WO2021024968A1 - Cleaning robot, and solar power generating facility - Google Patents

Abstract

[Problem] To provide a cleaning robot capable of performing cleaning while traveling over a solar cell module that does not have a panel frame, and a solar power generating facility provided with said cleaning robot. [Solution] This cleaning robot cleans the surface of a solar cell array in which a plurality of solar cell modules are installed side-by-side, and is provided with a cleaning unit (10), a chassis frame, a travel unit (20) provided on the chassis frame, and a support mechanism (50) which supports travel of the chassis frame along either a first end portion or a second end portion of the solar cell modules, wherein the travel unit (20): is provided with at least two traveling bodies (21) which are disposed in such a way as to sandwich the midline of the solar cell modules in a direction intersecting the direction of travel of the cleaning robot when the cleaning robot is disposed on the solar cell array; and is not provided with traveling bodies (21) that travel in the vicinity of the first end portion and the second end portion of the solar cell modules.

Description

Cleaning robot and solar power generation equipment

The present invention relates to a cleaning robot and a solar power generation facility. More specifically, the present invention relates to a cleaning robot for cleaning the surface of a solar cell array used for photovoltaic power generation and a photovoltaic power generation facility.

In recent years, the demand for power generation using renewable energy has been increasing, and in particular, solar power generation using sunlight has attracted a great deal of attention. In such photovoltaic power generation, light from the sun is received to generate power. Therefore, when the light receiving surface of the solar cell array (that is, the solar cell module) becomes dirty, the amount of solar radiation received by the solar cell decreases, so that the amount of power generated increases. Decrease. Therefore, in order to remove dirt on the light receiving surface of the solar cell array or the like, it is important to appropriately clean the solar cell array or the like.

Cleaning robots with various structures have been developed to clean the surface (light receiving surface) of the solar cell array in large-scale photovoltaic power generation equipment. In recent years, with reference to the edge of the solar cell array, development of a cleaning robot that moves along this edge has been progressing (see, for example, Patent Documents 1 to 5).

Japanese Unexamined Patent Publication No. 2014-223564 JP-A-2015-178808 JP-A-2017-144413 Japanese Unexamined Patent Publication No. 2018-528071 Japanese Unexamined Patent Publication No. 2016-26861

By the way, solar cell modules that do not have a panel frame (hereinafter sometimes referred to as frameless solar cell modules) have also been developed. Such a frameless solar cell module can be lighter than one having a panel frame. If a frameless solar cell module is used for the solar cell array of a tracking type photovoltaic power generation system that tracks sunlight (hereinafter, may be referred to as a tracking type solar cell array), the driving force for driving the equipment, the gantry, etc. The strength can be reduced. Then, there is an advantage that the capital investment of the photovoltaic power generation equipment and the running cost can be reduced.

However, the cleaning robots described in Patent Documents 1 to 3 are configured on the premise that they have a panel frame around the solar cell modules constituting the solar cell array, and the traveling wheels are on the panel frame. It has adopted a configuration that runs on. The weight of the cleaning robot itself is also heavy on the premise that the rigidity of the solar cell module is secured to some extent by the panel frame. Therefore, when the cleaning robots of Patent Documents 1 to 3 are used for cleaning the frameless solar cell module, the solar cell module may be damaged.

Although Patent Document 4 describes that the cleaning robot can be used for the frameless solar cell module (paragraph 0026 of Patent Document 4), a specific configuration for the cleaning robot to run on the frameless solar cell module. There is no description about.

Cited Document 5 discloses that it can also be used for a frameless type solar cell module, and in that case, it is necessary to move the position of the moving portion from the weak side portion toward the center. (Paragraph 0091).
However, the technique of Cited Document 5 is to arrange the moving portion at the edge of the solar cell module, that is, at the position where the frame existed, and the moving portion travels near both end edges of the solar cell module. Is a prerequisite. For this reason, it is assumed that the moving part is slightly closer to the center side of the solar cell module (see FIG. 9), and when used for a frameless type solar cell module, the solar cell module is damaged. There is a high possibility that it will end up. Further, in Cited Document 5, when used for a frameless type solar cell module, how much the moving body is specifically moved toward the center, and at what position between both ends of the solar cell module, the moving portion. There is no disclosure as to whether or not to place. This is because the cleaning devices of Cited Document 5 are arranged side by side by connecting the cleaning units that run on the solar cell modules arranged side by side so that they can be bent relatively between the two. This is because the purpose is to cope with the deviation of the inclination between them, and it is not supposed to be used for a frameless type solar cell module. Due to such circumstances, the cited document 5 does not describe a specific configuration for the cleaning robot to run on the frameless solar cell module as in the cited document 4.

Then, as in the technique of Cited Document 5, the cleaning robot manufactured on the premise that the solar cell module having the panel frame travels on the panel frame is not limited to the frameless solar cell module, and the sun having the panel frame. Even if it is a battery module, if the cleaning robot runs on the light receiving surface, the light receiving surface or the like may be damaged.

In view of the above circumstances, an object of the present invention is to provide a cleaning robot capable of cleaning while traveling on a solar cell module and a photovoltaic power generation facility equipped with such a cleaning robot.

The cleaning robot of the first invention is installed by arranging a plurality of solar cell modules side by side on a gantry so that the first end portion and the second end portion are arranged in a straight line, and a connecting portion connecting the solar cell module and the gantry. Is provided between the intermediate line between the first end and the second end of the solar cell module and the first end of the solar cell module, and between the intermediate line and the second end, respectively. A cleaning robot that cleans the surface of the battery array, the cleaning unit that cleans the surface of the solar cell array, the chassis frame, the traveling unit that runs the cleaning robot provided on the chassis frame, and the chassis frame. Along either one end or the second end of the solar cell module, which is provided at both ends or one end in a direction intersecting the traveling direction of the cleaning robot and constitutes the solar cell array. It is provided with a support mechanism that supports the running of the chassis frame, and the traveling unit includes a plurality of traveling bodies, and the plurality of traveling bodies are used when the cleaning robot is arranged on the solar cell array. , At least two traveling bodies are arranged so as to sandwich the solar cell module intermediate line in a direction intersecting the traveling direction of the cleaning robot, and the traveling unit is arranged when the cleaning robot is arranged on the solar cell array. , The solar cell module is not provided with a traveling body that travels in the vicinity of the first end portion and the second end portion.
In the first invention, the cleaning robot according to the second invention is the two traveling bodies located on the outermost side in the direction intersecting the traveling direction of the cleaning robot among the plurality of traveling bodies of the traveling portion. The distance from the intermediate line of the solar cell module in the direction connecting the first end portion and the second end portion of the solar cell module to the intermediate line in the width direction of each traveling body in the state of being arranged on the solar cell module. However, the solar cell module is provided so as to have a distance of 1/8 to 3/4 of the distance from the first end portion to the second end portion.
In the cleaning robot of the third invention, in the second invention, the plurality of traveling bodies include a plurality of traveling members, and at least two of the plurality of traveling bodies include a plurality of the two traveling bodies. Of the traveling members of the above, at least two traveling members are provided so as to sandwich the connecting portion of the solar cell array in a direction intersecting the traveling direction of the cleaning robot.
In any one of the first to third aspects of the cleaning robot of the fourth invention, when the plurality of traveling bodies of the traveling unit are viewed from the traveling direction of the cleaning robot, each traveling body is the surface of the solar cell array. It is characterized in that the portions in contact with the robot are arranged so as not to overlap with each other.
In any one of the first to fourth aspects of the fifth invention, at least one of the plurality of traveling bodies of the traveling unit includes a plurality of traveling members, and the plurality of traveling members are provided. When viewed from the traveling direction of the cleaning robot, the portion where at least one traveling member of the plurality of traveling members of each traveling body contacts the surface of the solar cell array is the portion where the other traveling member is the solar cell array. It is characterized in that it is arranged so as not to overlap the portion in contact with the surface.
In any of the first to fifth aspects of the cleaning robot of the sixth invention, each traveling body of the traveling unit includes a plurality of traveling wheels, and the plurality of traveling wheels have at least two driving wheels. The cleaning robot is arranged so that the center of gravity of the cleaning robot is located between the two most distant traveling wheels in the traveling direction of the cleaning robot among the plurality of traveling wheels. The traveling unit includes an auxiliary traveling body located outside the two traveling wheels farthest in the traveling direction of the cleaning robot among the plurality of traveling wheels of the traveling body in the traveling direction of the cleaning robot. In the auxiliary traveling body, the distance to the adjacent drive wheels in the traveling direction of the cleaning robot is equal to or greater than the distance between the two drive wheels closest to the traveling direction of the cleaning robot among the plurality of driving wheels in the traveling body. It is characterized in that it is arranged so as to be.
In the sixth aspect of the invention, the cleaning robot of the seventh invention includes a plurality of the auxiliary traveling bodies, and the plurality of auxiliary traveling bodies assists at least two of the plurality of auxiliary traveling bodies in the traveling direction of the cleaning robot. It is characterized in that the traveling body is provided so as to sandwich the traveling body.
In any one of the first to seventh inventions, the cleaning robot of the eighth invention includes a cleaning member in which the cleaning portion rotates around an axis, and the traveling body and the cleaning member of the cleaning portion are driven by one. It is characterized by being driven by a source.
In any one of the first to eighth inventions, the cleaning robot of the ninth invention has the support mechanism having a plane parallel to both the traveling direction of the cleaning robot and the direction intersecting the traveling direction of the cleaning robot in a plan view. It is characterized by having a free roller having intersecting rotation axes.
In the ninth invention, the cleaning robot of the tenth invention includes a first support portion provided at one end of the chassis frame in a direction intersecting the traveling direction of the cleaning robot, and the chassis frame. A second support portion provided at the other end located on the opposite side of one end is provided, and the first support portion and the second support portion include the traveling direction of the cleaning robot and the traveling direction of the cleaning robot. A free roller having a rotation axis that intersects a surface parallel to both the traveling direction and the intersecting direction of the cleaning robot in a plan view is provided, and the first support portion is free in the direction intersecting the traveling direction of the cleaning robot. It is characterized in that the distance between the roller and the free roller of the second support portion is provided so as to be longer than the distance between both ends of the solar cell module.
The cleaning robot of the eleventh invention has, in the ninth or tenth invention, the support mechanism having two free rollers provided so as to be arranged at intervals along the traveling direction of the cleaning robot. It is a feature.
<Static elimination member>
In any one of the first to eleventh inventions, the cleaning robot of the twelfth invention is provided with a static elimination member on the chassis frame, and the static elimination member is when the cleaning robot is arranged on the solar cell array. In addition, the tip thereof is formed to have a length that allows contact with a grounded member in the solar cell array.
In the twelfth invention, the cleaning robot of the thirteenth invention is a direction in which the static elimination member connects a first end portion and a second end portion of the solar cell module when the cleaning robot is arranged on the solar cell array. The solar cell array is provided at a position where it can come into contact with a connecting portion connecting the solar cell module and the gantry.
<Solar power generation equipment>
The photovoltaic cell power generation facility of the fourteenth invention is installed by arranging a plurality of solar cell modules side by side on a gantry so that the first end portion and the second end portion thereof are arranged in a straight line, and connects the solar cell module and the gantry. Connecting portions are provided between the intermediate line between the first end portion and the second end portion of the solar cell module and the first end portion of the solar cell module, and between the intermediate line and the second end portion, respectively. The solar cell array and the cleaning robot according to any one of the first to thirteenth inventions for cleaning the surface of the solar cell array are provided.
In the solar power generation equipment of the fifteenth invention, in the fourteenth invention, the solar cell array is provided by arranging the plurality of solar cell modules side by side along the axial direction of the swing axis provided on the gantry. It is characterized by that.
The photovoltaic power generation equipment of the 16th invention is characterized in that, in the 14th or 15th invention, the solar cell module constituting the solar cell array is a frameless solar cell module.

According to the first invention, the deflection of the solar cell module due to the load of the cleaning robot can be reduced. Then, damage to the solar cell module can be prevented, and the surface of the solar cell module can be easily cleaned by the cleaning unit.
According to the second invention, the deflection of the solar cell module due to the load of the cleaning robot can be further reduced.
According to the third invention, since the load of the cleaning robot is applied to both sides of the connecting portion, the bending of the solar cell module can be further reduced.
According to the fourth and fifth inventions, it is possible to prevent damage to cells, wiring, glass, and the like at positions where the traveling body passes in the solar cell module.
According to the sixth and seventh inventions, even if some of the driving wheels in one traveling body are located in the gap between the adjacent solar cell modules, the auxiliary traveling body and at least one driving wheel are driven. The ring can be maintained in place on the solar cell module. Therefore, even if there is a gap between adjacent solar cell modules, the cleaning robot can smoothly move between the adjacent solar cell modules. Further, even if the width of the chassis frame is reduced, the gap between adjacent solar cell modules can be exceeded, so that the weight of the chassis frame can be reduced.
According to the eighth invention, since the drive source can be shared, the weight of the cleaning robot can be reduced and the manufacturing cost can be reduced. In addition, the control device can be simplified as compared with the case of controlling a plurality of drive sources.
According to the ninth to eleventh inventions, the inclination of the chassis frame can be prevented.
<Static elimination member>
According to the twelfth and thirteenth inventions, even if the cleaning robot is charged, the charged static electricity can be discharged to the ground member. Therefore, the charging of the cleaning robot can be suppressed, and the amount of charging can be reduced even if the cleaning robot is charged.
<Solar power generation equipment>
According to the 14th and 15th inventions, the bending of the solar cell module due to the load of the cleaning robot can be reduced. Then, damage to the solar cell module can be prevented, and the surface of the solar cell module can be easily cleaned by the cleaning unit.
According to the sixteenth invention, since the cleaning robot has a structure in which the solar cell module is less likely to bend, the cleaning robot can clean the frameless solar cell module while the cleaning robot runs on the frameless solar cell module. it can.

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. It is a schematic front view of the cleaning robot 1 of this embodiment. It is a schematic rear view of the cleaning robot 1 of this embodiment. It is the schematic explanatory drawing of the transmission part 37 of the cleaning robot 1 of this embodiment. It is the schematic explanatory drawing of the positional relationship between the traveling wheel 22 and the center of gravity G. It is a schematic explanatory view of the positional relationship between the traveling wheel 22 and the connecting portion CE, (A) is a case where there is one traveling wheel set, and (B) is a case where there are two sets of traveling wheels. It is the schematic explanatory drawing of the traveling control in the cleaning robot 1 of this embodiment. (A) is a schematic explanatory view of the solar cell array LP in which the cleaning robot 1 of the present embodiment performs work such as cleaning, and (B) is a state in which the cleaning robot 1 of the present embodiment is mounted on the solar cell array LP. It is a schematic explanatory view of. It is the schematic explanatory drawing of the photovoltaic power generation facility SP which has a plurality of solar cell array LPs. It is a schematic block diagram of the cleaning robot 1 of this embodiment. It is a schematic explanatory drawing of the cleaning robot 1 of this embodiment provided with a stopper member SM. It is the schematic explanatory drawing of the structure of the stopper member SM. It is a schematic plan view of the cleaning robot 1 of another embodiment. It is a schematic bottom view of the cleaning robot 1 of another embodiment. It is a schematic left side view of the cleaning robot 1 of another embodiment. It is the schematic explanatory drawing of the transmission part 37B of the cleaning robot 1 of another embodiment. (A) is a schematic explanatory view of the positional relationship between the traveling wheel 22 and the center of gravity G in the cleaning robot 1 of another embodiment, and (B) is a solar cell of the cleaning robot 1 of the present embodiment having a plurality of traveling bodies 21. It is the schematic explanatory drawing of the state which put on the array LP. (A) is a schematic explanatory view of a photovoltaic power generation facility SP having a solar cell array LP provided with an evacuation station S of the cleaning robot 1, and (B) is a schematic explanatory view of a solar cell array LP having a fixed inclination of the solar cell module P. It is a schematic explanatory drawing.

The cleaning robot of the present invention is a robot that cleans the surfaces of the solar cell modules arranged side by side while traveling along the direction in which the solar cell modules are arranged, and the cleaning robot travels on the light receiving surface of the solar cell modules. However, it is characterized in that the bending and deformation of the solar cell module can be reduced.

The cleaning robot of the present invention is suitable for cleaning a tracking type solar cell array in which frameless solar cell modules are arranged side by side. However, the solar cell array and the solar cell module cleaned by the cleaning robot of the present invention are not particularly limited. It can also be used for a tracking type solar cell array in which solar cell modules having a panel frame are arranged side by side, or a fixed solar cell module (in other words, a non-tracking type solar cell module).

