JP6403018B2 - 清掃装置 - Google Patents
清掃装置 Download PDFInfo
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- JP6403018B2 JP6403018B2 JP2015523908A JP2015523908A JP6403018B2 JP 6403018 B2 JP6403018 B2 JP 6403018B2 JP 2015523908 A JP2015523908 A JP 2015523908A JP 2015523908 A JP2015523908 A JP 2015523908A JP 6403018 B2 JP6403018 B2 JP 6403018B2
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- 238000004140 cleaning Methods 0.000 title claims description 268
- 239000012459 cleaning agent Substances 0.000 claims description 44
- 238000001514 detection method Methods 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000002265 prevention Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 238000010248 power generation Methods 0.000 description 5
- 239000000835 fiber Substances 0.000 description 4
- 239000003599 detergent Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- 239000011347 resin Substances 0.000 description 2
- 229920005989 resin Polymers 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 241000135309 Processus Species 0.000 description 1
- 235000011089 carbon dioxide Nutrition 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000010419 fine particle Substances 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 239000003960 organic solvent Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000004094 surface-active agent Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/12—Brushes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/10—Cleaning by methods involving the use of tools characterised by the type of cleaning tool
- B08B1/14—Wipes; Absorbent members, e.g. swabs or sponges
- B08B1/143—Wipes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
- B08B3/024—Cleaning by means of spray elements moving over the surface to be cleaned
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Energy (AREA)
- Thermal Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Cleaning In General (AREA)
- Photovoltaic Devices (AREA)
- Cleaning By Liquid Or Steam (AREA)
Description
2 走行部
21 クローラ(無限軌道)
211 滑り止め部
3 清掃部
31 擦り部、回転ブラシ部
32 除去部、ワイパ部
32a 前方側ワイパブレード
32b 後方側ワイパブレード
322 清掃部の幅方向両端に位置する部分、延長方向両端部
323 切目
4 洗浄剤供給部
5 検知部、落下防止センサ
9 制御部
W2 走行部の幅方向寸法
W3 清掃部の幅方向寸法
P 清掃対象物、ソーラーパネル
P1 清掃対象領域、受光面
P3 凹凸
Claims (10)
- 清掃対象物としてのソーラーパネル表面における所定領域である清掃対象領域としての受光面を走行する走行部と、
前記走行部に対して走行方向前方または後方に位置し、前記走行部の走行に伴い前記清掃対象領域を移動しつつ当該清掃対象領域の清掃を行う清掃部と、
下方に前記清掃対象物の前記清掃対象領域が位置していることを検知する検知部と、を備え、
前記走行方向に対して直交する方向であり且つ前記清掃対象領域に平行な方向である幅方向寸法につき、前記清掃部の幅方向寸法は前記走行部の幅方向寸法よりも大きく、
前記検知部のうち側方に位置するものは、幅方向で前記走行部の外側、かつ、前記清掃部の内側の位置に備えられる清掃装置。 - 前記清掃部は前記走行部に対し走行方向前方に位置する請求項1に記載の清掃装置。
- 前記清掃部は、前記清掃対象領域の清掃を行う際、前記清掃対象領域に一部が当接するワイパ部を備え、
前記ワイパ部は、走行方向に対して交わる方向に延びる複数のワイパブレードを有して該複数のワイパブレードが走行方向の前後に並べられて構成され、
前記複数のワイパブレードのうち少なくとも走行方向前方に位置するワイパブレードにおける、前記清掃部の幅方向両端に位置する部分が、前記清掃対象領域が有する凹凸に追随して当接可能な請求項2に記載の清掃装置。 - 前記少なくとも走行方向前方に位置するワイパブレードにおける、前記清掃部の幅方向両端に位置する部分には、当該ワイパブレードの延長方向に対して交わる方向に延びる切目であって、当該ワイパブレードの延長方向に並ぶ複数の切目が形成されている請求項3に記載の清掃装置。
- 洗浄剤を前記清掃対象領域に供給するための洗浄剤供給部を更に備え、
前記洗浄剤供給部は、前記洗浄剤を前記清掃部よりも走行方向前方の位置に供給する請求項2〜4のいずれかに記載の清掃装置。 - 前記清掃部は、
前記清掃対象領域のうち前記洗浄剤が供給された領域を擦る擦り部と、
前記擦り部に対して走行方向後方に位置し、前記清掃対象領域のうち前記擦り部が擦った領域から、少なくとも前記供給された洗浄剤を除去する除去部と、
