JP6179346B2 - ソーラーパネル清掃装置 - Google Patents
ソーラーパネル清掃装置 Download PDFInfo
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- JP6179346B2 JP6179346B2 JP2013221472A JP2013221472A JP6179346B2 JP 6179346 B2 JP6179346 B2 JP 6179346B2 JP 2013221472 A JP2013221472 A JP 2013221472A JP 2013221472 A JP2013221472 A JP 2013221472A JP 6179346 B2 JP6179346 B2 JP 6179346B2
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- 238000004140 cleaning Methods 0.000 title claims description 335
- 238000001514 detection method Methods 0.000 claims description 145
- 238000000034 method Methods 0.000 claims description 67
- 230000008569 process Effects 0.000 claims description 64
- 230000005484 gravity Effects 0.000 claims description 23
- 238000000926 separation method Methods 0.000 claims description 7
- 239000007788 liquid Substances 0.000 description 13
- 238000011144 upstream manufacturing Methods 0.000 description 11
- 238000012545 processing Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2826—Parameters or conditions being sensed the condition of the floor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24S—SOLAR HEAT COLLECTORS; SOLAR HEAT SYSTEMS
- F24S40/00—Safety or protection arrangements of solar heat collectors; Preventing malfunction of solar heat collectors
- F24S40/20—Cleaning; Removing snow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S40/00—Components or accessories in combination with PV modules, not provided for in groups H02S10/00 - H02S30/00
- H02S40/10—Cleaning arrangements
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/40—Solar thermal energy, e.g. solar towers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Photovoltaic Devices (AREA)
- Cleaning In General (AREA)
Description
2…本体
3…自走手段
4…清掃手段
5…制御部
7…第1センサ
8…第2センサ
G…ソーラーパネル清掃装置の重心
L1,L2,L3,L4,L5…清掃ライン
P…パネルユニット
R…受光面
S…隙間
Claims (2)
- 所定の隙間を隔てて複数配列したパネルユニットの受光面を任意に設定可能な清掃ラインに沿って移動しながら清掃可能なソーラーパネル清掃装置であり、
本体と、
前記受光面上において前記本体を所定の進行方向に向かって自走させる自走手段と、
前記本体に搭載され且つ前記受光面を清掃する清掃手段と、
前記本体の進行方向において当該ソーラーパネル清掃装置の重心よりも前方の領域に配置され且つ前記パネルユニットの存在を検出可能な第1センサ及び第2センサと、
前記第1センサ及び前記第2センサによるセンシング情報に基づき少なくとも前記自走手段による前記本体の移動を制御する制御部とを備え、
前記第1センサを前記第2センサよりも前方に配置し且つ前記第1センサによる第1センシング位置と前記第2センサによる第2センシング位置との離間距離を前記隙間よりも大きく設定し、
前記制御部は、少なくとも、前記隙間を跨ぐ前記清掃ラインに沿って前記本体を移動させる過程において、前記第1センサ及び前記第2センサのセンシング情報が前記パネルユニットの存在を検出するパネルユニット検出情報である場合、及び前記第1センサ又は前記第2センサのセンシング情報の何れか一方が前記パネルユニットの存在を検出しない前記パネルユニット非検出情報である場合に、前記自走手段の作動状態を継続して前記本体をそれまでの進行方向と同一方向へ移動させ、前記第1センサ及び前記第2センサのセンシング情報が前記パネルユニット非検出情報である場合に、前記自走手段による前記本体のそれ以上同一方向への移動を停止する制御を行うものであることを特徴とするソーラーパネル清掃装置。 - 前記第1センシング位置を前記本体のうち進行方向前端部に設定している請求項1に記載のソーラーパネル清掃装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013221472A JP6179346B2 (ja) | 2013-10-24 | 2013-10-24 | ソーラーパネル清掃装置 |
PCT/JP2014/072515 WO2015060009A1 (ja) | 2013-10-24 | 2014-08-28 | ソーラーパネル清掃装置 |
Applications Claiming Priority (1)
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JP2013221472A JP6179346B2 (ja) | 2013-10-24 | 2013-10-24 | ソーラーパネル清掃装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015080779A JP2015080779A (ja) | 2015-04-27 |