In the following, the case where the object to be cleaned is a tracking type solar cell array in which frameless solar cell modules are arranged side by side will be described as a representative.

<Solar power generation equipment SP>
First, before explaining the cleaning robot 1, the photovoltaic power generation facility SP in which the cleaning robot 1 of the present embodiment performs work such as cleaning will be briefly described. As shown in FIG. 13, the photovoltaic power generation facility SP has a plurality of rows of solar cell array LPs including a plurality of solar cell modules P. The solar cell array LP swings the gantry MT in a state where a plurality of solar cell modules P are aligned so that the edge of the first end P1 and the edge of the second end P2 are aligned in substantially the same straight line. It is connected by the axis SS. More specifically, the solar cell array LP is formed by arranging a plurality of solar cell modules P so that their surfaces are located on substantially the same plane and connecting them by a swing axis SS of a gantry MT. The solar cell array LP can swing a plurality of solar cell modules P at the same time and at the same angle by rotating the swing shaft SS. Therefore, the solar cell array LP can make the plurality of solar cell modules P follow the movement of the sun and adjust the inclination of the surface of the plurality of solar cell modules P so as to optimize the power generation efficiency.

The plurality of solar cell modules P of this solar cell array LP are frameless solar cell modules having no panel frame. Therefore, in the solar cell array LP, there are almost no members protruding from the surfaces of the plurality of solar cell modules P. For example, as shown in FIG. 12, in the solar cell array LP, only the connecting portion CE that connects the plurality of solar cell modules P to the support member SE connected to the swing shaft SS protrudes from the surface of the solar cell module P. It is provided so that it will be in a state of being.

Normally, in a state where the surface of each solar cell module P of the solar cell array LP is horizontal, the intermediate line CL between the first end portion P1 and the second end portion P2 is the central axis S1 of the swing axis SS. It is connected to the swing shaft SS so as to be located substantially vertically above (including the case where a deviation of up to about 80 mm occurs) (see FIG. 12B). Then, the connecting portion CE is located between the intermediate line CL of each solar cell module P and the first and second end portions P1 and P2 (including the case where a deviation of about 20 to 80 mm occurs). It is connected to each solar cell module P.

For example, as shown in FIG. 12B, half of the length from the first end portion P1 to the second end portion P2 of the solar cell module P is L (in other words, from the swing shaft SS to the first end portion P1). , The distance to the second end P2), the distance from the swing axis SS to the middle of the connecting part CE of the solar cell array LP is L2 (the first end P1 and the second end P2 of the solar cell module P). Distance in the connecting direction). Then, the connecting portion CE is connected to each solar cell module P so that L2 is about 50 to 55% of L. The middle of the connecting portion CE of the solar cell array LP means a position where the connecting portion CE is divided in half in the direction of connecting the first end portion P1 and the second end portion P2 of the solar cell module P. (See FIG. 12 (B)).

In the present specification, "the edge of the first end P1 of the solar cell module P (first edge)" and "the edge of the second end P2 of the solar cell module P2 (second edge)" are used. It means an intersection line where a surface (first end surface or second end surface) intersecting the surface of the solar cell module P at the first end portion P1 and the second end portion P2 intersects with the surface of the solar cell module P.

Further, "aligning the first end edges (second end edges) of the solar cell modules P so as to line up in substantially the same straight line" means that the first end edges (or the second end edges) of the adjacent solar cell modules P are aligned with each other. This includes the case where the edges) are completely aligned and the case where there is a slight deviation between the first edge edges (or the second edge edges) of the adjacent solar cell modules P. When there is a slight deviation between the first end edges (or the second end edges) of the adjacent solar cell modules P, the first end edges of the adjacent solar cell modules P (or the second end edges) Is almost parallel, but there is a slight deviation in the height or horizontal direction (for example, about 0 to 5 mm), or there is a deviation in the position along the surface of the solar cell module P (for example, about 0 to 20 mm). I'm out. Further, the case where the first end edges (or the second end edges) of the adjacent solar cell modules P are relatively inclined is included. For example, when it is tilted by about 0 to 1 degree in a plane parallel to the surface of the solar cell module P, or when it is tilted by about 0 to 2 degrees in a plane parallel to the first end surface or the second end surface of the solar cell module P. Includes cases where

Further, "the surfaces of a plurality of solar cell modules P are located on substantially the same plane" is a concept including a case where the angles formed by the surfaces of adjacent solar cell modules P are displaced by about 0 to 1 degree. is there. It also includes the case where there is a slight difference in height between the surfaces of the adjacent solar cell modules P (for example, about 0 to 5 mm).

Further, the solar cell array LP of the photovoltaic power generation facility SP is not necessarily limited to the one in which the solar cell module P swings by the swing axis SS as described above, and the inclination of the plurality of solar cell modules P is fixed. It also includes the one installed on the gantry MT in the state of being (see FIG. 22 (B)). That is, the solar cell array LP in which a plurality of solar cell modules P are arranged side by side on the gantry MT so that their surfaces are located on substantially the same plane is also included in the solar cell array LP to be cleaned by the cleaning robot 1. In this case as well, the solar cell module P is connected to the gantry MT by a connecting portion (not shown in FIG. 22B), but the position where the connecting portion is installed and the structure of the connecting portion are determined by the above-mentioned swing shaft SS. The position and structure of the solar cell module P are substantially the same as those of the solar cell array LP in which the solar cell module P swings. For example, the connecting portion is provided between the intermediate line between the first end portion P1 and the second end portion P2 of the solar cell module P and each end portion (first end portion P1 and second end portion P2), respectively. ..

In the following description, a case where the cleaning robot 1 cleans the solar cell array LP in which the solar cell module P swings by the swing shaft SS will be described as a representative.

It should be noted that the equipment having the above-mentioned photovoltaic power generation equipment SP and the cleaning robot 1 described later corresponds to the photovoltaic power generation equipment in the claims.

<Cleaning robot 1>
Hereinafter, the cleaning robot 1 of the present embodiment will be described with reference to the drawings.
In the drawings, some parts are omitted as appropriate in order to make the structure easier to understand.

The cleaning robot 1 of the present embodiment travels along a solar cell array LP provided with a plurality of solar cell modules P in the photovoltaic power generation equipment SP, and cleans the surfaces of the plurality of solar cell modules P. is there. Specifically, while traveling along the direction in which the plurality of solar cell modules P of the solar cell array LP are arranged, in other words, along the axial direction of the swing axis SS of the gantry MT, the plurality of solar cell modules P It cleans the surface of the.

The cleaning robot 1 includes a chassis frame 2 and a traveling unit 20 for running the chassis frame 2 on the solar cell module P of the solar cell array LP. Further, the cleaning robot 1 includes a cleaning unit 10 that cleans the surface of the solar cell module P when traveling on the solar cell module P by the traveling unit 20, a driving unit 30 that drives the cleaning unit 10 and the traveling unit 20. It includes a control mechanism 40 that controls the operation of the drive unit 30. Further, the cleaning robot 1 is provided with a support mechanism 50 that supports the running of the cleaning robot 1 along the axial direction of the central axis S1 of the swing axis SS.

<Chassis frame 2>
As shown in FIGS. 1 to 3, the chassis frame 2 is a member whose axial direction (horizontal direction in FIGS. 2 and 3) is longer than its width (vertical direction in FIGS. 2 and 3). The chassis frame 2 is provided with a cleaning unit 10, a traveling unit 20, and a driving unit 30. Further, first and second support portions 51 and 52 of the support mechanism 50 are attached to both shaft ends of the chassis frame 2, respectively. Although not explicitly shown in FIGS. 1 to 3, the control mechanism 40 is also provided in the chassis frame 2.

A handle 2f used by an operator to lift the cleaning robot 1 is provided at the central portion of the chassis frame 2 in the axial direction.
Further, the handles may be provided at both ends of the chassis frame 2 in the axial direction. That is, instead of the handle 2f at the center of the chassis frame 2 in the axial direction, or together with the handle 2f at the center of the chassis frame 2 in the axial direction, the operator cleans the robot at both ends in the axial direction of the chassis frame 2. A handle used for lifting 1 may be provided.

<Cleaning section 10>
As shown in FIGS. 1 to 3, the cleaning unit 10 includes a rotating brush 12 on the lower surface side of the chassis frame 2. The length of the brush 12 in the axial direction is longer than the length between the first and second ends P1 and P2 of the solar cell module P (the length in the direction orthogonal to the swing axis SS). The brush 12 includes a shaft portion and a brush portion having a brush or the like provided around the shaft portion, and is provided so that the rotation axis thereof is parallel to the axial direction of the chassis frame 2. Both shaft ends of the brush 12 are rotatably held by bearing portions 13 provided on the chassis frame 2. Then, one end of the shaft portion of the brush 12 (the left end portion in FIG. 2) is connected to the drive unit 30, and when the brush 12 is rotated by the drive unit 30, the surface of the solar cell module P is swept. It can be cleaned.

The rotation direction of the brush 12 is the direction in which the tip of the brush portion (tip of the brush or the like) of the brush 12 sweeps the surface of the solar cell module P (that is, the direction in which the tip of the brush portion moves on the surface of the solar cell module P). However, it should match the traveling direction of the cleaning robot 1. For example, as shown in FIG. 12A, when the cleaning robot 1 moves from left to right on the solar cell array LP, the direction in which the tip of the brush portion sweeps the surface of the solar cell module P is also from the left. Rotate the brush 12 so that it is to the right. Then, the dust and the like swept by the brush 12 can be swept forward in the traveling direction of the cleaning robot 1 (to the right in FIG. 12) and moved. In this way, when the cleaning robot 1 moves to the end of the solar cell array LP (the right end in FIG. 12), dust and the like are dropped from the surface of the solar cell module P at the end of the solar cell array LP to the sun. Dust and the like can be removed from the battery module P.

<Bearing part 13>
The structure of the bearing portion 13 is not limited as long as the end portion of the brush 12 can be rotatably held. In particular, it is desirable that the end portion of the brush 12 is held swingably. With such a configuration, even if vibration occurs when the brush 12 of the cleaning unit 10 rotates, the bearing unit 13 can absorb the vibration and deformation due to the rotation. Then, it is possible to prevent the bearing portion 13, the brush 12, the chassis frame 2, and the like from being damaged by the touching of the brush 12.

For example, if the bearing portion 13 has a structure in which the bearing is held by a general gimbal structure or the like, the end portion of the brush 12 can be held swingably by the bearing portion 13. In particular, if a spherical bearing is adopted as the bearing, the end portion of the brush 12 can be held swingably without the structure of the bearing portion 13 itself having a gimbal structure or the like as described above. That is, there is an advantage that the structure of the bearing portion 13 can be simplified.
Further, when the bearing portion 13 includes a bearing (ball bearing or the like) that holds the end portion of the brush 12, and a bearing case that holds the bearing and connects the bearing to the chassis frame 2, the bearing portion 13 An elastic material such as rubber or a spring may be arranged between the bearing case and the bearing case. Then, since the elastic material can absorb the vibration caused by the rotation of the brush 12, the damage to the brush 12 and the chassis frame 2 caused by the rotation of the brush 12 can be suppressed, and the rotation resistance can be reduced.

Note that, although FIGS. 1 to 3 describe the case where the cleaning unit 10 has one brush 12, the cleaning unit 10 may have a plurality of brushes 12. For example, as shown in FIGS. 17 to 20, the cleaning unit 10 may have two brushes 12. Specifically, two brushes 12 may be provided on the lower surface side of the chassis frame 2 so as to sandwich the traveling portion 20 described later from the front and rear in the traveling direction. In this case, the two brushes 12 may be rotated so that their rotation directions are the same, or they may be rotated so that their rotation directions are opposite to each other. For example, when the rotation directions of the two brushes 12 are the same, the tips of the brush portions (tips of brushes and the like) of the two brushes 12 sweep the surface of the solar cell module P. , It is desirable to rotate the cleaning robot 1 so as to coincide with the traveling direction. When the rotation directions of the two brushes 12 are opposite to each other, the tip of the brush portion (the tip of the brush or the like) of the brush 12 located in front of the traveling direction of the two brushes 12 is the sun. In the brush 12 located behind the traveling direction in which the direction of sweeping the surface of the battery module P is rotated so as to coincide with the traveling direction of the cleaning robot 1, the tip of the brush portion (the tip of the brush or the like) is the solar cell module P. It is desirable to rotate the surface of the cleaning robot 1 so that the direction of sweeping is opposite to the traveling direction of the cleaning robot 1.

<Running unit 20>
A traveling portion 20 is provided on the lower surface of the chassis frame 2. The traveling unit 20 includes two traveling bodies 21.

The two traveling bodies 21 are provided so that when the cleaning robot 1 is placed on the surface of the solar cell module P in a state where the surface of the solar cell module P is horizontal, the two traveling bodies 21 can be arranged at positions sandwiching the swing shaft SS. (See FIGS. 10 and 12 (B)). That is, when the cleaning robot 1 is placed on the surface of the solar cell module P, the two traveling bodies 21 can apply the load from the cleaning robot 1 to the position where the swing shaft SS is sandwiched with respect to the solar cell module P. It is provided in.

For example, let L be half the length from the first end P1 to the second end P2 of the solar cell module P (see FIG. 12B). Then, the connecting portion CE of the solar cell array LP is arranged at a position where the distance L2 from the middle to the swing axis SS is about 50 to 55% of L. When the cleaning robot 1 is arranged on the solar cell module P of such a solar cell array LP, the portion of each traveling body 21 in contact with the solar cell array LP is a swing axis from the intermediate line in the width direction of each traveling body 21. The distance L1 to the SS is provided so as to be 1/4 to 3/4 of the distance L. In other words, the distance L1 is provided so as to be 1/8 to 3/8 of the distance from the first end portion P1 to the second end portion P2 of the solar cell module. When each traveling body 21 is provided in this way, the traveling body 21 does not come into contact with the vicinity of the first end portion P1 and the second end portion P2 of the solar cell module. For example, in the solar cell module, it is desirable that the traveling body 21 does not come into contact with the region of about 1/5 or less of the distance L from the first end portion P1 and the second end portion P2.
In order to bring the two traveling bodies 21 into the above-mentioned state, the distance between the two traveling bodies 21 is 1/1 of the distance from the first end P1 to the second end P2 of the solar cell module. It is desirable to provide it so that it is 4 to 3/4.

For example, if the two traveling bodies 21 are arranged so as to be located inward of the connecting portion CE (see FIG. 10A), each traveling body 21 is a solar cell array thereof. The outer edge of the portion in contact with the LP (the outer edge of the traveling body 21 in the width direction, which corresponds to the outer edge of the traveling wheel 22 in FIG. 10) is about 30 to 50 mm inward from the inner edge of the connecting portion CE. It is desirable to be able to drive.
On the other hand, the two traveling bodies 21 may be arranged so as to be located outside the connecting portion CE. In this case, each traveling body 21 has an inner edge of a portion in contact with the solar cell array LP (the inner edge of the traveling body 21 in the width direction, which corresponds to the inner edge of the traveling wheel 22 in FIG. 10) is a connecting portion. It is desirable that the vehicle travels about 30 to 50 mm outward from the outer edge of the CE.
Then, one of the two traveling bodies 21 may be located inside the connecting portion CE and the other may be located outside the connecting portion CE.

It is desirable that each traveling body 21 travels at a position where the portion in contact with the solar cell array LP is not so far from the connecting portion CE of the solar cell array LP. In particular, when the traveling body 21 travels outside the connecting portion CE, it travels in the vicinity of the connecting portion CE and has a distance L of 1 from the first end portion P1 and the second end portion P2 of the solar cell module. It is desirable to travel at a position closer to the connecting portion CE than in a region of about / 5 or less.

Further, the above range (the range in which the distance L1 is 1/4 to 3/4 of the distance L) includes the case where the traveling body 21 is in a state of traveling on the connecting portion CE. The traveling body 21 may travel on the connecting portion CE as long as the cleaning by the cleaning unit 10 can be continued. For example, when the traveling body 21 has traveling wheels 22, the brush 12 of the cleaning unit 10 can sweep the surface of the solar cell module P even when the traveling wheels 22 are located on the connecting portion CE. Then, the traveling body 21 may travel on the connecting portion CE. However, it is desirable that the traveling body 21 is arranged in the above range and in a range in which the traveling body 21 does not travel on the connecting portion CE. When the traveling body 21 travels on the connecting portion CE, the two traveling bodies 21 and 21 are used to prevent the brush 12 from tilting with respect to the surface of the solar cell module P (or to reduce the tilt). However, it is desirable that all of them run on the connecting portion CE.

