JP2015138854A - Solar panel cleaning device and cleaning method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively inhibit waste water adhering to a cleaning part from dropping to a light receiving surface in a solar panel cleaning device which cleans the light receiving surface of a solar panel with the cleaning part.SOLUTION: A solar panel cleaning device includes: a body part 10 which travels on a light receiving surface 100a of a solar panel; a cleaning part 20 which moves on the light receiving surface 100a, on which a cleaning fluid is scattered, with the body part 10 to clean the light receiving part 100a; and a control part 13 which performs a self-cleaning mode for removing waste water adhering to the cleaning part 20 when the cleaning part 20 protrudes from an end of the light receiving surface 100a.

Description

  The present invention relates to a solar panel cleaning device and a cleaning method thereof for cleaning a light receiving surface of a solar panel.

  In recent years, as one of power generation systems that use renewable energy, solar systems that use solar energy have become popular. The solar system is installed outdoors with the light receiving surface of the solar panel facing the sun, and has the advantage that the solar panel can be installed by effectively utilizing the roof and rooftop of factories, buildings, general houses and the like. Solar panels are often installed with the light-receiving surface inclined in the direction of sunlight (southern in Japan).

  A solar panel is an assembly of multiple cells that incorporate solar cells that instantly convert sunlight into electric power through the photovoltaic effect. In a typical solar system, multiple panel units are arranged vertically and horizontally. Used as a connected array. In some large-scale mega solar systems, the total length of the array to which the panel units are connected reaches several hundred meters.

  Since these solar panels are installed outdoors, foreign matter such as dust contained in the atmosphere and rainwater, bird droppings, and dead leaves adhere to the light receiving surface. For this reason, it is a big problem of a solar system that sunlight is interrupted | blocked by the dust and foreign material adhering to these light-receiving surfaces, and electric power generation efficiency falls. To prevent this decrease in power generation efficiency, the light receiving surface of the solar panel should be cleaned as appropriate to remove the adhering dust and foreign matter, but the solar panel should be installed at a high place such as on the roof or rooftop. Therefore, manual cleaning is difficult in terms of safety. Further, in a mega solar system having a vast light receiving surface, manual cleaning requires a great deal of labor.

  Therefore, for example, Patent Document 1 proposes that a solar panel cleaning device that cleans the light-receiving surface is provided with a self-propelled means and configured to be self-propelled. Specifically, a recognition means for recognizing the size and shape of the solar panel is provided, and the self-running means is controlled so as to sequentially run on the light receiving surface of the solar panel based on the output from the recognition means. . In this way, the entire solar panel can be cleaned safely and efficiently.

JP 2010-186819 A

  By the way, the solar panel cleaning apparatus of patent document 1 is what cleans a light-receiving surface, for example using a rotating brush, and light-receiving surface is cleaned by cleaning the light-receiving surface where the washing | cleaning liquid was poured with a rotating brush. Can be effectively cleaned. When cleaning is performed using the cleaning liquid as described above, the cleaning liquid used for cleaning contains dust and foreign matters to become sewage, and this sewage adheres to the rotating brush and the like. If the sewage remains attached to the rotating brush or the like, the sewage may fall from the rotating brush or the like to the light receiving surface to contaminate the light receiving surface.

  Then, in this invention, in the solar panel cleaning apparatus which cleans the light-receiving surface of a solar panel with a cleaning part, it aims at suppressing effectively the fall to the light-receiving surface of the dirty water adhering to the cleaning part.

  In order to solve the above-described problems, a solar panel cleaning device according to the present invention moves together with a main body that travels on a light-receiving surface of a solar panel and the light-receiving surface on which cleaning liquid has been poured. A cleaning unit for cleaning the light receiving surface; and a control unit for executing a self-cleaning mode for removing sewage adhering to the cleaning unit when the cleaning unit protrudes from an end of the light receiving surface. It is characterized by providing.