JP6179346B2 true JP6179346B2 (ja) | 2017-08-16 |
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JP2013221472A Active JP6179346B2 (ja) | 2013-10-24 | 2013-10-24 | ソーラーパネル清掃装置 |
Country Status (2)
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JP (1) | JP6179346B2 (ja) |
WO (1) | WO2015060009A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6060332B2 (ja) * | 2014-06-09 | 2017-01-18 | 梶谷 孝啓 | 太陽光発電設備及び太陽光発電設備の清掃方法 |
CN105515509B (zh) * | 2015-11-10 | 2017-09-29 | 宁波市柯玛士太阳能科技有限公司 | 一种太阳能组件清洁方法 |
CN105249902B (zh) * | 2015-11-11 | 2018-02-16 | 南宁市三华太阳能科技股份公司 | 一种太阳能外墙清洁机器人 |
CN109008840A (zh) * | 2017-06-09 | 2018-12-18 | 河北卓达建材研究院有限公司 | 一种墙面修复机器人 |
CN107442540B (zh) * | 2017-09-01 | 2019-11-29 | 阳光电源股份有限公司 | 用于电池板的清扫装置 |
KR101965812B1 (ko) * | 2017-09-11 | 2019-04-05 | 주식회사 에스알 | 태양광 패널 냉각 시스템 |
CN107553497B (zh) * | 2017-10-20 | 2023-12-22 | 苏州瑞得恩光能科技有限公司 | 太阳能面板清扫机器人的边缘定位装置及其定位方法 |
CN108580338B (zh) * | 2017-12-06 | 2021-02-26 | 葛明星 | 可用于聚光太阳能装备中聚光镜组清扫的无人清扫*** |
CN110215153B (zh) * | 2018-03-02 | 2024-03-26 | 科沃斯机器人股份有限公司 | 清洁机器人及其运行控制方法 |
CN109047086B (zh) * | 2018-08-02 | 2023-08-18 | 南京师范大学 | 一种太阳能光伏电板清扫机器人搬运车及搬运方法 |
KR102156916B1 (ko) * | 2018-08-27 | 2020-09-16 | 주식회사 에스알 | 태양광 패널 자동 청소 로봇 |
CN110064613A (zh) * | 2019-05-30 | 2019-07-30 | 安徽天柱绿色能源科技有限公司 | 一种自动化垂直双向行走控制的光伏电站清扫机器人 |
WO2021075437A1 (ja) * | 2019-10-17 | 2021-04-22 | 住友電気工業株式会社 | 太陽光発電装置用清掃装置、及び太陽光発電装置の清掃システム |
CN110882968A (zh) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | 一种光伏清洁机器人 |
CN110882967A (zh) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | 一种连续作业的光伏清洁机器人 |
CN111266325B (zh) * | 2019-11-22 | 2022-03-15 | 深圳怪虫机器人有限公司 | 一种清洁机器人恒沿长边弓字型清洁路径的方法 |
CN110882969A (zh) * | 2019-11-22 | 2020-03-17 | 深圳怪虫机器人有限公司 | 一种沿桥面自动行走的光伏清洁机器人 |
CN113663941B (zh) * | 2020-05-13 | 2022-12-27 | 上海蓝浦清洗技术有限公司 | 一种机械零部件表面污垢清洗设备及其环保清洗剂 |
CN114995385A (zh) * | 2022-04-30 | 2022-09-02 | 苏州瑞得恩光能科技有限公司 | 一种机器人及其启动模式判定方法、数据处理设备 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2002273351A (ja) * | 2001-03-19 | 2002-09-24 | Hino Jushi:Kk | 太陽電池パネル外装面クリ−ニング方法及び装置 |
JP5382916B2 (ja) * | 2009-02-10 | 2014-01-08 | 株式会社コーワ | ソーラーパネル清掃装置 |
ITTV20110163A1 (it) * | 2011-12-01 | 2013-06-02 | Tendital Di Zanatta F & C Snc | Dispositivo automatico per il lavaggio di superfici continue quali pannelli solari/fotovoltaici e vetri in facciate continue, dotato di spazzola rotante, motore, telaio e dispositivo di avanzamento caratterizzato dalla presenza di un albero di torsio |
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2013
- 2013-10-24 JP JP2013221472A patent/JP6179346B2/ja active Active
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2014
- 2014-08-28 WO PCT/JP2014/072515 patent/WO2015060009A1/ja active Application Filing
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WO2015060009A1 (ja) | 2015-04-30 |
JP2015080779A (ja) | 2015-04-27 |
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