Even when the cleaning robot 1 cleans the solar cell module P having the panel frame, it is desirable that the traveling unit 20 has the same configuration as the above. In the case of the solar cell module P having a panel frame, the rigidity of the solar cell module P is relatively high. Even in that case, it is desirable that each traveling body 21 travels at a position not so far from the connecting portion CE of the solar cell array LP.

It is more desirable that the two traveling bodies 21 are provided at positions symmetrical with respect to the intermediate line 2CL in the axial direction of the chassis frame 2 (see FIGS. 2 and 3). That is, when the cleaning robot 1 is placed on the surface of the solar cell module P in a state where the surface of the solar cell module P is horizontal, two traveling bodies 21 are provided so as to be symmetrical with respect to the swing axis SS. Is more desirable. More specifically, the cleaning robot 1 is placed on the surface of the solar cell module P in a state where the surface of the solar cell module P is horizontal. At this time, the cleaning robot 1 is placed on the surface of the solar cell module P so that the intermediate line 2CL of the chassis frame 2 (see FIGS. 2 and 3) is located substantially vertically above the central axis S1 of the swing axis SS (see FIGS. 2 and 3). This state may be referred to as "the cleaning robot 1 is placed on the surface of the solar cell module P so as to be in the basic state"). Then, since the two traveling bodies 21 are arranged so as to be symmetrical with respect to the swing shaft SS, a load can be applied symmetrically to the solar cell module P with the swing shaft SS interposed therebetween.

The distance L3 (see FIG. 12B) from the intermediate line 2CL of the chassis frame 2 to the intermediate line in the width direction of each traveling body 21 is 1/4 to 3/4 of the distance L. It is provided so as to be. Then, if the cleaning robot 1 is placed on the surface of the solar cell module P so as to be in the basic state, the distance L1 from the intermediate line in the width direction of each traveling body 21 to the swing axis SS is 1/4 of the distance L. It becomes ~ 3/4.

The two traveling bodies 21 do not necessarily have to be arranged symmetrically with respect to the swing shaft SS as long as the load can be applied symmetrically to the solar cell module P with the swing shaft SS interposed therebetween. .. That is, when the cleaning robot 1 is mounted on the surface of the solar cell module P, the distances from the central axis S1 of the swing axis SS to the two traveling bodies 21 may be different. For example, it is assumed that the position of the entire center of gravity G of the cleaning robot 1 (see FIG. 9) is deviated from the middle line 2CL of the chassis frame 2 and the middle of the two traveling bodies 21. In such a case, the cleaning robot 1 may be placed on the surface of the solar cell module P so that the center of gravity of the cleaning robot 1 is at an appropriate position. Even in this case, it is desirable that the two traveling bodies 21 are arranged in the above-mentioned range.

<Running body 21>
Each traveling body 21 includes two traveling wheels 22 as traveling members for traveling on the surface of the solar cell module P. Each traveling body 21 includes two traveling wheels 22 along the traveling direction of the cleaning robot 1, that is, the direction intersecting the rotation axis direction of the brush 12. Specifically, the two traveling wheels 22 are provided so that their rotation axes are parallel to each other and their traveling lines coincide with each other. In other words, the two traveling wheels 22 are provided so as to overlap each other when viewed from the traveling direction of the cleaning robot 1.

The two traveling wheels 22 may be provided so that their traveling lines deviate in a direction orthogonal to the traveling direction of the cleaning robot 1. In other words, the portions of the two traveling wheels 22 that come into contact with the surfaces of the solar cell modules P when viewed from the traveling direction of the cleaning robot 1 may be arranged so as not to overlap each other. For example, in the plan view of the cleaning robot 1, the two traveling wheels 22 of the two traveling bodies 21, that is, the two traveling wheels of the two traveling bodies 21 so that the trapezoid is formed by the lines connecting the four traveling wheels 22. 22 may be arranged (see FIG. 21 (A)). With such a configuration, the load applied to a specific position on the solar cell module P can be dispersed. That is, since the two traveling wheels 22 arranged in the traveling direction do not pass through the same position of the solar cell module P, the cells, wiring, glass, etc. at the position where the traveling wheels 22 pass in the solar cell module P can be less likely to be damaged. it can.
The term "the portions of the two traveling wheels 22 in contact with the surface of the solar cell module P do not overlap each other" includes both a case where they do not completely overlap and a case where they slightly overlap each other. The slight overlap means that there is a slight overlap in the portion where the load applied from the traveling wheel 22 to the solar cell module P is small.

Moreover, the two traveling wheels 22 are arranged so as to sandwich the position of the center of gravity G of the cleaning robot 1 in the traveling direction of the cleaning robot 1 (in other words, the width direction of the chassis frame 2) (see FIG. 9). More specifically, in the traveling direction of the cleaning robot 1 (in other words, when viewed from the axial direction of the chassis frame 2), the center of gravity G of the cleaning robot 1 is approximately on the intermediate line DL of the rotation axes of the two traveling wheels 22 (in other words, when viewed from the axial direction of the chassis frame 2). Two traveling wheels 22 are provided so as to be located (including the case where a deviation of about 60 mm or less occurs) (see FIG. 9).

The rotating shafts of the two traveling wheels 22 of the two traveling bodies 21 are connected to the drive shafts 36 and 36 of the drive unit 30, respectively, and are rotated by the rotation of the drive shafts 36 and 36. The two traveling wheels 22 may use the drive shafts 36, 36 of the drive unit 30 as rotation shafts.

When the chassis frame 2 is mounted on the solar cell module P, the traveling wheels 22 of each traveling body 21 contact the lower end of the traveling wheels 22 with the surface of the solar cell module P before the chassis frame 2. It is provided.

Further, the diameter and width of the traveling wheel 22 are not particularly limited. The traveling wheel 22 is provided so that a part of the tip (a portion located below) of the brush portion of the brush 12 comes into contact with the surface of the solar cell module P in a state of being in contact with the surface of the solar cell module P. Just do it. Further, in each traveling body 21, the traveling wheels 22 do not have to have the same diameter and width, but those having the same diameter and width can stabilize the traveling. In particular, if the traveling wheels 22 of all the traveling bodies 21 have the same diameter and width, the traveling can be made more stable.

Further, the structure and material of the traveling wheel 22 are not particularly limited. Use a material formed of general rubber or a resin material such as urethane resin, or a material provided with a resin material such as rubber or urethane resin in contact with the surface of the solar cell module P. be able to. That is, even if the traveling wheel 22 travels on the surface of the solar cell module P, the portion in contact with the surface of the solar cell module P is made of a material or hardness that does not easily damage the surface of the solar cell module P (glass, surface coating, etc.). It is desirable that the module is made of a flexible material.

<Drive unit 30>
As shown in FIGS. 1 and 3, the chassis frame 2 is provided with a drive unit 30 for driving the traveling wheels 22 of the two traveling bodies 21 of the brush 12 of the cleaning unit 10 and the traveling unit 20.

The drive unit 30 includes a drive source 32 (see FIG. 14), a battery 33 that supplies electric power to the drive source 32 and the like, and a transmission mechanism 35 that transmits the driving force of the drive source 32 to the brush 12 and the traveling wheels 22. ,have.

<Drive source 32 and battery 33>
The drive source 32 is a known drive source such as a motor, and the battery 33 is also a general secondary battery or the like. The drive source 32 and the battery 33 are not particularly limited, but a lightweight and compact one is desirable.

<Transmission mechanism 35>
The transmission mechanism 35 includes drive shafts 36, 36 connected to the rotation shafts of the traveling wheels 22 of the two traveling bodies 21, and a transmission unit 37 that transmits the driving force of the drive source 32 to the rotation shafts. .. The transmission unit 37 also has a configuration in which the driving force is transmitted to the brush 12. That is, both the traveling wheel 22 and the brush 12 of the traveling body 21 can be driven by one drive source.

The drive shafts 36 and 36 are provided on the chassis frame 2 in parallel with each other and substantially parallel to the rotation shaft of the brush 12. The drive shafts 36, 36 drive the two traveling wheels 22, 22 of the two traveling bodies 21 and 21 of the traveling unit 20. That is, the two drive shafts 36, 36 are provided so that all four traveling wheels 22 are driven.

Specifically, as shown in FIG. 3, the two traveling wheels 22 and 22 of the two traveling bodies 21 and 21 have substantially coaxial rotation axes of the corresponding traveling wheels 22 in the axial direction of the chassis frame 2. It is provided as follows. The corresponding traveling wheels 22 of the traveling bodies 21 and 21 are connected by a drive shaft 36, respectively. Each drive shaft 36 is composed of a first drive shaft 36a and a second drive shaft 36b. One end of the first drive shaft 36a is rotatably held by the transmission portion 37, and the other end is connected to the rotation shaft of one traveling wheel 22 of the traveling body 21 on the side closer to the transmission portion 37. On the other hand, one end of the second drive shaft 36b is connected to the rotating shaft of the traveling wheel 22 of the traveling body 21 on the side closer to the transmission portion 37, and the other end of the traveling body 21 on the side far from the transmission portion 37 travels. It is connected to the rotating shaft of the ring 22. Therefore, when the driving force from the drive source 32 is transmitted to the drive shaft 36 (that is, the first drive shaft 36a) by the transmission unit 37, the drive shaft 36 similarly causes the corresponding traveling wheels 22 of the traveling bodies 21 and 21 to move. It is provided to rotate.

The transmission unit 37 transmits the driving force of the drive source 32 to the drive shafts 36 and 36 and the brush 12. Specifically, the driving force is transmitted to the drive shafts 36 and 36 so that they both rotate in the same direction and at the same rotation speed, while the brush 12 rotates in the opposite direction to the drive shafts 36 and 36 ( The transmission unit 37 is configured to transmit the driving force (preferably in the opposite direction and at a rotation speed faster than the drive shaft 36).

With such a configuration, the driving source for driving the traveling wheels 22 and the brush 12 of the two traveling bodies 21 can be unified, so that the cleaning robot 1 can be reduced in weight. Moreover, if the rotations of the traveling wheels 22 and the brush 12 of the two traveling bodies 21 are adjusted as described above, the cleaning effect can be enhanced. That is, when the brush 12 rotates while the cleaning robot 1 runs on the surface of the solar cell module P, dust and the like on the surface of the solar cell module P are effectively swept out from the position where the brush 12 comes into contact. be able to.

The configuration in which the transmission unit 37 transmits the driving force of the drive source 32 to the drive shafts 36, 36 and the brush 12 is not particularly limited. For example, it may be composed of a gear mechanism, a belt pulley mechanism, or a combination of both. However, in order to reduce the weight of the cleaning robot 1, it is desirable that the entire structure is composed of a belt pulley mechanism.

As the configuration of the transmission unit 37, for example, the configuration shown in FIG. 8 can be adopted.

In FIG. 8, pulleys pr1 to pr3 are provided on the main shaft 32s of the drive source 32, one end of the drive shafts 36 and 36, and one end of the brush 12, respectively. Further, a reversing shaft 37s having a gear g2 meshed with the gear g1 of the main shaft 32s of the drive source 32 is provided. A pulley pr4 is also provided on the reversing shaft 37s. A belt B1 is wound around the pulleys pr1 and pr3, and a belt B2 is wound around the pulleys pr2 and pr4. Therefore, if the spindle 32s of the drive source 32 is rotated, the brush 12 connected to the spindle 32s of the drive source 32 by the belt B1 can be rotated. Further, since the reversing shaft 37s rotates when the main shaft 32s of the drive source 32 rotates, the reversing shaft 37s and the drive shafts 36, 36 connected by the belt B2 can also be rotated in the same direction and at the same rotation speed.

Further, the pulley pr1 of the main shaft 32s of the drive source 32 has substantially the same size as the pulley pr3 of the brush 12, but the pulley pr4 of the reversing shaft 37s has a smaller diameter than the pulley pr2 of the drive shafts 36 and 36. There is. Moreover, the gear g2 of the reversing shaft 37s has a larger diameter than the gear g1 of the main shaft 32s of the drive source 32. Therefore, when the main shaft 32s of the drive source 32 rotates, the brush 12 rotates at substantially the same rotation speed as the main shaft 32s of the drive source 32, but the drive shafts 36 and 36 rotate slower than the main shaft 32s of the drive source 32. Then, the brush 12 can be rotated faster than the drive shafts 36, 36, in other words, the traveling wheels 22 of the traveling unit 20.

<Control mechanism 40>
The control mechanism 40 controls the operation of the drive unit 30 to control the running and cleaning state of the cleaning robot 1. As shown in FIG. 14, the control mechanism 40 acquires a control unit 41 that controls the running and cleaning state of the cleaning robot 1 and information for the control unit 41 to control the running and cleaning state of the cleaning robot 1. It is composed of a detection unit having each sensor and a detection unit. Therefore, when the information from each sensor of the detection unit is input to the control unit 41, the control unit 41 controls the operation of the drive source 32 of the drive unit 30 to change the traveling direction and traveling speed of the cleaning robot 1. .. Further, the control unit 41 also controls the traveling speed and traveling stop of the cleaning robot 1 so that the cleaning robot 1 does not fall from the solar cell module P. For example, if the edge detection unit 42 as described later is provided, the control unit 41 controls the operation of the drive source 32 of the drive unit 30 based on the signal detected by the edge detection unit 42, thereby causing the solar cell module P. It is possible to prevent the cleaning robot 1 from falling.

Further, when the cleaning robot 1 is tilted and stopped, or when the load on the drive source 32 becomes too large, the control unit 41 stops the operation of the drive source 32 or works by an abnormality alarm (for example, a buzzer). It may have a function of notifying a person of an abnormality.

<Arrangement of drive unit 30 and control mechanism 40>
The drive source 32 of the drive unit 30, the battery 33, the transmission mechanism 35, and the control unit 41 of the control mechanism 40 are provided on the chassis frame 2 so that the center of gravity G of the cleaning robot 1 is arranged as follows. ..

As shown in FIG. 9A, in a plan view, the center of gravity G of the cleaning robot 1 is the sun of the solar cell array LP, and the two traveling wheels 22 and 22 of the two traveling bodies 21 and 21 of the traveling unit 20 are the sun. It is provided so as to be located within the range GA surrounded by the position X1 in contact with the battery module P.

If the center of gravity G of the cleaning robot 1 is arranged as described above, the cleaning robot 1 can be stabilized without providing support members or the like (for example, traveling wheels) that support both ends of the chassis frame 2 of the cleaning robot 1. It becomes easy to run on the surface of the solar cell module P in the state. Moreover, deformation of the solar cell module P due to the weight of the cleaning robot 1 can be prevented. For example, when the cleaning robot 1 is placed on the surface of the solar cell module P, the bending of the solar cell module P due to the load of the cleaning robot 1 can be reduced. Then, since the load applied to the cells, wiring, glass, etc. of the solar cell module P can be reduced, damage to the cells, wiring, glass, etc. can be prevented.

Further, since the load of the cleaning robot 1 is balanced, the rigidity of the chassis frame 2 can be lowered to some extent. Then, as the material of the chassis frame 2, a lightweight material can be adopted although the strength is not so high, so that the weight of the chassis frame 2 can be reduced.

The method of setting the center of gravity of the cleaning robot 1 to the above position is not particularly limited. For example, the drive source 32 of the drive unit 30 and the transmission unit 37 of the transmission mechanism 35 are arranged at the end of the chassis frame 2 (the left end in FIG. 2), and another end of the battery 33 and the control unit 41 of the control mechanism 40. It is arranged (at the right end in FIG. 2). In this case, the center of gravity G is likely to be located within the range GA, although it depends on the weight of each part.

The center of gravity G of the entire cleaning robot 1 may be located within the range GA, but is approximately on the intermediate line 2CL in the width direction of the chassis frame 2 (including the case where the deviation is within about 30 mm). It is desirable that it is arranged.

Further, the drive source 32 of the drive unit 30 and the battery 33 may be arranged at the center of the chassis frame 2. In this case, the drive shafts 36, 36 that transmit the driving force from the drive source 32 to the traveling wheels 22 of the two traveling bodies 21 can be shortened. When the drive source 32 is arranged at the center of the chassis frame 2, if a transmission unit 37B for supplying the driving force of the drive source 32 to the brush 12 is provided at the end of the chassis frame 2, the brush 12 can be provided. Can supply driving force. For example, a transmission unit 37B as shown in FIG. 20 is provided, and one pulley Pr5 (drive pulley Pr5) and the main shaft of the drive source 32 are connected by a connecting shaft 37r or the like. When there are two brushes 12, the drive pulley Pr5 and the pulleys Pr6, 7 (driven pulleys Pr6, 7) connected to the shaft of each brush 12 can be connected by the timing belts B4 and B5 to form a chassis. The drive source 32 arranged at the center of the frame 2 can rotate the two brushes 12 in the same direction so as to have a predetermined rotation speed. If there is only one brush 12, a driven pulley may be provided at the end of the brush 12.