  Further, the cleaning method of the solar panel cleaning apparatus according to the present invention includes a main body that runs on the light receiving surface of the solar panel, and the light receiving surface on which the cleaning liquid is poured, together with the main body, and moves the light receiving surface. A cleaning method for a solar panel cleaning device comprising: a cleaning unit for cleaning, wherein the cleaning unit protrudes from an end of the light receiving surface; and the cleaning unit protrudes from the end of the light receiving surface. And a step of executing a self-cleaning mode for removing sewage adhering to the cleaning unit.

  According to the present invention (solar panel cleaning device and solar panel cleaning device cleaning method), when the cleaning unit protrudes from the end of the light receiving surface, a self-cleaning mode for removing sewage adhering to the cleaning unit is provided. Executed. Therefore, the sewage removed from the cleaning unit by the execution of the self-cleaning mode mainly falls outside the light receiving surface, and the sewage can be prevented from falling to the light receiving surface during the execution of the self-cleaning mode. Furthermore, it can suppress that sewage falls to a light-receiving surface from a cleaning part even during cleaning by performing subsequent cleaning in the cleaning part from which sewage was removed by execution of self-cleaning mode. As mentioned above, according to this invention, it becomes possible to suppress effectively the fall to the light-receiving surface of the dirty water adhering to the cleaning part.

  Here, it is preferable that the control unit controls the traveling of the main body so that the cleaning unit stops in a state of protruding from the end of the light receiving surface.

  By performing such control, it is not necessary to manually move the solar panel cleaning device when executing the self-cleaning mode, and the self-cleaning mode can be executed easily and reliably.

  In addition, a detection unit that detects an end of the light receiving surface is further provided, and the control unit stops based on an output from the detection unit so that the cleaning unit protrudes from the end of the light receiving surface. It is more preferable to control the travel of the main body.

  Thus, by using the output from the detection unit that detects the end of the light receiving surface, the cleaning unit can be accurately positioned when the self-cleaning mode is executed.

  The cleaning unit may include a brush that rotates relative to the light receiving surface, and the control unit may rotate the brush in the self-cleaning mode.

  By rotating the brush in this way, the sewage adhering to the brush can be shaken off by the centrifugal force due to the rotation, and the sewage can be reliably removed from the brush.

  Further, the control unit may swing the cleaning unit in the self-cleaning mode.

  By swinging the cleaning unit, it is possible to drain the entire cleaning unit. For this reason, for example, when the cleaning unit includes each member such as a brush, a wiper, and a cover, the sewage adhering to each member can be removed.

  In addition, a discharge unit that discharges liquid or gas toward the cleaning unit may be further provided, and the control unit may be configured to discharge the liquid or the gas from the discharge unit in the self-cleaning mode.

  With this configuration, if the liquid is discharged from the discharge unit toward the cleaning unit, the sewage adhering to the cleaning unit can be washed away with the liquid, and the discharge unit is directed toward the cleaning unit. If the gas is discharged, the sewage adhering to the cleaning portion can be blown off by the gas flow.

  According to the present invention, the sewage removed from the cleaning unit by executing the self-cleaning mode mainly falls outside the light receiving surface, and the sewage can be prevented from falling to the light receiving surface during the execution of the self-cleaning mode. Furthermore, it can suppress that sewage falls to a light-receiving surface from a cleaning part even during cleaning by performing subsequent cleaning in the cleaning part from which sewage was removed by execution of self-cleaning mode. Therefore, it becomes possible to suppress effectively the fall of the dirty water adhering to a cleaning part to the light-receiving surface.

It is the (a) external appearance perspective view and (b) side view of a solar panel cleaning apparatus. It is a top view which shows an example of the cleaning line of a solar panel cleaning apparatus. It is a flowchart which shows operation | movement of a solar panel cleaning apparatus. It is a side view which shows typically the 1st example of operation | movement in self-cleaning mode. It is a side view which shows typically the 2nd example of operation | movement in self-cleaning mode. It is a side view which shows typically the 3rd example of operation | movement in self-cleaning mode.