を更に備える請求項5に記載の清掃装置。 - 前記除去部として、前記清掃対象領域の清掃を行う際、前記清掃対象領域に一部が当接するワイパ部が用いられる、請求項6に記載の清掃装置。
- 前記走行部はクローラを備え、当該クローラは前記清掃対象領域に接する部分に、走行方向に対して傾斜して延びる滑り止め部を有している請求項1〜7のいずれかに記載の清掃装置。
- 少なくとも前記走行部を制御する制御部を更に備え、
前記制御部は、前記検知部が前記清掃対象領域上に位置していることを検知しなくなった場合に、前記走行部を停止させる請求項1〜8のいずれかに記載の清掃装置。 - 前記清掃部は、当該清掃部が前記清掃対象領域に接した状態である清掃可能状態と、前記清掃対象領域から離れた状態である退避状態とに姿勢を転換できる転換部を備える請求項1〜9のいずれかに記載の清掃装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013135353 | 2013-06-27 | ||
JP2013135353 | 2013-06-27 | ||
PCT/JP2014/061887 WO2014208192A1 (ja) | 2013-06-27 | 2014-04-28 | 清掃装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2014208192A1 JPWO2014208192A1 (ja) | 2017-02-23 |
JP6403018B2 true JP6403018B2 (ja) | 2018-10-10 |
Family
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Family Applications (1)
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---|---|---|---|
JP2015523908A Active JP6403018B2 (ja) | 2013-06-27 | 2014-04-28 | 清掃装置 |
Country Status (2)
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JP (1) | JP6403018B2 (ja) |
WO (1) | WO2014208192A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6218610B2 (ja) * | 2014-01-06 | 2017-10-25 | 三菱重工工作機械株式会社 | 切屑清掃用ロボット |
CN107748565A (zh) * | 2017-11-23 | 2018-03-02 | 浙江国自机器人技术有限公司 | 一种自主移动的板上清洗方法及板上清洗机器人 |
CN107966986A (zh) * | 2017-11-23 | 2018-04-27 | 浙江国自机器人技术有限公司 | 一种机器人及其导航方法、***、设备 |
CN108057651A (zh) * | 2018-01-30 | 2018-05-22 | 南昌安润科技有限公司 | 一种电子显示器表面除尘设备 |
CN109047084B (zh) * | 2018-07-25 | 2021-11-02 | 浦江县含行科技有限公司 | 一种适用于家庭的夏季凉席擦拭设备 |
CN109261559A (zh) * | 2018-10-30 | 2019-01-25 | 安徽省马鞍山市第七中学 | 一种太阳能电池板清洗机器人 |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3008556B2 (ja) * | 1991-05-15 | 2000-02-14 | ジェイエスアール株式会社 | ゴム積層体 |
JP3008556U (ja) * | 1994-04-21 | 1995-03-20 | 株式会社リンレイ | 清掃機器 |
JPH09193752A (ja) * | 1996-01-16 | 1997-07-29 | Daikoku Bussan:Kk | 自動車タイヤの泥除け装置 |
JP3493539B2 (ja) * | 1996-06-03 | 2004-02-03 | ミノルタ株式会社 | 走行作業ロボット |
JP2004310385A (ja) * | 2003-04-04 | 2004-11-04 | Amenity Technos:Kk | 自走式清掃装置および自走式清掃方法 |
EP1695895B1 (en) * | 2003-11-20 | 2010-05-05 | Tokyo Institute of Technology | Crawler belt, crawler device, and method of producing the crawler belt |
JP4363995B2 (ja) * | 2004-01-23 | 2009-11-11 | 株式会社東芝 | 吸込口体および掃除装置 |
JP5243879B2 (ja) * | 2008-08-04 | 2013-07-24 | 富士重工業株式会社 | 清掃ロボットのサイドブラシ支持装置 |
ES2345082B2 (es) * | 2008-12-23 | 2011-05-31 | Rafael Maria Mendez De La Cuesta | Dispositivo de limpieza para paneles fotovoltaicos y paneles termosolares. |
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 |
JP2010259472A (ja) * | 2009-04-30 | 2010-11-18 | B L Auto Tec Kk | 清掃装置及び清掃装置の停止具 |
JP2010259742A (ja) * | 2009-05-04 | 2010-11-18 | Yoko Chiisagata | バター容器 |
US9276523B1 (en) * | 2015-01-29 | 2016-03-01 | Cory Berendez | Panel washing systems and methods |
CN104759422A (zh) * | 2015-03-12 | 2015-07-08 | 上海工程技术大学 | 一种自洁式太阳能电池板除尘清洗装置 |
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- 2014-04-28 JP JP2015523908A patent/JP6403018B2/ja active Active
- 2014-04-28 WO PCT/JP2014/061887 patent/WO2014208192A1/ja active Application Filing
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WO2014208192A1 (ja) | 2014-12-31 |
JPWO2014208192A1 (ja) | 2017-02-23 |
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