The drive source 32 of the drive unit 30 may be provided with two drive sources 32a for driving the traveling wheels 22 of the traveling body 21 and a drive source 32b for driving the brush 12. In this case, since the rotation speed of the traveling wheel 22 of the traveling body 21 and the rotation speed of the brush 12 can be controlled independently, it becomes easy to move the cleaning robot 1 and adjust the cleaning status. In this case, the drive source 32a may be arranged at the center of the chassis frame 2, and the drive source 32b may be provided at the end of the chassis frame 2. However, it is easier to balance the weight if both the drive source 32a and the drive source 32b are arranged in the central portion of the chassis frame 2.

Further, not only the drive source 32 and the battery 33 of the drive unit 30 but also the transmission unit 37 and the control unit 41 of the control mechanism 40 may be arranged in the central portion of the chassis frame 2. By arranging in this way, the center of gravity G can be easily positioned within the range GA.

<Support mechanism 50>
As shown in FIGS. 1 to 3, the first support portion 51 and the second support portion 52 of the support mechanism 50 are provided at both ends of the chassis frame 2, respectively.

As shown in FIGS. 3 and 4, the first support portion 51 includes two free rollers 51a and 51a having the same shape. The two free rollers 51a and 51a are provided so as to be arranged at intervals along the traveling direction of the cleaning robot 1. Further, the two free rollers 51a and 51a have a rotation axis substantially orthogonal to the plane parallel to both the traveling direction of the cleaning robot 1 and the plane parallel to both the rotation axis direction of the brush 12 (referred to as a reference parallel plane). Have. In other words, the two free rollers 51a and 51a are provided so that when the cleaning robot 1 is placed on the surface of the solar cell module P, its rotation axis is substantially parallel to the normal direction of the surface of the solar cell module P. Has been done. Moreover, in the two free rollers 51a and 51a, the distance from the lower surface of the chassis frame 2 (the surface facing the surface of the solar cell module P) to the lower end surfaces of the two free rollers 51a and 51a is from the lower surface of the chassis frame 2. It is provided so as to be slightly longer than the distance to the lower end of the traveling wheel 22 of the traveling portion. That is, when the cleaning robot 1 is placed on the surface of the solar cell module P, the two free rollers 51a and 51a are provided so that their peripheral surfaces face the first end surface of the solar cell module P. There is.

On the other hand, as shown in FIGS. 3 and 5, the second support portion 52 also includes two free rollers 52a and 52a having the same shape. The two free rollers 52a and 52a are provided so as to be arranged at intervals along the traveling direction of the cleaning robot 1. Further, these two free rollers 52a and 52a also have a rotation axis substantially orthogonal to the reference parallel plane. In other words, the two free rollers 52a and 52a are provided so that when the cleaning robot 1 is placed on the surface of the solar cell module P, its rotation axis is substantially parallel to the normal direction of the surface of the solar cell module P. Has been done. Moreover, the two free rollers 52a and 52a also have two free rollers from the lower surface of the chassis frame 2 (the surface facing the surface of the solar cell module P), similarly to the two free rollers 51a and 51a of the first support portion 51. The distances to the lower end surfaces of the 52a and 52a are provided so as to be slightly longer than the distance from the lower surface of the chassis frame 2 to the lower ends of the traveling wheels 22 of the traveling portion. That is, when the cleaning robot 1 is placed on the surface of the solar cell module P, the two free rollers 52a and 52a are provided so that their peripheral surfaces face the second end surface of the solar cell module P. There is.

Then, the first support unit 51 and the second support unit 52 have two free rollers 51a, 51a of the first support unit 51 and two free rollers 52a of the second support unit 52 in the axial direction of the chassis frame 2. The distance between the 52a is set to be longer than the distance between both ends of the solar cell module P (for example, about 20 to 30 mm longer). That is, when the cleaning robot 1 is placed on the surface of the solar cell module P so that the first support unit 51 and the second support unit 52 are in the basic state, each end surface of the solar cell module P and the first support unit 51 The chassis frame 2 is provided with a gap between the free rollers 51a and 51a and the two free rollers 52a and 52a of the second support portion 52, respectively. Moreover, in the first support section 51 and the second support section 52, either the two free rollers 51a, 51a of the first support section 51 or the two free rollers 52a, 52a of the second support section 52 are solar cell modules. The distance between the free rollers 51a and 52a is adjusted so that the two traveling bodies 21 can be arranged at positions sandwiching the swing shaft SS even when they are in contact with any of the end faces of P.

If such a support mechanism 50 is provided, it is possible to prevent the cleaning robot 1 from falling from the solar cell module P even when the cleaning robot 1 travels diagonally with respect to the axial direction of the swing shaft SS. That is, when the cleaning robot 1 travels diagonally from the axial direction of the swing axis SS, either the free rollers 51a, 51a of the first support section 51 or the two free rollers 52a, 52a of the second support section 52 (or Since both) come into contact with the end face of the solar cell module P, the traveling direction of the cleaning robot 1 can be corrected to the direction along the edge of the solar cell module P. Since the edge of the solar cell module P is usually provided parallel to the axial direction of the swing shaft SS, the cleaning robot 1 is driven parallel to the axial direction of the swing shaft SS by the guidance of the support mechanism 50. Can be done. Further, even if the edge of the solar cell module P is tilted with respect to the axial direction of the swing shaft SS, the cleaning robot 1 cannot tilt more than the state in which the free roller is in contact with the end face of the solar cell module P. Even if the edge of the solar cell module P is tilted with respect to the axial direction of the swing shaft SS, it is at most about 0.5 degrees. Therefore, if the support mechanism 50 as described above is provided, the cleaning robot 1 can be moved in the direction along the axial direction of the swing axis SS while preventing the cleaning robot 1 from falling from the solar cell module P. Can be done.

The two free rollers 51a and 51a may be provided so that their rotation axes intersect with the reference parallel plane, and are not necessarily orthogonal to each other. That is, when the cleaning robot 1 travels obliquely with respect to the axial direction of the swing axis SS, the two free rollers 51a and 51a come into contact with the end faces of the solar cell module P and set the traveling direction of the cleaning robot 1 to the sun. It suffices if it is provided so that it can be corrected in the direction along the edge of the battery module P. When the rotation axes of the two free rollers 51a and 51a are not orthogonal to the reference parallel plane, the two free rollers 51a and 51a extend from the position farthest from the lower surface of the chassis frame 2 to the lower surface of the chassis frame 2 in the two free rollers 51a and 51a. The distance may be slightly longer than the distance from the lower surface of the chassis frame 2 to the lower end of the traveling wheel 22 of the traveling portion.

Further, the two free rollers 52a and 52a may also be provided so that their rotation axes intersect the reference parallel plane, and are not necessarily orthogonal to each other. That is, when the cleaning robot 1 travels obliquely with respect to the axial direction of the swing axis SS, the two free rollers 52a and 52a come into contact with the end faces of the solar cell module P and set the traveling direction of the cleaning robot 1 to the sun. It suffices if it is provided so that it can be corrected in the direction along the edge of the battery module P. When the rotation axes of the two free rollers 52a and 52a are not orthogonal to the reference parallel plane, the two free rollers 52a and 52a extend from the position farthest from the lower surface of the chassis frame 2 to the lower surface of the chassis frame 2 in the two free rollers 52a and 52a. The distance may be slightly longer than the distance from the lower surface of the chassis frame 2 to the lower end of the traveling wheel 22 of the traveling portion.

Further, the free rollers 51a and 52a may have a damper mechanism that moves the free rollers 51a and 52a along the direction of the force when a certain force or more is applied from the direction intersecting the rotation axis. That is, the free rollers 51a and 52a may be attached to the chassis frame 2 via a damper mechanism that holds the rotation axis of the free rollers 51a and 52a so as to be movable along the axial direction of the brush 12. If such a damper mechanism is provided, even if the step between the end faces of the adjacent solar cell modules P becomes larger than expected, the free rollers 51a and 52a can overcome the step between the end faces of the solar cell modules P. Become.

The number of free rollers provided in the first support section 51 and the second support section 52 of the support mechanism 50 is not particularly limited. One free roller may be provided for each of the support portions 51 and 52, or three or more free rollers may be provided for each. Further, the number of free rollers provided in each of the support portions 51 and 52 may be different. For example, when the cleaning robot 1 travels on the solar cell module P in a state where the solar cell module P is tilted, two or more free rollers are provided on the support portion on the end side located above. , Only one free roller may be provided on the support portion on the end side located below. This is in contact with the upper end when there is a step (a step in the direction connecting the first end P1 and the second end P2) at the upper end between the adjacent solar cell modules P. This is because it is easier to get over the step if the support unit has two or more free rollers.

The first support section 51 and the second support section 52 of the support mechanism 50 do not have to use the free rollers as described above as long as they can guide the movement along the end face of the solar cell module P. For example, a plate-shaped member having a small surface sliding resistance may be provided so that its surface faces each end surface of the solar cell module P to form the first support portion 51 and the second support portion 52. In this case, the end portion of the plate-shaped member in the traveling direction of the cleaning robot 1 is formed so as to be separated from the end surface of the solar cell module P toward the tip end. That is, the plate-shaped member is formed so that the tip is curved like a ski plate. Then, even if it is a plate-shaped member, it becomes easy to get over a step between adjacent solar cell modules P.

As described above, the reference parallel plane is a plane parallel to both the traveling direction of the cleaning robot 1 and the rotation axis direction of the brush 12. On the other hand, when the cleaning unit 10 does not have the brush 12, a surface parallel to both the traveling direction of the cleaning robot 1 and the axial direction of the chassis frame 2 corresponds to a reference parallel surface. In other words, a plane parallel to both the traveling direction of the cleaning robot 1 and the direction intersecting the traveling direction of the cleaning robot 1 in a plan view (horizontal direction in FIG. 2) corresponds to a reference parallel plane.

Further, if the solar cell module P does not bend when the cleaning robot 1 is placed on the surface of the solar cell module P, the reference parallel surface becomes a surface substantially parallel to the surface of the solar cell module P. On the other hand, when the surface of the solar cell module P bends when the cleaning robot 1 is mounted, the reference parallel plane is a plane parallel to the surface of the solar cell module P in the case where the bending does not occur (target plane). Means. Further, the reference parallel plane also includes a case where there is a slight inclination (up to about 0.1 degree) with respect to the surface of the solar cell module P and the target plane when it does not bend.

Further, as described above, the support mechanism 50 may have the first support portion 51 and the second support portion 52 at both ends of the chassis frame 2, but the support portion is one end portion of the chassis frame 2. It may be provided only in. That is, the support mechanism 50 may be provided with only one of the first support unit 51 and the second support unit 52. For example, when the cleaning robot 1 is run on the surface of the solar cell array LP in a state where the surface of the solar cell array LP is inclined with respect to the horizontal as shown in FIG. 13B, the solar cell array LP A support portion may be provided only at the end portion of the chassis frame 2 located on the upper end portion (in FIG. 13B, the solar cell module P is located on the side of the first end portion P1). In other words, when the support portion is provided only on one end of the chassis frame 2, the cleaning robot 1 is placed on the solar cell so that the support portion is arranged on the end side located above the solar cell array LP. It may be placed on the array LP. Even in this case, the support unit may adopt the same structure as the first support unit 51 and the second support unit 52 as described above.

<Operation of cleaning robot 1>
Since the cleaning robot 1 has the above-described configuration, the cleaning robot 1 can clean the surface of the solar cell module P of the solar cell array LP.

In the following, a case where the cleaning robot 1 cleans the solar cell module P in a state where the surface is inclined (for example, about 5 ° with respect to the horizontal) will be described. Of course, even when the surface of the solar cell module P is horizontal, the cleaning robot 1 can clean the surface of the solar cell module P.
Further, when the two traveling bodies 21 and 21 have two traveling wheels 22 and the cleaning robot 1 is mounted on the surface of the solar cell module P, all the traveling wheels 22 are two of the solar cell array LP. The case where it is arranged so as to be located between the connecting portions CE will be described. In other words, the case where the two traveling bodies 21 and 21 are arranged so as to be located between the connecting portion CE and the swing shaft SS when viewed from the traveling direction of the cleaning robot 1 will be described. ..

First, the cleaning robot 1 is placed on the surface of the solar cell module P. At this time, the free roller 51a of the first support portion 51 is arranged so as to be in contact with the end face located above the solar cell module P. Then, the traveling direction of the cleaning robot 1 and the axial direction of the swing shaft SS of the gantry MT can be substantially matched. At this time, all of the traveling wheels 22 of the two traveling bodies 21 and 21 were placed on the surface of the solar cell module P so as to be located between the two connecting portions CE of the solar cell array LP and the swing shaft SS. It becomes a state. Therefore, deformation of the solar cell module P due to the weight of the cleaning robot 1 can be suppressed.

When the cleaning robot 1 is operated in the above state, the cleaning robot 1 moves along the axial direction of the swing axis SS while cleaning the surface of the solar cell module P with the brush 12. At this time, since the support mechanism 50 is provided, the cleaning robot 1 can be moved along the axial direction of the swing shaft SS.

When the cleaning robot 1 is placed on the surface of the solar cell module P so as to be in the basic state, the free roller of the support mechanism 50 may not come into contact with any end surface of the solar cell module P. .. Even in this case, if the traveling direction of the cleaning robot 1 is tilted from the axial direction of the swing shaft SS, any free roller of the support mechanism 50 comes into contact with any end face of the solar cell module P. Therefore, the traveling direction of the cleaning robot 1 can be returned to traveling in the axial direction of the swing shaft SS.

When the control mechanism 40 of the cleaning robot 1 detects that the cleaning robot 1 has reached the other end of the solar cell array LP, the control mechanism 40 travels the cleaning robot 1 before the traveling wheels 22 are removed. To stop. Then, the cleaning of the solar cell array LP is completed.

<Other operation examples of cleaning robot 1>
When only one brush 12 is provided in the cleaning unit 10 as in the above example, the brush 12 may be provided on the side biased to one side with respect to the width direction of the chassis frame 2 (the traveling direction of the cleaning robot 1). desirable. Specifically, the position where the brush portion of the brush 12 contacts the surface of the solar cell module P is the position X1 where the traveling wheel 22 of the traveling body 21 of the traveling portion 20 contacts the surface of the solar cell module P (FIG. 9A). It is desirable to provide the brush 12 so that it is located outside the (see). That is, it is desirable to provide the brush 12 so that the position where the surface of the solar cell module P is substantially cleaned by the brush 12 is located outside the position X1.

When the brush 12 is provided in this way, if the cleaning robot 1 is operated as follows, the cleaning robot 1 can clean almost the entire surface of the solar cell array LP, and the cleaning robot 1 can be easily moved. You get the advantage of becoming.

First, as in the case described above, the cleaning robot 1 is placed on the solar cell module P located at one end of the solar cell array LP. At this time, the brush 12 is arranged so as to be located on the other end side of the solar cell array LP with respect to the traveling body 21. That is, the brush 12 is arranged so as to be located in front of the cleaning robot 1 in the traveling direction. If the cleaning robot 1 is run in this state, the surfaces of the plurality of solar cell modules P can be sequentially cleaned by the brush 12.

Eventually, the cleaning robot 1 reaches the other end of the solar cell array LP. Then, the control mechanism 40 of the cleaning robot 1 detects that the cleaning robot 1 has reached the other end of the solar cell array LP, and the cleaning robot 1 starts traveling in the direction opposite to the traveling direction so far. Here, the cleaning robot 1 stops moving in the traveling direction before the traveling wheel 22 of the traveling body 21 derails, but the brush 12 is arranged in front of the traveling direction and outside the traveling wheel 22. .. Therefore, the brush 12 can clean up to the other end of the solar cell module P located at the other end of the solar cell array LP.

The cleaning robot 1 traveling in the opposite direction eventually reaches one end of the solar cell array LP, that is, the end where cleaning has started. Then, the control mechanism 40 of the cleaning robot 1 detects that the cleaning robot 1 has reached one end of the solar cell array LP, and the cleaning robot 1 moves before the traveling wheels 22 of the traveling body 21 are derailed. Is stopped and cleaning is completed. That is, the cleaning of one solar cell array LP is completed by the cleaning robot 1 reciprocating once. It should be noted that one solar cell array LP may be reciprocated a plurality of times for one cleaning.

