal worker may interrupt the instruction of the three-dimensional flight route instruction device 23 and directly operate the unmanned air vehicle control device 6.

Further, in the first embodiment, the airframe-mounted snow sensor 19 is image-recognized by using a camera. However, there is no problem in detecting snow amount using a sensor such as a laser or an ultrasonic wave. There is no problem in a method in which the operator does not mount 19 and the operator recognizes it.

Further, in the first embodiment, the rotating unit is the motor 7, but it may be a drive source such as an engine, and the battery 10 serving as a power source at that time may be fuel such as light oil or gasoline.

The thrusts (f1 to f4) are generated by the rotation of each propeller 8 according to the number of rotations of each motor 7 according to a command from the three-dimensional flight route instruction device 23 to the unmanned air vehicle control device 6, and the unmanned air vehicle 5 as a whole. At the same time that the thrust force T is generated, various attitudes of the machine body in the machine body coordinate system and the work coordinate system are maintained. At the same time, due to the rotation of each propeller 8, an exhaust flow 17 is generated downstream of the flow. The flow velocity and flow rate of the exhaust flow 17 depend on the number of revolutions of the propeller, and as the number of revolutions increases, each thrust increases, and the flow rate and flow velocity of the exhaust flow 17 also greatly increase.

Fig. 4 shows an example of the relationship between the rotational speed of each propeller 8 and the flight attitude. It is possible to perform basic operations such as ascending, descending, hovering, left rotation, right rotation, left movement and right rotation, and combination operations thereof.

Fig. 5 is a schematic graph showing the relationship between the rotational speed of the propeller 8 and the thrust T. The thrust force T increases in proportion to the square of the rotation speed (rotation speed). At the same time, the exhaust flow 17 also increases in proportion to the square of the rotational speed, and the flow velocity of the exhaust flow 17 has the same result. Furthermore, the flow velocity and the flow rate at a place having a constant relative distance (L) from the airframe will decrease as the relative distance (L) increases. Therefore, when the snow removal work of the snow cover 20 is performed using the exhaust flow 17 of the unmanned aerial vehicle 5, the distance between the unmanned aerial vehicle 5 and the surface of the snow cover 20 is also an important factor, and the efficiency and accuracy of the snow removal work are improved. Will be greatly affected.

At the same time, it is possible to fly with the balance of the total mass of the unmanned aerial vehicle 5 and the thrust T, but it is essential to increase the rotation speed of the propeller 8 as the total mass of the unmanned aerial vehicle 5 increases. As shown in FIGS. 2 and 3, the unmanned aerial vehicle 5 includes a lower mass balance 11, a lower mass balance fixing portion 12 for fixing the lower mass balance 11 to the main frame 10 and an upper mass balance 13 at a substantially central portion in the vertical direction. Is fixed to the main frame 10 with an upper mass balance fixing portion 14. By mounting the lower mass balance 11 and the upper mass balance 13 on the unmanned aerial vehicle 5, the overall mass is increased, the rotation speed of the propeller 8 is increased, and the flow velocity and the flow rate of the exhaust flow 17 are increased, so that the snow removal work of the snow cover part is performed. The number or mass of mass balances to be mounted on the unmanned aerial vehicle 5 when it is difficult to remove snow due to increased efficiency or freezing, or when snow removal is difficult due to the large specific gravity of the snow in the snow covered area. Is effective. Further, when the mass of the unmanned aerial vehicle 5 is increased by the lower mass balance 11 and the upper mass balance 13, the consumption of the battery 10 or fuel (light oil, gasoline, etc.) mounted on the unmanned aerial vehicle 5 increases, and The time gets shorter. Therefore, the mass of the mass balance to be mounted is selected in consideration of work efficiency, work quality and work time.

In the first embodiment, the lower mass balance 11 and the upper mass balance 13 are mounted, but either one may be mounted, or both may not be mounted. Further, the lower mass balance fixing portion 12 and the upper mass balance fixing portion 14 may be configured in the unmanned air vehicle 5 as necessary, and there is no problem.

Further, the unmanned aerial vehicle control device 6 is equipped with a relative distance sensor 16 and is configured to recognize the relative distance (L) between the surface of the snow cover 20 and the airframe of the unmanned aerial vehicle control device 6.

Although the measurement result of the relative distance sensor 16 is transmitted to the unmanned aerial vehicle control device 6 in the first embodiment, the snow removal operator does not mount the relative distance sensor 16 and the unmanned flight with the surface of the snow cover 20. A method of recognizing the distance between the body control device 6 and the body may be used.