[Configuration of solar panel cleaning equipment]
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1: is the (a) external appearance perspective view and (b) side view of a solar panel cleaning apparatus. The solar panel cleaning device 1 according to the present embodiment includes a main body 10 that runs on the light receiving surface of the solar panel, and a cleaning unit 20 that is connected to the front of the main body 10. When the main body 10 self-runs on the light receiving surface, the cleaning unit 20 runs on the light receiving surface integrally with the main body 10, and the cleaning of the light receiving surface is performed by the cleaning unit 20.

  The main body 10 has a pair of left and right crawlers 11 as self-propelled means, and a housing 12 is disposed above the crawler 11. Housed in the housing 12 are a controller 13 that controls the operation of each electric component, a battery 14 that supplies electric power to each electric component, and a tank 15 that stores a cleaning liquid for cleaning the light receiving surface.

  The cleaning unit 20 includes a case 21 that can swing around a shaft A extending in the left-right direction with respect to the housing 12 of the main body unit 10, and various cleaning means are attached to the case 21. The cleaning unit 20 wipes the brushed light-receiving surface as a cleaning means, a nozzle 22 that sprays the cleaning liquid in the tank 15 onto the light-receiving surface, a brush 23 that rotates with respect to the light-receiving surface on which the cleaning liquid is sprinkled, and brushing. A wiper 24 is provided. The nozzle 22 is provided on the front surface of the case 21, and the brush 23 and the wiper 24 are disposed such that their lower portions partially protrude from the lower end of the case 21 and can contact the light receiving surface.

  Furthermore, a camera 25 for photographing the front in the traveling direction is provided at the center of the front surface of the case 21. An ultrasonic sensor 26 is provided in front of the lower surface of the case 21. The ultrasonic sensor 26 has a transmission unit that emits ultrasonic waves downward and a reception unit that detects the reflected wave, and detects whether or not a light receiving surface exists immediately below the ultrasonic sensor 26. can do. That is, the ultrasonic sensor 26 functions as a detection unit that detects the end of the light receiving surface. However, as such a detection unit, another optical sensor or a contact sensor may be used, or the end of the light receiving surface may be detected using image data from the camera 25.

[Cleaning line]
FIG. 2 is a plan view showing an example of a cleaning line of the solar panel cleaning device. The array 100 cleaned by the solar panel cleaning device 1 is configured by arranging a large number of panel units 101 in which solar panels are arranged vertically and horizontally, and the light receiving surface 100a is inclined in one direction. And the solar panel cleaning apparatus 1 cleans the whole area of the light-receiving surface 100a, running on the light-receiving surface 100a along the cleaning line R.

  In this example, the solar panel cleaning device 1 repeats the movement along the longitudinal direction perpendicular to the tilt direction while changing the position in the tilt direction little by little. Specifically, the left end portion on the upper end side of the slope is used as a starting point, and after running to the right along the cleaning line R1, the direction of the right end portion of the light receiving surface 100a is changed to a direction lowering the inclination direction at a right angle and cleaning is performed. It moves a predetermined distance along the line R2. Subsequently, the direction is changed to the left at a right angle, and after running to the left along the cleaning line R3, the direction is changed to a direction at a right angle to the downward direction at the left end of the light receiving surface 100a, and the cleaning line R4 is changed. Move along a predetermined distance along. Then, it changes its direction at right angles to the right direction and self-travels to the right along the cleaning line R5. By repeatedly performing such movement, the solar panel cleaning device 1 is self-propelled throughout the light receiving surface 100a. However, the form of the cleaning line R is not limited to this.

  In addition, driving | running | working of the solar panel cleaning apparatus 1 (main-body part 10) is performed because the controller 13 controls operation | movement of the crawler 11. FIG. Further, the controller 13 appropriately determines whether or not the solar panel cleaning device 1 is traveling along the cleaning line R based on the front image data output from the camera 25. As a result, when it is determined that the solar panel cleaning device 1 is off the cleaning line R, the controller 13 gives a speed difference to the left and right crawlers 11 to return the solar panel cleaning device 1 to the cleaning line R. Control is performed.