The cleaning robot 1 that has returned to one end of the solar cell array LP is replaced with the solar cell array LP to be cleaned next by the operator. In the photovoltaic power generation facility SP, the swing axes SS of the plurality of solar cell array LPs are arranged so as to be arranged in parallel (see FIG. 13). Therefore, if the adjacent solar cell array LP is selected as the solar cell array LP to be cleaned next in the direction intersecting the swing axis SS, the end portion on the same side as the previously cleaned solar cell array LP can be selected. By mounting the cleaning robot 1, the next solar cell array LP can be cleaned. That is, even if the operator does not move along the axial direction of the swing axis SS of the solar cell array LP, the operator can transfer the cleaning robot 1 between the adjacent solar cell array LPs.

As described above, even if only one brush 12 of the cleaning unit 10 of the cleaning robot 1 is provided, if the brush 12 is arranged as described above and the cleaning robot 1 is operated as described above, the solar cell array LP Can clean almost the entire surface of. Moreover, the work of replacing the cleaning robot 1 by the operator becomes easy.

When only one brush 12 of the cleaning unit 10 of the cleaning robot 1 is provided, one end of the solar cell module P located at one end of the solar cell array LP cannot be cleaned by the cleaning robot 1. .. However, the part that cannot be cleaned is at most about the width of the cleaning robot 1. Moreover, since the cleaning robot 1 is the end portion of the solar cell array LP on the returning side, the entire solar cell array LP can be cleaned if the operator cleans only that portion.

<About the traveling unit 20>
As described above, when the cleaning robot 1 is placed on the surface of the solar cell module P in a state where the surface of the solar cell module P is horizontal, the two traveling bodies 21 of the traveling unit 20 sandwich the swing shaft SS. It is provided so that it can be placed in a position. That is, the two traveling bodies 21 are arranged at a certain distance in the axial direction of the chassis frame 2 of the cleaning robot 1. The distance between the two traveling bodies 21 may be fixed, or the distance may be adjustable. That is, the position of the traveling body 21 in the axial direction of the chassis frame 2 may be adjusted (see FIG. 12B). If the position of the traveling body 21 in the axial direction of the chassis frame 2 can be adjusted, even if the solar cell module P has a different position of the connecting portion CE, the position 2 is set to an appropriate position according to the solar cell module P. It becomes possible to arrange one traveling body 21. For example, when the distance from the swing shaft SS to the connecting portion CE is short, the distance between the two traveling bodies 21 is shortened, and when the distance from the swing shaft SS to the connecting portion CE is long, the two traveling bodies are shortened. Increase the interval between 21. Then, even if the distance from the swing shaft SS to the connecting portion CE is different, the relative positional relationship between the traveling body 21 and the connecting portion CE can be adjusted to be substantially the same. Further, depending on the solar cell module P, it may be desirable that the distance from one connecting portion CE to the traveling body 21 and the distance from the other connecting portion CE to the traveling body 21 are different. Even in this case, if the positions of the two traveling bodies 21 are appropriately adjusted, the cleaning robot 1 can be stably traveled along the surface of the solar cell module P.

The structure for adjusting the position of the traveling body 21 is not particularly limited. For example, when the drive shaft 36 is formed of a single shaft, the traveling wheels 22 of the traveling body 21 can be moved along the drive shaft 36 and fixed at a desired position. Then, the positions of the two traveling bodies 21 (that is, the positions of the traveling wheels 22) can be appropriately adjusted.

Further, if the traveling body 21 has a supporting member for holding the traveling wheel 22, and the supporting member is detachably fixed to the chassis frame 2 with bolts or the like, a plurality of females are attached to the chassis frame 2. Provide screw holes, etc. Then, if the female screw hole for screwing the bolt or the like is changed, the position where the support member of the traveling body 21 is fixed to the chassis frame 2, that is, the positions of the two traveling bodies 21 (that is, the positions of the traveling wheels 22) are adjusted. can do.

When the traveling body 21 has a body for holding the traveling wheels 22, the body of the support member may be slidable with respect to the chassis frame 2. For example, a rail may be provided on the chassis frame 2 to allow the body of the support member to slide with respect to the rail, or a shaft-shaped portion or the like may be provided on the chassis frame 2 itself so that the body of the support member can slide along the portion. It may be. In this case, the positions of the two traveling bodies 21 can be easily adjusted.

As described above, when the drive shaft 36 has the first drive shaft 36a and the second drive shaft 36b, if the first drive shaft 36a and the second drive shaft 36b having different lengths are provided, It is possible to adjust the position of the traveling body 21 as described above. Of course, the first drive shaft 36a and the second drive shaft 36b may each have a function of changing the length. For example, if the first drive shaft 36a and the second drive shaft 36b have a telescopic structure and can be fixed at a desired length, the lengths of the first drive shaft 36a and the second drive shaft 36b Can be changed freely.

As shown in FIGS. 17 to 18, even when the drive source 32 is arranged at the center of the chassis frame 2, the length of the drive shaft 36 can be changed, or a plurality of drive shafts 36 having different lengths can be used. You just have to prepare it. Then, it becomes possible to arrange the two traveling bodies 21 at appropriate positions according to the solar cell module P.
Further, the length of the drive shaft 36 may be constant, a position fixing member may be provided on the traveling wheel 22, and the traveling wheel 22 may be fixed at a desired position on the drive shaft 36 by the position fixing member. For example, if a position fixing member having a general mechanical lock structure is used, the traveling wheel 22 can be released from being fixed to the drive shaft 36 and the traveling wheel 22 can be moved along the drive shaft 36, which is desired. The traveling wheel 22 can be fixed to the drive shaft 36 at the position of. As an example of the mechanical lock structure, a structure including a hub into which the drive shaft 36 is inserted and an inner ring and an outer ring having a tapered cross section arranged between the hub and the drive shaft 36 can be mentioned. .. In the case of such a mechanical lock structure, the hub is used as a wheel of the traveling wheel 22, and the drive shaft 36 is inserted through the hub. Then, by adjusting the degree of overlap between the inner ring and the outer ring between the hub and the drive shaft 36, the hub (that is, the traveling wheel 22) can be fixed to the drive shaft 36, or the hub can move with respect to the drive shaft 36. Can be used.

In the above example, the case where the traveling unit 20 has two traveling bodies 21 has been described, but the traveling unit 20 may have three or more traveling bodies 21. In this case, it is desirable that the plurality of traveling bodies 21 are provided at symmetrical positions.

For example, the plurality of traveling bodies 21 can be provided at positions symmetrical with respect to the intermediate line 2CL in the axial direction of the chassis frame 2. If the traveling body 21 is an odd number, one of the traveling bodies 21 is arranged on the axial intermediate line 2CL of the chassis frame 2, and the other traveling body 21 is arranged on the axial intermediate line 2CL of the chassis frame 2. It may be provided so as to be symmetrical with respect to the other.

When the traveling unit 20 has three or more traveling bodies 21, the range surrounded by the four traveling wheels 22 of the two traveling bodies 21 arranged at the farthest positions in the axial direction of the brush 12. The center of gravity G of the cleaning robot 1 will be arranged.

Further, when the traveling unit 20 has three or more traveling bodies 21, the portion where the traveling wheels 22 of each traveling body 21 come into contact with the surface of the solar cell module P when viewed from the traveling direction of the cleaning robot 1. May be arranged so that they do not overlap each other (see FIG. 21 (B)). With such a configuration, the load applied to a specific position on the solar cell module P can be dispersed. That is, since the traveling wheels 22 of each traveling body 21 do not pass through the same position of the solar cell module P, it is possible to prevent the cells, wiring, glass, and the like at the positions where the traveling wheels 22 pass in the solar cell module P from being damaged. .. The same applies when each traveling body 21 employs a crawler or the like as described later as a traveling member.
Here, "the portion where the traveling wheels 22 of each traveling body 21 in contact with the surface of the solar cell module P do not overlap each other" includes both a case where they do not completely overlap and a case where they slightly overlap each other. I'm out. The slight overlap means that there is a slight overlap in the portion where the load applied from the traveling wheel 22 of each traveling body 21 to the solar cell module P is small.

Further, when a plurality of traveling bodies 21 are provided, if the number of traveling bodies 21 is an odd number, if the plurality of traveling bodies 21 are provided symmetrically with respect to the intermediate line 2CL in the axial direction of the chassis frame 2, at least one is provided. The two traveling bodies 21 are arranged on the intermediate line 2CL in the axial direction of the chassis frame 2. In this case, when the cleaning robot 1 is mounted on the surface of the solar cell module P, the plurality of traveling bodies 21 are symmetrical with respect to the swing axis SS, but at least one traveling body 21 is intermediate in the width direction thereof. The distance from the line to the swing axis SS will not be located in the range of 1/4 to 3/4 of the distance L (see FIG. 21B). Even in this case, of the plurality of traveling bodies 21, the two traveling bodies 21 and 21 located on the outermost side in the direction intersecting the traveling direction of the cleaning robot 1 are moved from the intermediate line in the width direction to the swing axis SS. If the distance is provided so as to be located in the range of 1/4 to 3/4 of the distance L (see FIG. 21 (B)), the bending of the solar cell module P due to the load of the cleaning robot 1 is suppressed. (See FIG. 21 (B)). In order to bring the two outermost traveling bodies 21 and 21 into the above-mentioned state, the distance between the two outermost traveling bodies 21 and 21 is the first end portion of the solar cell module. It is desirable to provide the distance from P1 to the second end P2 so as to be 1/4 to 3/4 of the distance.

<About the running body 21>
In the above example, the case where the traveling body 21 has two traveling wheels 22 and 22 arranged in the traveling direction of the cleaning robot 1 has been described, but even if the traveling body 21 has only one traveling wheel 22. Alternatively, there may be one having three or more traveling wheels 22. That is, the traveling wheels 22 provided on the traveling body 21 may be the same for all the traveling bodies 21, or the number of traveling wheels 22 may be different for some or all of the traveling bodies 21. An appropriate number of traveling wheels 22 may be provided on each traveling body 21 according to the shape of the solar cell module P, the usage environment, and the like.

When the traveling body 21 has three or more traveling wheels 22, all three or more traveling wheels 22 may be driving wheels, or any two of them may be driving wheels. Further, as described above, when the traveling body 21 has a plurality of traveling bodies 21, even if the traveling body 21 has a plurality of traveling wheels 22, the number of driving wheels may be only one.

When the traveling body 21 has three or more traveling wheels 22, the center of gravity G is arranged on the two traveling wheels 22 located at the front and rear of the traveling direction of the cleaning robot 1 in each traveling body 21. The traveling wheel 22 determines the range to be used.

Further, when the traveling body 21 has three or more traveling wheels 22, a portion of at least one traveling wheel 22 that comes into contact with the surface of the solar cell module P when viewed from the traveling direction of the cleaning robot 1 is formed. It may be arranged so as not to overlap with the portion of the other traveling wheel 22 that comes into contact with the surface of the solar cell module P. With such a configuration, the load applied to a specific position on the solar cell module P can be dispersed. That is, since all the traveling wheels 22 arranged in the traveling direction do not pass through the same position of the solar cell module P, the cells, wiring, glass, etc. at the position where the traveling wheels 22 pass in the solar cell module P can be less likely to be damaged. it can. Of course, when viewed from the traveling direction of the cleaning robot 1, the portions of all traveling wheels 22 that come into contact with the surface of the solar cell module P may be arranged so as not to overlap each other.
The phrase "the portions where all the traveling wheels 22 are in contact with the surface of the solar cell module P do not overlap" includes both the case where they do not completely overlap and the case where they slightly overlap. The slight overlap means that there is a slight overlap in the portion where the load applied from the traveling wheel 22 to the solar cell module P is small.

Further, if the traveling body 21 has two traveling wheels 22 arranged in the traveling direction of the cleaning robot 1 as traveling wheel sets 22s, the traveling body 21 may have a plurality of traveling wheel sets 22s. For example, the traveling body 21 may have two traveling wheel sets 22s (see FIG. 10B). In this case, if the traveling directions of the traveling wheels 22 of the two traveling wheel sets 22s are arranged so as to be parallel to each other, the chassis frame 2 can be stably traveled.

In particular, two adjacent traveling wheel sets 22s in one traveling body 21 are separated from each other in a direction orthogonal to the traveling direction of the cleaning robot 1, and the distance between them is the length of the connecting portion CE (FIG. 10 (B)). It is desirable that the length is longer than the length in the left-right direction. Then, when the cleaning robot 1 is placed on the surface of the solar cell module P and traveled, the two traveling wheel sets 22s and 22s of the two traveling bodies 21 straddle any of the two connecting portions CE of the gantry MT. As described above, it is desirable that the vehicle is provided at a traveling position (see FIG. 10B). In this case, since the load of the cleaning robot 1 is applied to both sides of the connecting portion CE to the solar cell module P, there is a possibility that the bending of the solar cell module P due to the load of the cleaning robot 1 can be suppressed.

When the traveling body 21 has a plurality of traveling wheel sets 22s, the traveling wheels 22 included in the traveling wheel set 22s located on the outermost side of each traveling body 21 determine the range in which the center of gravity G is arranged. It becomes the running wheel 22.

Further, in the above example, the case where the traveling wheel set 22s has two traveling wheels 22 has been described, but the number of traveling wheels 22 provided in each traveling wheel set 22s is not limited to two, and may be three or more. , May be one. Further, the number of traveling wheels 22 included in the two adjacent traveling wheel sets 22s may be the same or different. For example, in one traveling wheel set 22s, when there are two traveling wheels 22, the other traveling wheel 22 may be one or three or more.

Further, the traveling member of the traveling body 21 is not limited to the traveling wheel 22 such as wheels, and may be any one that can travel on the surface of the solar cell module P. For example, a crawler or the like may be used as a traveling member. When the crawler is used as a traveling member, the length of the portion where the crawler contacts the surface of the solar cell module P in the traveling direction of the cleaning robot 1 is between the adjacent solar cell modules P in the solar cell array LP. It is adjusted so that it is longer than the gap of. When the traveling member is a crawler, the distance from the position where the crawler is separated from the surface of the solar cell module P to the position where the auxiliary wheel 26, which will be described later, comes into contact with the surface of the solar cell module P (X2 in FIG. 9B) is also , Adjusted to be longer than the gap between adjacent solar cell modules P in the solar cell array LP.

<Auxiliary vehicle 25>
In addition to the two traveling bodies 21 described above, the traveling unit 20 may have a pair of auxiliary traveling bodies 25, 25 located outside the chassis frame 2 in the width direction of the traveling body 21. If the pair of auxiliary traveling bodies 25, 25 arranged in this way are provided, the gap between the adjacent solar cell modules P can be stably overcome. That is, even if the gap between the adjacent solar cell modules P has a width that cannot be exceeded by the traveling wheel 22 of the traveling body 21 (for example, a width longer than the diameter of the traveling wheel 22), the cleaning robot 1 has a gap. You can get over it.

For example, as shown in FIGS. 1 to 3, a pair of extension frames 2E and 2E extending in the width direction of the chassis frame 2 are provided, and the pair of extension frames 2E and 2E have a pair of traveling wheels 26. Auxiliary traveling bodies 25 and 25 are provided, respectively. The traveling wheels 26 are provided so that their rotating shafts are parallel to the rotating shafts of the two traveling wheels 22 and 22 of the traveling body 21. Then, the traveling wheels 26 of the pair of auxiliary traveling bodies 25, 25 are arranged so that the distance W2 with the adjacent traveling wheels 22 is equal to or more than the distance W1 between the two traveling wheels 22, 22 of the traveling body 21. (See FIG. 9B). More specifically, between the position X2 where the traveling wheels 26 of the pair of auxiliary traveling bodies 25 and 25 come into contact with the surface of the solar cell module P and the position X1 where the adjacent traveling wheels 22 come into contact with the surface of the solar cell module P. The distance W2 is arranged so as to be equal to or greater than the distance W1 between the positions X1 and X1 where the two traveling wheels 22 and 22 of the traveling body 21 come into contact with the surface of the solar cell module P (FIG. 9B). reference). Then, even if there is a gap between the adjacent solar cell modules P, at least one of the four wheels of the pair of auxiliary traveling bodies 25 and 25 and the two traveling wheels 22 and 22 of the traveling body 21 The three wheels can be maintained on the surface of the solar cell module P. Therefore, the cleaning robot 1 can stably overcome the gap between the adjacent solar cell modules P.