In addition, in the first embodiment, the three-dimensional flight route instruction device 23 is used, and the flight instruction is unmanned based on the information of the three-dimensional map information, the information of the snow cover sensor 15, the information of the on-body snow cover sensor 19, and the information of the relative distance sensor 16. Although the configuration is such that the air vehicle control device is instructed, a configuration in which the three-dimensional flight route instruction device 23 is not mounted and the snow removing operator directly operates the unmanned air vehicle control device 6 or the radio control operator of the unmanned air vehicle 5 is also used. Good.

FIG. 6 is a part of the result showing the state of the exhaust flow 17 generated by the rotation of the propeller 8, and is an example of the calculation of unsteady calculation using CFD (Computational Fluid Dynamics). The exhaust flow 17 is ejected in a wide range downstream of the propeller 8, and its area, flow velocity, and flow rate depend on the shape, size, and rotation speed of the propeller 8.

FIG. 7 is a diagram showing an example of a flight path in snow removal work of the unmanned aerial vehicle 5 with respect to the snow cover section 20. A method of removing snow along the short side of the solar panel 4 and a method of removing snow along the long side of the solar panel 4 are shown, but work efficiency, work quality and work time are taken into consideration. Will be selected. When the snow removal work is performed along the short side, it is gradually moved in the left-right direction while repeatedly reciprocating in the vertical direction of the paper surface. On the other hand, in the case of removing snow along the long side, the snow is gradually moved in the vertical direction while repeating the reciprocation to the left and right of the paper surface.

In the first embodiment, an example of the flight path is shown in FIG. 7, but there is no problem even if snow removal work is performed by a method other than these, and even if snow removal is performed by automatic flight, a worker operates with a radio control. But there is no problem.

FIG. 8 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 with respect to the snow cover 20 (unworked region) and the snow cover 21 (snow removal work region) on the upper surface of the solar panel 4. By controlling the number of revolutions of each propeller 8 and inclining the rotating shaft 18 to incline the unmanned aerial vehicle 5, it is possible to make the moving direction obliquely upward, and at the same time, to inject the exhaust flow 17 obliquely downward. Therefore, it becomes possible to efficiently remove snow from the solar panel 4. At this time, it is important to keep the relative distance (L) at an effective distance, which greatly affects work efficiency, work accuracy, and work time. Therefore, the relative distance (L) takes these factors into consideration. While making decisions. When performing snow removal work in this flight attitude, the flight path along the short side is optimal in the flight attitude shown in FIG. 8, but there is no problem even if the flight attitude is adjusted to form the flight path along the long side.

Also, in the snow removal work situation, it is possible that the direction of movement gradually moves forward and backward and back and forth.

FIG. 9 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 with respect to the snow-covered portion 20 (unworked area) and the snow-covered portion 21 (snow removing work area) on the upper surface of the solar panel 4, as in FIG. 8. By controlling the number of revolutions of each propeller 8 and inclining the rotary shaft 18 to incline the unmanned aerial vehicle 5, it is possible to make the moving direction obliquely downward, and by ejecting the exhaust flow 17 obliquely upward. Therefore, it becomes possible to efficiently remove snow from the solar panel 4. When performing snow removal work in this flight attitude, the flight path along the short side is optimal in the flight attitude shown in FIG. 6, but there is no problem even if the flight attitude is adjusted to form the flight path along the long side.

FIG. 10 is a diagram showing an example of snow removal work by the unmanned aerial vehicle 5 with respect to the snow-covered portion 20 (unworked area) and the snow-covered portion 21 (snow removing work area) on the upper surface of the solar panel 4, as in FIGS. 8 and 9. Is. By controlling the number of revolutions of each propeller 8 and keeping the rotating shaft 18 vertical so that the unmanned aerial vehicle 5 is substantially horizontal, it becomes easy to move horizontally and obliquely upward, and the exhaust flow 17 can be moved vertically. It is possible to efficiently remove snow from the solar panel 4 by injecting the snow. When performing snow removal work in this flight attitude, the flight path along the long side is optimal in the flight attitude shown in FIG. 6, but there is no problem even if the flight attitude is adjusted and the flight path along the short side is used. There is no problem even if the method of intensively working a portion that is difficult to remove by changing the rotation speed of the propeller 8 and rotating the machine body.

In the first embodiment, when the snow removing operator determines that the snow removing operation is necessary, when the value of the snow accumulation sensor 15 exceeds a preset value, At least one of sunset and early morning. By performing snow removal work at these timings, it is possible to realize a non-contact snow removal device for solar panels with higher efficiency, higher accuracy, and lower cost.

In the first embodiment, the number of propellers 8 and the number of motors 7 mounted on the unmanned aerial vehicle 5 is four, but it goes without saying that there is no problem with six or eight.

In this way, with the configuration of the first embodiment, it is possible to realize a non-contact snow removal system for solar panels that is excellent in work efficiency, work quality, work time, and investment cost.