[Operation of solar panel cleaning device]
FIG. 3 is a flowchart showing the operation of the solar panel cleaning device. When the solar panel cleaning device 1 set at the start point on the light receiving surface 100a is operated, the solar panel cleaning device 1 cleans the light receiving surface 100a while traveling along the cleaning line R (step S101). Specifically, the solar panel cleaning device 1 sprays the cleaning liquid from the nozzle 22 onto the front light receiving surface 100a while running along the cleaning line R, and brushes the light receiving surface 100a on which the cleaning liquid has been sprayed with the brush 23. Further, the brushed light receiving surface 100a is wiped by the wiper 24.

  During this time, the ultrasonic sensor 26 provided at the front end of the cleaning unit 20 continuously detects the end of the light receiving surface 100a (step S102). When the end of the light receiving surface 100a is detected by the ultrasonic sensor 26, the controller 13 stops the rotation of the brush 23 (step S103), and then the cleaning unit 20 protrudes from the end of the light receiving surface 100a. Until the solar panel cleaning device 1 travels, it is stopped (step S104). Specifically, for example, based on an output value from an encoder (not shown) or the like so that the traveling is stopped when the traveling distance after the end of the light receiving surface 100a is detected by the ultrasonic sensor 26 reaches a predetermined value. The operation of the crawler 11 may be controlled. Note that step S103 may be omitted, and the process may proceed to step S104 while the brush 23 is rotated.

  Subsequently, the self-cleaning mode of the cleaning unit 20 is executed by a command signal from the controller 13 (step S105). The self-cleaning mode is a control mode for removing the sewage adhering to the cleaning unit 20 (the cleaning liquid contaminated with dust or foreign matter), and the specific operation will be described later. The self-cleaning mode is executed for a predetermined time, and ends when the predetermined time has passed (steps S106 and S107). If the cleaning of the light receiving surface 100a has not yet been completed after completion of the self-cleaning mode (NO in step S108), the process returns to step S101 and the cleaning along the cleaning line R is resumed. The above operation is repeated until the entire cleaning of the light receiving surface 100a is completed.

[Self-cleaning mode]
A specific operation of the cleaning unit 20 in the self-cleaning mode will be described. 4, 5, and 6 are side views schematically showing a first example, a second example, and a third example of the operation in the self-cleaning mode, respectively.

(First example)
The first example of the operation in the self-cleaning mode shown in FIG. 4 is to rotate the brush 23 for a predetermined time based on a command signal from the controller 13 when the cleaning unit 20 is protruding from the end of the light receiving surface 100a. is there. By rotating the brush 23, the sewage adhering to the brush 23 can be removed by shaking off with centrifugal force. At this time, the sewage swung off from the brush 23 mainly falls outside the light receiving surface 100a, and the sewage can be prevented from falling onto the light receiving surface 100a. Even when the sewage swung off from the brush 23 scatters toward the light receiving surface 100a, since most of the brush 23 is covered by the case 21, it is possible to suppress the sewage from adhering to the light receiving surface 100a.

  Here, as already described, the cleaning unit 20 is configured to be swingable about the axis A with respect to the main body unit 10. Therefore, the brush 23 may be rotated after the cleaning unit 20 is swung to an appropriate position so that the sewage swung off from the brush 23 is less likely to scatter to the light receiving surface 100a side. 4 shows a state in which the entire cleaning unit 20 protrudes from the end of the light receiving surface 100a. However, if the scattering of sewage to the light receiving surface 100a does not matter, Only the portion may protrude from the end of the light receiving surface 100a. This also applies to the second and third examples described below.