The number of the pair of auxiliary traveling bodies 25, 25 is not particularly limited, but it is desirable to provide the pair of auxiliary traveling bodies 25, 25 for each traveling body 21. For example, when there are two traveling bodies 21, it is desirable to provide two pairs of auxiliary traveling bodies 25, 25. Then, it is desirable that the traveling lines of the traveling wheels 26 of the pair of auxiliary traveling bodies 25 and 25 are provided so as to deviate from the traveling lines of the two traveling wheels 22 and 22 of the corresponding traveling bodies 21. In other words, when viewed from the traveling direction of the cleaning robot 1, the traveling wheels 26 of the pair of auxiliary traveling bodies 25, 25 are provided so as not to overlap with the two traveling wheels 22, 22 of the corresponding traveling bodies 21. It is desirable to be there. For example, the traveling wheels 26 of the pair of auxiliary traveling bodies 25, 25 are provided so as to be located inward (see FIG. 2) with respect to the two traveling wheels 22, 22 of the corresponding traveling body 21, or the corresponding traveling. It is desirable that the body 21 is provided so as to be located outward with respect to the two traveling wheels 22, 22. The traveling lines of the traveling wheels 26 of the pair of auxiliary traveling bodies 25 and 25 may be located on the traveling lines of the two traveling wheels 22 and 22 of the traveling body 21, but the traveling lines of the two traveling bodies are deviated from each other. However, the cleaning robot 1 can stably overcome the gap between the adjacent solar cell modules P. When only one pair of auxiliary traveling bodies 25, 25 is provided, it is desirable to arrange them in the middle of the two traveling bodies 21 and 21 in the axial direction of the chassis frame 2.

Further, when the traveling body 21 has three or more traveling wheels 22, if three or more traveling wheels 22 are driving wheels among the traveling wheels 22, the pair of auxiliary traveling bodies 25, 25 travels. The distance between the wheels 26 and the traveling wheels 22 that are the closest driving wheels to the traveling wheels 26 is equal to or greater than the distance between the two traveling wheels 22 that are the closest of the driving wheels 22. Arrange as such. That is, the distance between the traveling wheels 26 of the auxiliary traveling body 25 and the traveling wheels 22 which are adjacent driving wheels is equivalent to the distance between the two traveling wheels 22 (driving wheels) which are the closest in the traveling direction of the cleaning robot 1. Arrange so as to be as described above. Then, even if there is a gap between the adjacent solar cell modules P, the traveling wheels 22 which are at least one driving wheel among the plurality of traveling wheels 22 of the traveling body 21 are arranged on the solar cell module P. Can be maintained. Then, the cleaning robot 1 can be moved by the driving force of the traveling wheels 22, which are the driving wheels arranged on the solar cell module P. Therefore, the cleaning robot 1 can stably overcome the gap between the adjacent solar cell modules P.
When two of the three or more traveling wheels 22 are driving wheels, the traveling wheels 26 of the pair of auxiliary traveling bodies 25, 25 and the traveling wheels 22 that are adjacent driving wheels are used. The distance is arranged so as to be equal to or greater than the distance between the traveling wheels 22 serving as the two driving wheels.

Further, in the above example, the auxiliary traveling body 25 is provided on both sides of the cleaning robot 1 in the traveling direction, but the auxiliary traveling body 25 may be provided only on one side of the cleaning robot 1 in the traveling direction. .. Even in this case, when the cleaning robot 1 is moved in only one direction, the cleaning robot 1 can stably overcome the gap between the adjacent solar cell modules P. That is, the cleaning robot 1 runs on the solar cell module P so that the auxiliary traveling body 25 is located forward in the traveling direction. Then, even if the auxiliary traveling body 25 is provided only on one side in the traveling direction of the cleaning robot 1, the cleaning robot 1 can stably overcome the gap between the adjacent solar cell modules P.

It is desirable that the four traveling wheels 22 are provided so as to be located within a range in which the load applied to each traveling wheel 22 is substantially equal. The fact that the loads applied to the four traveling wheels 22 are almost equal here means that, for example, when the traveling wheels 22 to which the maximum load is applied and the traveling wheels 22 to which the minimum load is applied are compared, the difference is within about 20%. Means the case.

<About cleaning section 10>
The rotation axis of the brush 12 of the cleaning unit 10 does not necessarily have to be provided parallel to the axial direction of the chassis frame 2, and the brush 12 may be slightly tilted with respect to the axial direction of the chassis frame 2. For example, the rotation axis of the brush 12 may be tilted by about ± 0.5 ° with respect to the axial direction of the chassis frame 2.

Further, in the above example, the case where the cleaning unit 10 has one brush 12 has been described, but the cleaning unit 10 may have a plurality of brushes 12. For example, as shown in FIGS. 17 to 20, two brushes 12 may be provided. However, in order to reduce the weight of the cleaning robot 1, it is desirable that the number of brushes 12 of the cleaning unit 10 is as small as possible. When only one brush 12 of the cleaning unit 10 is provided, if the brush 12 is arranged in front of the traveling wheel 22 in the traveling direction of the cleaning robot 1, the cleaning robot 1 of the present embodiment can be arranged along the solar cell array LP. The area that cannot be cleaned can be reduced when moving back and forth. Of course, even when only one brush 12 of the cleaning unit 10 is provided, the brush 12 may be arranged behind the traveling wheel 22 in the traveling direction of the cleaning robot 1, or the two traveling wheels 22, 22 of the cleaning robot 1 may be provided. It may be provided so as to be located between.

Further, the structure of the cleaning unit 10, that is, how the cleaning unit 10 cleans the solar cell module P of the solar cell array LP is not particularly limited. For example, as the brush 12, not only a brush 12 having a brush on the rotating shaft, but also a cleaning member rotating around the shaft such as a member having a plate-shaped blade or a piece of cloth standing on the surface of the rotating shaft is used. You may. Further, in the cleaning member that rotates around the axis, brushes, blades, cloth pieces, etc. may be provided so as to line up on the surface of the rotation axis along the axial direction, or around the rotation axis along the surface of the rotation axis. They may be arranged in a spiral pattern. The brush, the blade, and the cloth piece may be provided in only one row or in a plurality of rows on the surface of the rotating shaft. For example, brushes and the like may be provided in a double spiral shape.

Further, as the brush 12, a brush 12 having the entire surface or a part of the rotating shaft covered with a sponge-like member, or a brush 12 having a cloth attached to the entire surface or a part of the rotating shaft may be used. Further, instead of the brush 12, a watering device (spray nozzle or the like), a wiper blade (squishy), and a sheet of cloth or the like arranged so as to slide along the surface of the solar cell module P as the cleaning robot 1 moves. A member may be provided to form the cleaning unit 10. Further, a vacuum cleaner (suction type vacuum cleaner) may be provided in place of the brush 12 or in addition to the brush 12 to form the cleaning unit 10. Further, an air nozzle for ejecting gas may be provided as the cleaning unit 10.

<About control mechanism 40>
The control mechanism 40 includes a sensor for obtaining information that the control unit 41 controls the operation of the traveling unit 20. Examples of this sensor include the following sensors.

<Edge detection>
As shown in FIG. 11, the control mechanism 40 may include an edge detection unit 42 that detects an end portion of the solar cell array LP (the end portion located in front of the cleaning robot 1 in the traveling direction). In this case, if the control unit 41 of the control mechanism 40 controls the operation of the traveling unit 20 based on the signal detected by the edge detection unit 42, it is possible to prevent the cleaning robot 1 from falling from the solar cell array LP. ..

For example, the edge detection unit 42 includes a first detection unit 43 and a second detection unit 44.
In FIG. 11, both the first detection unit 43 and the second detection unit 44 are provided so as to be located on the central portion side of the axial end portion of the chassis frame 2 of the cleaning robot 1. The positions where the first detection unit 43 and the second detection unit 44 are provided in the axial direction of the frame 2 are not particularly limited.

In the traveling direction of the cleaning robot 1, the first detection unit 43 is located at a position X1 in which the traveling wheel 22 located in front of the traveling body 21 of the traveling unit 20 in the traveling direction (specifically, the traveling wheel 22 located in front of the traveling direction is in contact with the surface of the solar cell module P). It is provided so as to be located in front of). Preferably, the first detection unit 43 is provided so as to be located at the frontmost position of the cleaning robot 1 in the traveling direction of the cleaning robot 1.
On the other hand, the second detection unit 44 is located behind the first detection unit 43 in the traveling direction of the cleaning robot 1 and in front of the traveling body 21 of the traveling unit 20 (specifically, in the front of the traveling direction). The traveling wheel 22 is provided so as to be located in front of the position X1 in contact with the surface of the solar cell module P). That is, the second detection unit 44 is provided so as to be located between the first detection unit 43 and the position X1 in the traveling direction of the cleaning robot 1.
When the cleaning robot 1 reciprocates, the first detection unit 43 and the second detection unit 44 are provided in any direction of the reciprocating movement. For example, when the cleaning robot 1 moves in any of the left-right directions in FIG. 11, as shown in FIG. 11, the first detection unit 43 and the second detection unit 43 are on both sides of the chassis frame 2 of the cleaning robot 1. 44 is provided.

<Driving control method>
In the following, the control unit 41 of the control mechanism 40 controls the operation of the traveling unit 20 based on the signals detected by the first detection unit 43 and the second detection unit 44, and the cleaning robot 1 falls from the solar cell array LP. A method for preventing this from occurring will be described with reference to FIG. Note that FIG. 11 describes a case where the cleaning robot 1 moves from the right side to the left side.

First, as shown in FIG. 11, it is assumed that the cleaning robot 1 is running while cleaning the solar cell array LP. In this case, if the cleaning robot 1 has not reached the end of the solar cell array LP (FIG. 11 (A)), both the first detection unit 43 and the second detection unit 44 of the edge detection unit 42 are used. It is detected that the solar cell module P is present below. Then, based on the signals (ON signal, OFF signal) sent from the first detection unit 43 and the second detection unit 44, the control unit 41 of the control mechanism 40 stably travels and works with the cleaning robot 1. Understand that you can do it.

When the cleaning robot 1 further travels from the state shown in FIG. 11 (A), it eventually reaches the end of the solar cell array LP (FIG. 11 (B)). In this case, the first detection unit 43 detects that the solar cell array LP does not exist below, and transmits the signal (hereinafter, may be referred to as an OFF signal) to the control unit 41 of the control mechanism 40. To do.

On the other hand, since the solar cell array LP exists below the second detection unit 44, a signal indicating that the solar cell array LP exists below the second detection unit 44 (hereinafter referred to as an ON signal) In some cases) is sent. Then, the control unit 41 of the control mechanism 40 grasps that the end portion of the solar cell array LP exists between the detection units 43 and 44. However, since the second detection unit 44 is located in front of the traveling unit 20 in the traveling direction, the control unit 41 of the control mechanism 40 determines that there is no risk of falling, and travels and cleans the cleaning robot 1. Let it continue.

The control unit 41 of the control mechanism 40, which has grasped the above situation, may run the cleaning robot 1 at the same speed as before, or controls the operation of the running unit 20 so as to slightly reduce the speed. You may.

Further, when the cleaning robot 1 travels, the second detection unit 44 also reaches the end of the solar cell array LP (FIG. 11 (C)). Then, not only the first detection unit 43 but also the second detection unit 44 detects that the solar cell module P does not exist below, and transmits the signal to the control unit 41 of the control mechanism 40. Then, the control unit 41 of the control mechanism 40 grasps that it has reached the end of the solar cell array LP, and that if it proceeds further, it may fall from the end of the solar cell array LP. Then, the control unit 41 of the control mechanism 40 stops the running of the cleaning robot 1.

As described above, if the operation of the traveling unit 20 is controlled based on the signals from the first detection unit 43 and the second detection unit 44 of the edge detection unit 42, the cleaning robot 1 will fall from the solar cell array LP. Can be prevented.

<Other examples of driving control>
Further, the control unit 41 of the control mechanism 40 has a function of receiving signals from the first detection unit 43 and the second detection unit 44 and controlling the traveling unit 20 so that the cleaning robot 1 travels as follows. doing. 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.
Hereinafter, control by each function will be described with reference to FIG.

First, as shown in FIG. 11A, it is assumed that the cleaning robot 1 is running while working on the solar cell array LP. In this case, if the end of the solar cell array LP has not been reached, the first detection unit 43 and the second detection unit 44 detect that the solar cell array LP is present below the end. Then, based on the ON signals sent from the first detection unit 43 and the second detection unit 44, the control unit 41 of the control mechanism 40 is in a situation where the cleaning robot 1 can stably travel and perform cleaning. Grasp.

When the cleaning robot 1 further travels from the state shown in FIG. 11 (A), it eventually reaches the end of the solar cell array LP (FIG. 11 (B)). In this case, the first detection unit 43 detects that the solar cell array LP does not exist below, and transmits an OFF signal to the control unit 41 of the control mechanism 40. On the other hand, since the solar cell module P exists below the second detection unit 44, the ON signal is transmitted from the second detection unit 44. Then, the control unit 41 of the control mechanism 40 controls the operation of the traveling unit 20 so as to reduce the traveling speed of the cleaning robot 1 (deceleration control).

Further, when the cleaning robot 1 runs, the solar cell array LP does not exist below the second detection unit 44 (FIG. 11 (C)). When an OFF signal is transmitted from the second detection unit 44 that detects that state to the control unit 41 of the control mechanism 40, the control unit 41 of the control mechanism 40 cleans from the solar cell array LP when the progress is further advanced. Understand that the robot 1 may fall. Then, the control unit 41 of the control mechanism 40 controls the operation of the traveling unit 20 so as to stop the cleaning robot 1 (stop control). Then, since the cleaning robot 1 stops before the traveling portion 20 reaches the end portion of the solar cell array LP, it is possible to prevent the cleaning robot 1 from falling from the end portion of the solar cell array LP.

As described above, if the edge detection unit 42 is provided with the first detection unit 43 and the second detection unit 44, when the cleaning robot 1 approaches the end of the solar cell array LP, the speed is temporarily reduced 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 suddenly stops from the normal traveling speed. In other words, if the cleaning robot 1 is stopped by the above control, even if the cleaning robot 1 travels faster than before, the distance from the start of braking to the stop can be made about the same as the conventional one. Can be done. Therefore, the cleaning robot 1 can be run at high speed, and even in that case, it is possible to prevent the cleaning robot 1 from falling from the end of the solar cell array LP.

Moreover, if the braking distance at the time of stopping can be shortened, the traveling unit 20 reaches the end of the solar cell array LP even if the distance from the edge detecting unit 42 to the traveling unit 20 (traveling wheel 22) is short. Before, the cleaning robot 1 can be stopped. 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 of the solar cell array LP, so that the cleaning robot 1 has a compact configuration. Can be done.

In the deceleration control, the traveling speed may be reduced to a constant speed slower than the normal traveling speed to maintain the state, or the vehicle may be gradually decelerated from the normal traveling speed. Further, the control may be a combination of both. That is, the speed may be significantly reduced at the start of deceleration, and then gradually reduced.

As described above, if the edge detection unit 42 has the first detection unit 43 and the second detection unit 44, the cleaning robot 1 will fall from the solar cell array LP while preventing a decrease in cleaning efficiency. Can be effectively prevented. On the other hand, only the second detection unit 44 may be provided in the edge detection unit 42. In this case, when the second detection unit 44 detects that the solar cell module P does not exist below, the control unit 41 of the control mechanism 40 may stop the cleaning robot 1 from traveling. ..

<Danger detection unit 46>
If the edge detection unit 42 is provided and the operation of the traveling unit 20 is controlled by the control unit 41 of the control mechanism 40 as described above, the edge detection unit 42 and the control unit 41 of the control mechanism 40 are operating normally. For example, it is possible to appropriately prevent the cleaning robot 1 from falling from the end portion of the solar cell array LP.

However, if the end of the solar cell array LP, that is, the side edge of the solar cell module P located at the end of the solar cell array LP cannot be properly detected due to a failure of the edge detection unit 42 or the like, the cleaning robot 1 Can fall from the end of the solar array LP.

Therefore, in addition to the edge detection unit 42, a danger detection unit 46 that detects the end portion of the solar cell array LP may be provided. Specifically, in the traveling direction of the cleaning robot 1, a danger detecting unit 46 is provided between the second detecting unit 44 of the edge detecting unit 42 and the traveling unit 20, and the danger detecting unit 46 is a solar cell array LP. When the end portion is detected, the control unit 41 of the control mechanism 40 stops the cleaning robot 1 from traveling. Then, even if the edge detection unit 42 does not detect the end of the solar cell array LP, the danger detection unit 46 reaches 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 if the edge detection unit 42 does not detect the end portion of the solar cell array LP, it is possible to prevent the cleaning robot 1 from falling from the end portion of the solar cell array LP.