Next, the second embodiment will be described with reference to FIG. The difference from the first embodiment is that when removing snow on the upper surface of the solar panel 4, the exhaust flow 17 blows the snow around the solar panel 4, but at that time, the snow is inclined. The point is that the structure is such that it is blown off to almost the lower part on the high side of the inclined solar panel 4 in the row adjacent to the low side of the solar panel 4.

With this configuration, the amount of snow falling into the aisle can be significantly reduced, the number of snow removal work in the aisle can be significantly reduced, and the maintenance cost is low. Can be realized.

In the second embodiment, the unmanned aerial vehicle 5 may have a substantially horizontal body attitude, may be inclined, may be hovering, may be rolling, or may be rotating.

Also, there is no problem even if the flight route moves along the short side, the long side, or even the snow removal process of moving on any route.

Further, the operation of the unmanned aerial vehicle 5 may be performed by a method in which the snow removing operator directly operates the unmanned aerial vehicle control device 6, or by a method of issuing a flight instruction to the unmanned aerial vehicle control device 6 by the three-dimensional flight route instruction device 23. Good.

The distance L between the unmanned aerial vehicle 5 and the surface of the snow cover 20 may be specified in advance or may fly at any height.

Next, a third embodiment will be described with reference to FIG. The difference from the first and second embodiments is that the air compressor 25, the air compressor holding portion 27, and the ejection nozzle 26 are mounted on the unmanned aerial vehicle 5, and the air compressor 25 and the ejection nozzle that ejects the compressed air from the air compressor 25. 26 is used to remove the snow from the snow-covered portion 20 and the snow-covered portion 21 that cannot be removed only by the exhaust flow 17. With this configuration, it is possible to further improve the work efficiency and work quality of snow removal work.

A non-contact snow removal device for a solar panel according to a twelfth aspect of the present invention is attached to an upper part of the pedestal 3 in the configuration of the non-contact snow removal system 1 for a solar photovoltaic panel according to the first to eleventh aspects. The solar panel 4 thus formed has a predetermined inclination angle, and when the snow on the upper surface of the solar panel 4 is blown off by the exhaust flow 17 from the unmanned air vehicle 5 to remove the snow, the snow is removed to the extent possible. In addition, one row of snow on the lower side of the solar panel 4 on which the snow is inclined is blown off to the lower portion on the high side of the inclined solar panel 4.

Therefore, with the above-described configuration, it is possible to remove the snow from the surface of the solar panel 4, and to significantly reduce the amount of the removed snow in the passage between the solar panels 4, and to remove the snow from the passage 24. It is possible to significantly reduce the number of times, and it is possible to realize an inexpensive non-contact snow removal system for solar panels with low maintenance costs.

Next, a fourth embodiment will be described with reference to FIG. The difference from the first and second embodiments is that the unmanned air vehicle 5 removes snow accumulated on the upper surface of the solar panel 4 installed on the upper surface of the roof 29 of the house 28 of the house 28. .. With this configuration, it is possible to remove the snow accumulated on the roof 29 of a general house.

In the fourth embodiment, the snow cover on the upper surface of the solar panel 4 installed on the roof 29 of the house is removed. However, it may be used to remove snow on a general roof without the solar panel 4. Needless to say

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art.

Accordingly, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Details of its structure and/or function may be changed substantially without departing from the spirit of the invention.

The present invention, compared to the conventional, by removing the snow on the surface of the solar panel in a non-contact manner and by making it possible to adjust the flow rate of the exhaust flow used for snow removal, it is possible to install snow removal equipment in the vicinity of the solar panel in advance. There is no installation cost, high efficiency, high accuracy, and low cost of snow removal work are achieved, and the amount of power generation reduction can be significantly reduced, resulting in reliability, workability, and power generation. Realizes an excellent non-contact snow removal system for solar panels. Therefore, the present invention is applicable to, for example, a non-contact automatic snow removal system for solar panels, snow removal for a roof of a house, snow removal for a solar panel installed on a roof of a house, and snow removal for a solar panel installed on a building. Available. Furthermore, it can be used for a cleaning device for the surface of a solar panel that removes sand accumulated on the surface of the solar panel installed in various places.