(Second example)
The second example of the operation in the self-cleaning mode shown in FIG. 5 is that the cleaning unit 20 is centered on the axis A based on a command signal from the controller 13 when the cleaning unit 20 is in a state of protruding from the end of the light receiving surface 100a. Is repeatedly swung with respect to the main body 10. By doing so, not only the sewage adhering to the brush 23 but also the sewage adhering to the inner surface of the cover 21 and the wiper 24 can be shaken off and removed. And the sewage swung off from each part of the cleaning part 20 will fall mainly out of the light-receiving surface 100a, and it can suppress that sewage falls to the light-receiving surface 100a.

  In addition, it is thought that the effect which removes dirty water from the cleaning part 20 increases more by repeating rocking | fluctuation of the cleaning part 20, However, Repeating rocking | fluctuation is not essential. Further, the swinging direction of the cleaning unit 20 is not limited to that shown in this example, and may be swung in the front-rear direction and the left-right direction, for example. Further, instead of swinging only the cleaning unit 20, the entire solar panel cleaning device 1 including the main body unit 10 may be swung.

(Third example)
In the third example of the operation in the self-cleaning mode shown in FIG. 6, a nozzle 27 that discharges the cleaning liquid in the tank 15 is provided in the case 21 as discharge means for discharging liquid or gas to the cleaning unit 20. Then, when the cleaning unit 20 protrudes from the end of the light receiving surface 100a, the cleaning liquid is discharged from the nozzle 27 based on a command signal from the controller 13. Here, the discharge direction of the cleaning liquid is mainly directed toward the brush 23, and the sewage adhering to the brush 23 can be washed away by the cleaning liquid. The sewage washed away from the brush 23 mainly falls outside the light receiving surface 100a, and the sewage can be prevented from falling onto the light receiving surface 100a.

  In this example, the cleaning liquid is mainly discharged toward the brush 23 in the cleaning unit 20, but the cleaning liquid may be discharged toward the inner surface of the cover 21 and the wiper 24, and the nozzle 27 is swung, for example. The cleaning liquid may be discharged toward each part of the cleaning unit 20. Further, instead of the cleaning liquid, another liquid separately prepared may be discharged from the nozzle 27, or by discharging a gas such as air from the nozzle 27, the sewage may be blown off by an air flow.

[effect]
In the solar panel cleaning device 1 of the present embodiment, when the cleaning unit 20 protrudes from the end of the light receiving surface 100a, a self-cleaning mode for removing sewage adhering to the cleaning unit 20 is executed. Therefore, the sewage removed from the cleaning unit 20 by the execution of the self-cleaning mode will fall mainly outside the light receiving surface 100a, and the sewage can be prevented from falling on the light receiving surface 100a during the execution of the self-cleaning mode. Furthermore, it can suppress that sewage falls from the cleaning part 20 to the light-receiving surface 100a by performing the subsequent cleaning by the cleaning part 20 from which the sewage has been removed by executing the self-cleaning mode. As mentioned above, according to the solar panel cleaning apparatus 1, it becomes possible to suppress effectively the fall to the light-receiving surface 100a of the dirty water adhering to the cleaning part 20.

  Moreover, in the solar panel cleaning apparatus 1, the controller (control part) 13 is controlling the driving | running | working of the main-body part 10 so that the cleaning part 20 may stop in the state protruded from the edge of the light-receiving surface 100a. Therefore, when performing self-cleaning mode, it is not necessary to move the solar panel cleaning apparatus 1 manually, and self-cleaning mode can be performed easily and reliably.

  Furthermore, the solar panel cleaning device 1 further includes an ultrasonic sensor (detection unit) 26 that detects the end of the light receiving surface 100a, and the controller 13 detects that the cleaning unit 20 receives the light receiving surface based on the output from the ultrasonic sensor 26. The travel of the main body 10 is controlled so as to stop while protruding from the end of 100a. As described above, the cleaning unit 20 can be positioned with high accuracy by using the output from the ultrasonic sensor 26 that detects the end of the light receiving surface 100a.