Here, "between the second detection unit 44 of the edge detection unit 42 and the traveling unit 20" means the position where the sensor of the second detection unit 44 of the edge detection unit 42 is provided and each of the traveling units 20. It means between the position of the traveling wheel 22 of the traveling body 21 and the position of the traveling wheel 22. More specifically, the position where the sensor of the second detection unit 44 with the edge detection unit 42 is provided and the position where the traveling wheel 22 of each traveling body 21 in the traveling unit 20 is in contact with the solar cell module P. It means between X1. In this case, the reference traveling wheel 22 is not particularly limited, but a traveling wheel that comes into contact with the solar cell module P at the frontmost position in the traveling direction of the cleaning robot 1 is desirable.

When the danger detection unit 46 is provided, the control unit 41 of the control mechanism 40 may be provided with a function of notifying an operator or the like that the running of the cleaning robot 1 has been stopped by a signal from the danger detection unit 46. Then, by notifying the operator or the manager that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired or the like. For example, an alarm or an indicator may be used to notify the operator of the failure, or a signal may be transmitted to the operator's mobile terminal, management center, or the like to transmit information on the failure.

Further, if the control unit 41 of the control mechanism 40 is out of order, the cleaning robot 1 does not stop running even if the edge detection unit 42 detects the end of the solar cell array LP, and the cleaning robot 1 uses the solar cell. It may fall from the module P. However, if a danger control unit 45 that controls the traveling unit 20 by a signal of the danger detection unit 46 is provided separately from the control unit 41 of the control mechanism 40, even if the control unit 41 of the control mechanism 40 is out of order, etc. , The cleaning robot 1 can be prevented from falling from the end of the solar cell array LP.

In this case, the danger control unit 45 may be provided with a function of notifying the operator or the like that the cleaning robot 1 has stopped running. Then, by notifying the operator or the manager that the cleaning robot 1 is out of order, the cleaning robot 1 can be quickly repaired or the like. For example, an alarm or an indicator may be used to notify the operator of the failure, or a signal may be transmitted to the worker's mobile terminal, management center, or the like to transmit information on the failure. Further, if the signal from the edge detection unit 42 is also input to the danger control unit 45, it is possible to grasp which of the edge detection unit 42 and the control unit 41 of the control mechanism 40 is damaged. Then, when the cleaning robot 1 is repaired or the like, the worker can easily grasp the problem, so that the time until recovery can be shortened.

The structure of the danger detection unit 46 is not particularly limited. However, if the danger detection unit 46 has the outer sensor and the inner sensor so as to line up in the traveling direction of the cleaning robot 1, the groove between the solar cell modules P is mistakenly used as the end of the solar cell array LP. The possibility of detection can be reduced.

Further, even if the danger detection unit 46 has only one sensor, if a plurality of danger detection units 46 are provided and the positions of the plurality of danger detection units 46 are shifted in the traveling direction of the cleaning robot 1, a groove or the like can be obtained. Can be erroneously detected as the end of the solar cell array LP.

<Example of sensor>
The sensor used in the edge detection unit 42 and the danger detection unit 46 is not particularly limited, and a known sensor capable of detecting the edge of the solar cell array LP can be used. For example, a non-contact edge detection sensor such as a laser sensor, an infrared sensor, or an ultrasonic sensor, or a contact type sensor such as a limit switch can be used as the sensor. Further, the image taken by using a CCD camera or the like as a sensor may be analyzed by the control unit 41 of the control mechanism 40 to detect the edge. Furthermore, it is also possible to use a temperature sensor or a capacitance sensor as a sensor. When these sensors are used, the edge of the solar cell array LP is grasped from the temperature difference and the difference in capacitance between the solar cell array LP and the part (space, etc.) outside the edge of the solar cell array LP. be able to.

For example, when the sensor is a laser sensor, it is possible to detect whether or not the solar cell array LP exists as follows. First, it is assumed that the solar cell array LP exists directly under the sensor. In this case, if the sensor irradiates the laser light, the sensor receives the reflected light reflected by the solar cell array LP. That is, it can be determined that the position of the sensor is located inward of 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 directly under the sensor, that is, the position of the sensor is located outside the edge.

<Stopper member SM>
When the edge detection unit 42 and the danger detection unit 46 as described above are provided, there is a high possibility that the cleaning robot 1 can be prevented from falling from the solar cell module P. However, if the edge of the solar cell module P cannot be properly detected due to a failure of the edge detection unit 42 or the danger detection unit 46, the cleaning robot 1 may fall from the solar cell module P.

If the cleaning robot 1 has the following configuration, it is possible to prevent the cleaning robot 1 from falling even if the above-mentioned situation occurs.

For example, the stopper member SM is provided so as to have a positional relationship as shown in FIG. Specifically, in a state where the stopper member SM having a friction member M having a large frictional resistance such as rubber on the lower surface is mounted on the surface of the solar cell module P, the lower surface of the friction member M is the solar cell module. It is arranged so as to be located above the surface of P. Moreover, when viewed from the rotation axis direction of the brush 12, the stopper member SM is arranged so as to be inside the position where the traveling wheel 22 comes into contact with the surface of the solar cell module P (the position of X1 in FIG. 15). To do.

With such a configuration, even if the traveling wheel 22 located in front of the traveling body 21 in the traveling direction derails, the stopper member SM can prevent the cleaning robot 1 from falling. That is, when the traveling wheel 22 of the traveling body 21 is derailed, a force is applied to the cleaning robot 1 in the direction of dropping the cleaning robot 1, and the cleaning robot 1 moves so as to fall. Along with this, the stopper member SM also moves downward, but eventually the friction member M of the stopper member SM comes into contact with the surface of the solar cell module P (see FIGS. 16A and 16B). Then, the friction between the friction member M and the surface of the solar cell module P causes resistance in the direction opposite to the direction in which the cleaning robot 1 falls, so that the movement of the cleaning robot 1 is stopped and the cleaning robot 1 can be prevented from falling. ..

For example, if the stopper member SM has the following configuration, the stopper member SM can be brought into contact with the surface of the solar cell module P when the cleaning robot 1 is derailed. As shown in FIG. 16A, assuming that the radius r of the traveling wheel 22 is 65 mm, the distance from the end located in front of the cleaning robot 1 of the friction member M of the stopper member SM in the traveling direction to the rotation axis of the traveling wheel 22. The horizontal distance LW is 56 mm, the distance H from the lower end of the traveling wheel 22 (in other words, from the surface of the solar cell module P) to the tip (lower surface in FIG. 16) of the friction member M of the stopper member SM is 14 mm, and friction. The length LM of the member M is 50 mm. Then, the friction member M of the stopper member SM can be brought into contact with the surface of the solar cell module P before the traveling wheel 22 is completely removed.

The stopper member SM is not limited to the above structure, and may be a structure that can come into contact with the surface of the solar cell module P and stop the movement of the cleaning robot 1 when the traveling wheel 22 of the traveling body 21 is derailed. ..

Further, the lower surface of the friction member M of the stopper member SM may be provided so as to be substantially parallel to the surface of the solar cell module P in a state where derailment has not occurred, or with respect to the surface of the solar cell module P. It may be provided so as to be inclined. For example, as shown in FIG. 16C, the lower surface of the friction member M may be tilted inward from the end located in front of the cleaning robot 1 in the traveling direction. If the lower surface of the friction member M is an inclined surface in this way, when the cleaning robot 1 is inclined forward due to derailing, the lower surface of the friction member M and the surface of the solar cell module P can be easily brought into surface contact with each other. Become. Then, since the resistance when the friction member M and the surface of the solar cell module P come into contact with each other can be increased, the effect of suppressing the cleaning robot 1 from falling can be enhanced.

Further, instead of providing the stopper member SM, a sensor for detecting derailment may be provided in the chassis frame 2. For example, a sensor such as a cable switch may be provided on the lower surface of the chassis frame 2. For example, if a sensor is provided so that the sensor and the surface of the solar cell module P come into contact with each other immediately before the wheel is removed, and a signal from the sensor is input to the control unit 41 of the control mechanism 40, the traveling wheel 22 Make sure to stop the drive. Then, since the running of the cleaning robot 1 can be stopped before the derailment occurs, it becomes easy to prevent the cleaning robot 1 from falling.

<About running control of cleaning robot 1>
The control unit 41 of the control mechanism 40 controls the operation and cleaning work of the cleaning unit 10 and the traveling unit 20. Therefore, if the operation of the cleaning robot 1 is controlled so as to perform traveling or work according to the procedure stored in the control unit 41 of the control mechanism 40, the surface of the plurality of solar cell modules P of the solar cell array LP Cleaning can be performed almost automatically.

On the other hand, the cleaning robot 1 may be operated by an operator from the outside to control operations such as running and cleaning. For example, the cleaning robot 1 may be remotely controlled by using wireless communication using wireless, infrared rays, or the like. That is, the operator may operate the wireless communication controller to remotely control the cleaning robot 1. Further, the 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 the operator operates the cleaning robot 1 using a controller for wireless communication or a controller connected by a signal line, the operator can perform the work while checking the work status such as cleaning. Then, the cleaning robot 1 can be made to perform appropriate work according to changes in the surrounding conditions and the like.

In this way, even when the operator controls the operation of the cleaning robot 1, it is desirable to have the edge detection function, the danger detection function, the stopper member, and the like as described above. If it has such a function, even if there is an operation error of the operator, the cleaning robot 1 can be appropriately run to perform the work. Further, even if the operator makes an operation error, it is possible to prevent the cleaning robot 1 from falling from the solar cell module P.

The cleaning robot 1 may be a combination of both operation by an operator and automatic running (work). That is, normally, work and running are performed automatically (that is, control of only the control unit 41 of the control mechanism 40), but when an operation by an operator is input from a controller or the like, work is performed from the state of automatic running (work). It may be switched to the operation by the operation of the person. In this case, if the input from the controller or the like does not exceed a certain level, the state is switched to the automatic driving (working) state. Then, even if the operator makes an operation error or forgets to switch to the automatic driving (work) state, the work can be continued, which is preferable.

<Static elimination member>
When the brush 12 of the cleaning unit 10 rubs the surface of the solar cell module P, the solar cell module P and the brush 12 may be charged with static electricity. When the chassis frame 2 is made of a conductive material, the static electricity charged on the brush 12 may be discharged from the chassis frame 2 when an operator approaches the chassis frame 2 of the cleaning robot 1. When a discharge occurs, problems such as malfunction of the microcontroller and the like and failure of electronic parts occur. Therefore, it is necessary to remove the charged static electricity from the chassis frame 2 and the like.

Therefore, it is desirable to provide a static eliminator DB that removes the charged static electricity from the chassis frame 2. The position where the static elimination member DB is provided is not particularly limited. It is desirable that the robot 1 is provided so that static electricity can be removed when a person touches the cleaning robot 1. That is, it is desirable that the static elimination member DB is provided at a position where it comes into contact with the grounded member when a person touches the cleaning robot 1.

For example, when the cleaning of one solar cell array LP is completed, the cleaning robot 1 stops at the end of the solar cell module P located at the end of the one solar cell array LP, and a person touches the cleaning robot 1. .. When this state is reached, the static elimination member DB can be provided so as to come into contact with the connecting portion CE. Specifically, the static elimination member DB is provided with a connecting portion CE in the axial direction of the chassis frame 2 in a state where the cleaning robot 1 is mounted on the end of the solar cell module P located at the end of the solar cell array LP. It is provided so as to be located outside the edge of the solar cell module P. Then, the static elimination member DB is set to a length at which the tip thereof contacts the connecting portion CE. For example, the static elimination member DB is formed to have a length of about 15 mm in contact with the connecting portion CE in the longitudinal direction thereof (that is, the vertical direction in FIG. 12B). Then, when the cleaning of one solar cell array LP is completed and the cleaning robot 1 is stopped, the tip end portion (lower end portion) of the static elimination member DB comes into contact with the connecting portion CE, and the chassis frame 2 can be statically eliminated. In the case of such a configuration, the static elimination member DB is arranged so that its tip (lower end) does not come into contact with the surface of the solar cell array LP when it is not located at the end of the solar cell module P. It is desirable to be there. For example, when the cleaning robot 1 is arranged on the surface of the solar cell module P, it is desirable that the cleaning robot 1 is provided so as to have a gap of about 5 mm between the tip (lower end) of the static elimination member DB and the surface of the solar cell module P. ..

Further, the static elimination member DB may be provided at a position where the cleaning robot 1 comes into contact with the connecting portion CE of the solar cell array LP when traveling on the solar cell module P (see FIG. 12). In this case, while the cleaning robot 1 is running, the static elimination member DB can come into contact with the connecting portion CE and discharge each time it moves to the adjacent solar cell module P. Then, when the cleaning robot 1 is stopped urgently (for example, when the cleaning robot 1 is stopped by the danger control unit 46 or when the stopper member SM prevents the cleaning robot 1 from falling), the static eliminator member DB is released. Even when the grounded member cannot be contacted, the amount of static electricity charged can be reduced.

Further, the static elimination member DB that contacts the connecting portion CE of the solar cell array LP during traveling and the static elimination member DB that contacts the support member SE when the cleaning robot 1 is stopped may be provided, respectively. That is, the static elimination member DB at the time of traveling and the static elimination member DB at the time of stopping may be provided separately.

Further, it is desirable that the static elimination member DB is provided so as to be located behind the brush 12 of the cleaning unit 10 in the traveling direction. In this case, a certain amount of static electricity accumulated in the chassis frame 2 can be released from the static eliminator member DB to the surface of the solar cell array LP.

In the present specification, the grounded member means a conductive member that is directly or indirectly electrically connected to the ground. For example, in FIG. 12, the support member SE and the connecting portion CE connected to the swing shaft SS of the gantry MT installed on the ground correspond to the grounded members. Further, when the solar cell module P has a panel frame, the panel frame is also connected to the gantry MT, so that it corresponds to a grounded member. Further, when the static elimination member DB is brought into contact with a building or equipment in the vicinity of the solar cell array LP, the building or equipment also corresponds to a grounded member.

Further, the static eliminator member DB may be any as long as it can allow static electricity of the chassis frame 2 to flow to the outside, and its shape, structure, and material are not particularly limited. For example, a metal body having a brush-like member formed of a conductive material at the tip thereof can be used. Further, a flexible band-shaped or string-shaped member or conductive fiber formed of a conductive material can also be adopted as the static elimination member DB.
Further, the brush 12 of the cleaning unit 10 may be provided with a flexible band-shaped or string-shaped member or conductive fiber formed of a conductive material as a static elimination member DB. Further, a conductive material may be used as a material for forming a part or all of the brush 12. That is, the brush 12 itself may have the same function as the static elimination member DB. For example, the shaft portion of the brush 12 may be formed of a conductive material (metal or the like), or the brush portion may be formed of a flexible band-shaped or string-shaped member or conductive fiber formed of a conductive material. May be good. Further, when the brush 12 is provided with the static elimination member DB or the brush 12 itself has the same function as the static elimination member DB, the static elimination member DB connected to the chassis frame 2 does not necessarily have to be provided. ..

<Standby station S>
In the above example, when the solar cell array LP is not cleaned, the worker lowers the cleaning robot 1 from the solar cell array LP and stores it, and when cleaning, the worker puts the cleaning robot 1 on the solar cell array LP. It is necessary to put it on the. Since the work of loading and unloading the cleaning robot 1 on and off the solar cell array LP is a burden on the operator, the burden on the operator can be reduced by providing the following standby station S, and the solar cell array LP can be used. Cleaning efficiency can also be improved.

The position where the standby station S is provided, or when the standby station S is provided, the functions and devices provided in the standby station S and the cleaning robot 1 are not particularly limited, but for example, the standby station S may be provided at the following positions. It is desirable that the standby station S and the cleaning robot 1 are provided with the following functions and devices.

As shown in FIG. 22 (A), a standby station S is provided at one end of the solar cell array LP (the left end in FIG. 22 (A)). The surface of the standby station S is fixed to the swing shaft SS so that its surface is substantially flush with the surface of the solar cell module P. In FIG. 22A, the upper solar cell array LP has the cleaning robot 1 arranged on the solar cell module P, and the lower solar cell array LP has the cleaning robot 1 on the standby station S. It is in the placed state.

If the standby station S as described above is provided, the cleaning robot 1 can be stored on the standby station S while the cleaning robot 1 does not clean the surface of the solar cell module P. Moreover, when the cleaning work is performed, the cleaning robot 1 is moved onto the surface of the solar cell module P, and when the cleaning work is completed, the cleaning robot 1 is returned to the standby station S so that the operator can clean. It is not necessary to remove the robot 1 from the solar cell array LP.