1 solar panel non-contact snow removal device 2 solar power generation system 3 stand 4 solar panel 5 unmanned aerial vehicle 6 unmanned aerial vehicle control device (not shown)
7 Motor (or engine)
8 Propeller 9 Frame 10 Battery (or fuel)
11 Lower Mass Balance 12 Lower Mass Balance Fixing Part 13 Upper Mass Balance 14 Upper Mass Balance Fixing Part 15 Snow Cover Sensor 16 Relative Distance Sensor 17 Exhaust Flow 18 Rotating Shaft 19 Aircraft Mounted Snow Cover Sensor 20 Snow Cover Part (Unworked Area)
21 Snow cover (snow removal area)
22 Snow removal section (snow removal work area)
23 three-dimensional flight route indicator 24 passage 25 air compressor 26 jet nozzle 27 air compressor holder 28 house 29 roof of house

Claims

A gantry and a solar panel installed on the ground, a snow amount detecting means for detecting the amount of snow on the surface of the solar panel, a plurality of lift generating units in which a rotation drive unit and a propeller are connected, and the rotation drive unit. An unmanned aerial vehicle such as a so-called drone or UAV that moves in a three-dimensional space and is composed of a rotation control unit that controls a flight attitude by lift and thrust generated by rotation of the propeller and movement of the unmanned air vehicle. By having a three-dimensional flight route instruction unit that sets a route in advance and issues an instruction to the rotation control unit, and when the amount of snow reaches a predetermined amount, by flying based on a command of the three-dimensional flight route instruction unit A non-contact snow removal system for a solar panel, wherein the snow accumulated on the solar panel is removed from the surface of the solar panel in a non-contact manner by an exhaust flow generated from the propeller of the unmanned air vehicle.
2. The non-solar panel for a solar panel according to claim 1, wherein the rotation drive unit includes an engine and/or a motor, the drive energy of the engine is light oil or gasoline, and the drive energy of the motor is a battery. Contact snow removal system.
The snow amount detection means is installed around the solar panel or in the unmanned air vehicle, and detects the mass of snow accumulated per unit area or the thickness of accumulated snow and/or the unmanned air vehicle. The non-contact snow removal system for a solar panel according to claim 1, which is based on snow cover image information taken by an image camera mounted on.
The solar panel is installed in a rectangular shape, and the three-dimensional flight algorithm gradually moves along the short side from the end of the short side of the rectangular solar panel. The non-contact snow removal system for a solar panel according to claim 3.
The solar panel is installed in a rectangular shape, and the three-dimensional flight algorithm gradually moves along the short side from the end of the long side of the rectangular solar panel. The non-contact snow removal system for a solar panel according to claim 3.
The solar panel is installed with a constant inclination angle, and the unmanned aerial vehicle has a constant angle with respect to the rotation axis of the propeller so that accumulated snow is blown off below the solar panel. The non-contact snow removal system for a solar panel according to claim 1, wherein the solar panel is fly along a short side or a long side of the solar panel.
The movement route is set in advance by a three-dimensional map around the solar panel to be subjected to snow removal work and information from the snowfall amount detection means, and also indicates the snowfall amount from the snowfall amount detection means during snow removal work. According to the information, the unmanned aerial vehicle rotates above the solar panel, performs an additional operation such as a tilt and a rolling that periodically changes the tilt angle, and the exhaust flow generated from the propeller of the unmanned aerial vehicle causes The non-contact snow removal system for a solar panel according to claim 1, wherein snow accumulated on the surface of the solar panel is removed in a non-contact manner.
A mass balance and a mass balance holding portion in a substantially central portion in the vertical direction of the unmanned air vehicle, while holding or fixing the mass balance with the mass balance holding portion, it is possible to replace the mass balance of different mass In the case of controlling the flight attitude of the unmanned aerial vehicle, the mass balance is exchanged and fixed according to the amount of snow and the snow quality on the surface of the solar panel to adjust the total mass of the unmanned aerial vehicle. The non-contact snow removal system for a solar panel according to any one of claims 1 to 7, wherein the flow velocity of the exhaust flow is significantly changed by changing the number of revolutions of each of the propellers.
The unmanned aerial vehicle is equipped with a compressor and an air nozzle for injecting compressed air from the compressor, and is ejected from the air nozzle according to information from the snow cover detecting means before and during snow removal work. The non-contact snow removal system for a solar panel according to claim 1, wherein the snow accumulated on the surface of the solar panel is removed in a non-contact manner by using compressed air.
Equipped with a relative distance measurement sensor that detects the distance to the surface of snow accumulated on the unmanned aerial vehicle and the solar panel, and performing snow removal work while keeping the distance between the surface of the snow and the unmanned aerial vehicle at a predetermined value. The non-contact snow removal system for a solar panel according to claim 1, wherein:
The timing for performing snow removal work by the unmanned aerial vehicle is within a predetermined time from the time when the snow amount detection means determines that snow has started, at sunset, or in the early morning. Item 10. A non-contact snow removal system for a solar panel according to Item 10.
The solar panel attached to the upper portion of the gantry has a predetermined inclination angle, and is possible when the snow on the upper surface of the solar panel is blown away by the exhaust flow from the unmanned air vehicle to remove snow. 12. The structure in which the snow removed in a range is blown off to the lower side of the solar panel inclined one row in a row on the lower side of the solar panel inclined to the high side. Non-contact snow removal system for solar panels.