[Modification]
The present invention is not limited to the above embodiment, and the elements of the above embodiment can be appropriately combined or variously modified without departing from the spirit of the present invention. An example is shown below.

  In the said embodiment, although the solar panel cleaning apparatus 1 was made into the self-propelled type which carries out driving control by itself, it is not essential to make the solar panel cleaning apparatus 1 self-propelled. For example, the solar panel cleaning device 1 may be configured to run on rails laid along the cleaning line R. Moreover, you may make it control the driving | running | working of the solar panel cleaning apparatus 1, and the operation | movement in self-cleaning mode by remote control. In this case, the solar panel cleaning device 1 is caused to travel to a position where the cleaning unit 20 protrudes from the end of the light receiving surface 100a by remote operation, and the solar panel cleaning device 1 stopped at the position is subjected to self-cleaning mode by remote operation. The controller 13 may be configured to execute the self-cleaning mode by issuing the command signal.

  In the said embodiment, although the 1st example, the 2nd example, and the 3rd example were each shown individually as a specific example of the operation | movement in self-cleaning mode, you may combine the operation | movement shown in each example, and another operation | movement. It is also possible to adopt. Alternatively, the sewage may be naturally dropped and removed by maintaining the cleaning unit 20 in a state of protruding from the end of the light receiving surface 100a for a predetermined time.

  In the above embodiment, the ultrasonic sensor (detection unit) 26 that detects the end of the light receiving surface 100 a is provided, and the traveling of the main body unit 10 is controlled based on the output from the ultrasonic sensor 26. However, it is not essential to provide such a detection unit. For example, when the travel distance of the main body 10 is calculated based on an output from an encoder (not shown) provided for the crawler 11, and the travel distance reaches a predetermined travel distance, the cleaning unit 20 You may judge that it is in the state which protruded from the edge of the light-receiving surface 100a.

DESCRIPTION OF SYMBOLS 1 Solar panel cleaning apparatus 10 Main-body part 13 Controller (control part)
20 Cleaning part 23 Brush 26 Ultrasonic sensor (detection part)
27 Nozzle (Discharge means)
100a Photosensitive surface

Claims (7)

A main body that runs on the light receiving surface of the solar panel;
A cleaning unit that moves on the light receiving surface on which the cleaning liquid has been poured together with the main body to clean the light receiving surface;
When the cleaning unit protrudes from the end of the light receiving surface, a control unit that executes a self-cleaning mode for removing sewage adhering to the cleaning unit;
A solar panel cleaning device comprising:   The solar panel cleaning apparatus according to claim 1, wherein the control unit controls traveling of the main body so that the cleaning unit stops in a state of protruding from an end of the light receiving surface. A detector for detecting an end of the light receiving surface;
3. The solar panel according to claim 2, wherein the control unit controls traveling of the main body unit based on an output from the detection unit so that the cleaning unit stops in a state of protruding from an end of the light receiving surface. Cleaning device. The cleaning unit has a brush that rotates with respect to the light receiving surface,
The solar panel cleaning apparatus according to any one of claims 1 to 3, wherein the control unit rotates the brush in the self-cleaning mode.   5. The solar panel cleaning device according to claim 1, wherein the control unit swings the cleaning unit in the self-cleaning mode. 6. It further comprises discharge means for discharging liquid or gas toward the cleaning unit,
The solar panel device according to any one of claims 1 to 5, wherein the control unit discharges the liquid or the gas from the discharge means in the self-cleaning mode. A cleaning method for a solar panel cleaning device, comprising: a main body portion that travels on a light receiving surface of a solar panel; and a cleaning portion that moves with the main body portion on the light receiving surface on which cleaning liquid has been poured to clean the light receiving surface. Because
Projecting the cleaning portion from an end of the light receiving surface;
A process of executing a self-cleaning mode for removing sewage adhering to the cleaning unit with respect to the cleaning unit protruding from the end of the light receiving surface;
A cleaning method for a solar panel cleaning device, comprising:

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