In particular, if the cleaning robot 1 automatically starts the cleaning work and automatically ends the cleaning work, the operator does not need to operate the cleaning robot 1. That is, the cleaning robot 1 automatically moves from the standby station S to the solar cell module P to start the cleaning work, and when the cleaning work is completed, the cleaning robot 1 automatically moves from the solar cell module P to the standby station S. Then, since the worker does not need to operate the cleaning robot 1, the burden on the worker can be reduced, and the cleaning is automatically performed, so that the work efficiency can be improved.

The method by which the cleaning robot 1 automatically starts and stops the cleaning work is not particularly limited. For example, it is possible to start the cleaning work at a predetermined time by a timer, or to start the cleaning work when a signal from the outside is received. When the cleaning work is started by a signal from the outside, the operation of the cleaning robot 1 can be controlled based on a signal such as an inclination angle of the solar cell module P (that is, a rotation angle of the swing shaft SS). For example, in the case of the solar cell array LP of the tracking type photovoltaic power generation system, the cleaning robot 1 is used to perform cleaning when the surface angle of the solar cell module P is within the range of ± 30 degrees from the horizontal. The operation can be controlled. The angle of the surface of the solar cell module P that the cleaning robot 1 cleans is not particularly limited.

<Charging function>
Further, it is desirable that the cleaning robot 1 is charged while waiting at the standby station S. By doing so, the burden on the operator can be reduced as compared with the case where the battery replacement and charging work of the cleaning robot 1 is performed separately, and the cleaning robot 1 can be made to work continuously.

In this way, when charging the cleaning robot 1 while waiting at the standby station S, it is desirable to provide the following devices in the cleaning robot 1 and the standby station S.

First, the cleaning robot 1 is provided with a device for receiving power supply from the standby station S. The equipment for receiving the power supply is not particularly limited. For example, a terminal for charging may be provided, and this terminal may be connected (contacted) with the terminal provided in the standby station S to receive power supply. Further, a device that receives power by a non-contact method such as electromagnetic induction may be provided so that the power is supplied non-contact.

Further, the standby station S is provided with a power supply unit for supplying electric power to the cleaning robot 1. For example, when the cleaning robot 1 stops at a predetermined position on the standby station S, a terminal that connects (contacts) with the terminal of the cleaning robot 1 is provided in the power supply unit, and power is supplied to the cleaning robot 1 by a connection (contact) method. You may do so. Further, a device for supplying electric power by a non-contact method such as electromagnetic induction may be provided in the power supply unit to supply electric power to the cleaning robot 1 in a non-contact manner.

When the standby station S is provided with a power supply unit, it is necessary to supply power to the power supply unit or store the power in the power supply unit. The method of supplying power to the power supply unit is not particularly limited. For example, power may be directly supplied to the terminals of the power supply unit or the device for electromagnetic induction from the outside of the standby station S by a power cable or the like, or a battery may be provided in the power supply unit to supply the power supplied from the outside to the battery. The charged electric power may be supplied to the terminal of the power supply unit or the device for electromagnetic induction. Further, a solar cell module may be provided in the standby station S to supply the electric power generated by the solar cell module to the power supply unit. In this case as well, as in the case of supplying power from the outside, the power may be directly supplied to the terminal of the power supply unit or the device for electromagnetic induction, or a battery may be provided in the power supply unit and supplied from the solar cell module. The electric power generated may be charged to the battery, and the electric power charged to the battery may be supplied to the terminal of the power supply unit or the device for electromagnetic induction.

<About standby station S>
The size and shape of the standby station S are not particularly limited. For example, it may be formed in substantially the same shape and size as the solar cell module P. In particular, it is desirable that the standby station S is formed in the following size and shape. That is, the length of the standby station S in the longitudinal direction (the length in the vertical direction of FIG. 22A) is the length in the longitudinal direction of the solar cell module P (that is, the first end portion P1 and the second end). It is desirable that it is formed so as to be the same as the length between the portions P2). The one end surface (upper end surface in FIG. 22A) of the standby station S is substantially the same as the end surface (first end surface) of the first end portion P1 of the plurality of solar cell modules P of the solar cell array LP. It is desirable that it is provided so as to be a surface. In addition, the other end face (lower end face in FIG. 22A) of the standby station S is substantially the same as the end face (second end face) of the second end P2 of the plurality of solar cell modules P of the solar cell array LP. It is desirable that it is provided so as to be a surface. According to the above, when the cleaning robot 1 moves between the standby station S and the solar cell module P, and when the cleaning robot 1 moves on the standby station S, it moves on the solar cell array LP. The support mechanism 50 can be made to function in the same manner as when it is used. Then, the cleaning robot 1 can stably move between the standby station S and the solar cell module P.

<Installation of standby station S>
When the standby station S is provided, it is desirable to prevent the cleaning robot 1 waiting at the standby station S from being exposed to sunlight or rain. For example, the standby station S may be provided with a roof, a box for accommodating the cleaning robot 1, and the like.

In the above example, the case where the standby station S is provided at one end of the swing shaft SS of the solar cell array LP (the left end in FIG. 22A) has been described, but the position where the standby station S is provided is particularly limited. Not done. It may be provided at the other end of the swing shaft SS of the solar cell module P (the right end in FIG. 22A). In some cases, it may be provided in the middle of the swing shaft SS of the solar cell array LP in the left-right direction. Further, although only one cleaning robot 1 is provided in one solar cell array LP, a plurality of standby stations S may be provided in one solar cell array LP. For example, standby stations S may be provided at both ends of the swing shaft SS of the solar cell array LP, or swing between one end of the swing shaft SS of the solar cell array LP and the swing shaft SS of the solar cell array LP. A standby station S may be provided in the middle of the axis SS in the left-right direction. Further, three or more standby stations S may be provided at a certain interval. For example, standby stations S may be provided at three locations between both ends of the swing shaft SS of the solar cell module P and the middle in the left-right direction. In this case, since the moving distance when the cleaning robot 1 is urgently evacuated to the standby station S can be shortened as in a strong wind, the cleaning robot 1 can be quickly evacuated to a safe place. Of course, two or more standby stations S may be provided at intervals between both ends of the swing shaft SS of the solar cell array LP in the left-right direction.

Further, in the state where the surface of the standby station S is flush with the surface of the solar cell module P, the gaps and steps formed between the standby station S and the solar cell module P are adjacent to each other in the solar cell array LP. It is desirable that the size of the gap and the step between the solar cell modules P be the same as or smaller than that. If such a gap and a step are provided, the cleaning robot 1 can move between the standby station S and the solar cell module P in the same manner as when moving between adjacent solar cell modules P in the solar cell array LP. it can.

As described above, if the standby station S is provided on the swing shaft SS, even if the solar cell module P swings, the inclinations of the surface of the standby station S and the surface of the solar cell module P can always be matched. ..
On the other hand, instead of providing the standby station S on the swing shaft SS, a stand for the standby station S may be provided separately. In this case, if the function of swinging the standby station S is provided, the angles of the cleaning robot 1 can be made to match only when the cleaning robot 1 is moved between the standby station S and the solar cell module P. .. Then, while the cleaning robot 1 is arranged on the standby station S (while waiting for cleaning), if the surface of the standby station S is kept horizontal, the cleaning robot 1 is stably placed on the standby station S. Can be placed.

Of course, the inclination of the surface of the standby station S and the inclination of the solar cell module P may always be matched. In this case, when the cleaning robot 1 is urgently retracted from the solar cell module P to the standby station S, quick and reliable evacuation is possible.

Further, the standby station S may have a constant surface inclination, that is, a fixed state. For example, the surface of the standby station S may be fixed in a horizontal state or at a predetermined angle with respect to the horizontal (about ± 30 degrees with respect to the horizontal). In this case, when the operation of the cleaning robot 1 is controlled so that the surface of the standby station S and the surface of the solar cell module P are substantially flush with each other, the cleaning robot 1 controls the operation of the standby station S and the solar cell module. It suffices to move between P and. Of course, by controlling the inclination of the surface of the solar cell module P, when the cleaning robot 1 moves between the standby station S and the solar cell module P, the inclination of the surface of the solar cell module P of the standby station S is adjusted. It may be substantially flush with the surface.

<Movement of cleaning robot 1 between solar cell array LPs>
One cleaning robot 1 may be provided in each of the solar cell array LPs, or one cleaning robot may be shared by a plurality of solar cell array LPs. For example, a connecting path through which the cleaning robot 1 can move is provided between the adjacent solar cell array LPs, that is, the standby stations S of the solar cell array LPs arranged in the axial direction of the swing axis SS. Then, the height of the upper surface of the connecting path is set to the surface of the solar cell array LP in a state where the surface of the solar cell array LP is substantially horizontal (or a state where the surface of the solar cell array LP is at an appropriate angle), that is, , Install so that it is almost the same as the standby station S. Then, if the cleaning robot 1 is moved to the standby station S, the cleaning robot 1 can be moved from one solar cell array LP to another solar cell array LP by traveling on the connecting road.

Even when one cleaning robot is shared by a plurality of solar cell array LPs, if a plurality of standby stations S are provided in the plurality of solar cell array LPs, the cleaning robot 1 is urgently sent to the standby station S as described above. Since the moving distance when retracting can be shortened, the cleaning robot 1 can be quickly retracted to a safe place.

The cleaning robot of the present invention is suitable for cleaning the surface of a frameless solar cell module used for a tracking type.

1 Cleaning robot 2 Chassis frame 10 Cleaning unit 12 Brush 20 Traveling unit 21 Traveling body 22 Traveling wheel 25 Auxiliary traveling body 26 Traveling wheel 30 Drive unit 32 Drive source 33 Battery 35 Transmission mechanism 36 Drive shaft 40 Control mechanism 41 Control unit 50 Support mechanism 51 1st support part 51a Free roller 52 2nd support part 52a Free roller SP Photovoltaic power generation equipment LP Solar cell array P Solar cell module SS Swing axis S Standby station CE connection part DB Static elimination member

Claims (16)

1. A plurality of solar cell modules are installed side by side on a gantry so that the first end portion and the second end portion thereof are lined up in a straight line, and the connecting portion connecting the solar cell module and the gantry is the first of the solar cell modules. Cleaning the surface of the solar cell array provided between the intermediate line between one end and the second end and the first end of the solar cell module and between the intermediate line and the second end, respectively. Being a robot
   A cleaning unit that cleans the surface of the solar cell array,
   Chassis frame and
   A traveling unit for running the cleaning robot provided on the chassis frame,
   One of the first end or the second end of the solar cell module provided at both ends or one end of the chassis frame in a direction intersecting the traveling direction of the cleaning robot and constituting the solar cell array. It is equipped with a support mechanism that supports the running of the chassis frame along the line.
   The traveling part
   Equipped with multiple running bodies,
   The plurality of traveling bodies
   When the cleaning robot is arranged on the solar cell array, at least two traveling bodies are arranged so as to sandwich the solar cell module intermediate line in a direction intersecting the traveling direction of the cleaning robot.
   The traveling unit
   A cleaning robot characterized in that when the cleaning robot is arranged on the solar cell array, it does not include a traveling body that travels in the vicinity of the first end portion and the second end portion of the solar cell module.
2. Of the plurality of traveling bodies of the traveling unit, the two traveling bodies located on the outermost side in the direction intersecting the traveling direction of the cleaning robot are
   In the state where the cleaning robot is placed on the solar cell module,
   The distance from the intermediate line of the solar cell module in the direction connecting the first end portion and the second end portion of the solar cell module to the intermediate line in the width direction of each traveling body is the first end portion of the solar cell module. The cleaning robot according to claim 1, wherein the cleaning robot is provided so as to be 1/8 to 3/8 of the distance from the second end to the second end.
3. The plurality of traveling bodies
   Equipped with multiple running members,
   In at least two of the plurality of traveling bodies,
   Among the plurality of traveling members of the two traveling bodies, at least two traveling members are provided so as to sandwich the connecting portion of the solar cell array in a direction intersecting the traveling direction of the cleaning robot. The cleaning robot according to claim 2.
4. The plurality of traveling bodies of the traveling portion
   The invention according to any one of claims 1 to 3, wherein the traveling bodies are arranged so that the portions in contact with the surface of the solar cell array do not overlap when viewed from the traveling direction of the cleaning robot. Cleaning robot.
5. At least one of the plurality of traveling bodies of the traveling unit includes a plurality of traveling members.
   When the plurality of traveling members are viewed from the traveling direction of the cleaning robot, the portion where at least one traveling member of the plurality of traveling members of each traveling body comes into contact with the surface of the solar cell array is another traveling member. The cleaning robot according to any one of claims 1 to 4, wherein the robot is arranged so as not to overlap a portion of the solar cell array that comes into contact with the surface of the solar cell array.
6. Each traveling body of the traveling unit includes a plurality of traveling wheels.
   The plurality of traveling wheels
   It has at least two drive wheels and
   In the traveling direction of the cleaning robot, the center of gravity of the cleaning robot is arranged between the two traveling wheels farthest from each other in the traveling direction of the cleaning robot among the plurality of traveling wheels.
   The traveling unit
   It is provided with an auxiliary traveling body located outside the two traveling wheels that are farthest from the two traveling wheels of the cleaning robot in the traveling direction of the cleaning robot among the plurality of traveling wheels of the traveling body.
   The auxiliary traveling body is
   Arranged so that the distance to the adjacent drive wheels in the traveling direction of the cleaning robot is equal to or greater than the distance between the two closest driving wheels in the traveling direction of the cleaning robot among the plurality of driving wheels in the traveling body. The cleaning robot according to any one of claims 1 to 5, wherein the cleaning robot is characterized by the above.
7. It is equipped with a plurality of the auxiliary traveling bodies.
   The plurality of auxiliary traveling bodies
   The cleaning robot according to claim 6, wherein at least two auxiliary traveling bodies out of the plurality of auxiliary traveling bodies are provided so as to sandwich the traveling body in the traveling direction of the cleaning robot.
8. The cleaning unit is provided with a cleaning member that rotates around an axis.
   The cleaning robot according to any one of claims 1 to 7, wherein the traveling body and the cleaning member of the cleaning unit are driven by one drive source.
9. The support mechanism
   Any of claims 1 to 8, wherein the free roller has a rotation axis that intersects a plane parallel to both the traveling direction of the cleaning robot and the traveling direction of the cleaning robot in a plan view. The cleaning robot described in the direction.
10. The support mechanism
    A first support portion provided at one end of the chassis frame in a direction intersecting the traveling direction of the cleaning robot,
    It is provided with a second support portion provided at the other end located on the opposite side of one end of the chassis frame.
    The first support unit and the second support unit
    A free roller having a rotation axis that intersects a plane parallel to both the traveling direction of the cleaning robot and the direction intersecting the traveling direction of the cleaning robot in a plan view is provided.
    The distance between the free roller of the first support portion and the free roller of the second support portion in the direction intersecting the traveling direction of the cleaning robot is set to be longer than the distance between both ends of the solar cell module. The cleaning robot according to claim 9, wherein the cleaning robot is provided.
11. The support mechanism
    The cleaning robot according to claim 9 or 10, wherein the cleaning robot has two free rollers provided so as to be arranged at intervals along the traveling direction of the cleaning robot.
12. The chassis frame is provided with a static elimination member.
    The static elimination member is
    Any of claims 1 to 11, wherein when the cleaning robot is placed on the solar cell array, its tip is formed to have a length that allows contact with a grounded member in the solar cell array. The cleaning robot described in Crab.
13. The static elimination member is
    When the cleaning robot is arranged on the solar cell array, the solar cell module in the solar cell array and the gantry are connected in the direction of connecting the first end portion and the second end portion of the solar cell module. The cleaning robot according to claim 12, wherein the cleaning robot is provided at a position where it can come into contact with the connecting portion.
14. A plurality of solar cell modules are installed side by side on a gantry so that the first end portion and the second end portion thereof are lined up in a straight line, and the connecting portion connecting the solar cell module and the gantry is the first of the solar cell modules. A solar cell array provided between the intermediate line between one end and the second end and the first end of the solar cell module and between the intermediate line and the second end, respectively.
    A photovoltaic power generation facility comprising the cleaning robot according to any one of claims 1 to 13, which cleans the surface of the solar cell array.
15. The solar cell array is
    The photovoltaic power generation facility according to claim 14, wherein the plurality of solar cell modules are arranged side by side along the axial direction of a swing shaft provided on the gantry.
16. The photovoltaic power generation facility according to claim 14 or 15, wherein the solar cell module constituting the solar cell array is a frameless solar cell module.

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