[Problem] To provide a work device capable of moving a solar cell array and working. [Solution] A work device 1 that executes work on a surface of a solar cell array LP having a plurality of solar cell modules P lined up therein. The work device comprises: a work instrument 10 that implements work on the surface of the solar cell array LP; and a travel unit 20 that moves the work instrument 10 along the direction in which the solar cell modules P are lined up. The travel unit 20 comprises a towing mechanism that pulls and moves the work instrument 10.
[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.
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
[Problem] To provide a cleaning robot that can effectively perform operations such as cleaning of a solar cell array. [Solution] A cleaning robot 1, which cleans the surface of a solar cell array LP in which a plurality of solar cell modules P are installed side by side, comprises: a cleaning unit 10 including a brush 12 that cleans the surface of the solar cell module P; a frame 2; and a travelling unit 20 that is provided in the frame 2 and causes the frame 2 to travel in a direction intersecting a rotation axis direction of the brush 12 of the cleaning unit 10, wherein the frame 2 is provided with a bearing unit including a bearing that rotatably holds a shaft end portion of the brush 12 of the cleaning unit 10, and the bearing unit is configured to swingably hold the shaft end portion of the brush 12 of the cleaning unit 10.
A self-propelled robot autonomously travels on a structure having a target plane and performs work on the plane of the structure. The robot includes a robot main body provided with a moving means for autonomous traveling, a control unit that controls movement of the robot main body, and a working unit that performs work on the target plane. The control unit includes an edge detection unit that detects an edge of the target plane, and the edge detection unit includes an outer detection unit located outward from the working unit in the traveling direction of the robot main body and an inner detection unit located closer to the robot main body than the outer detection unit in the traveling direction of the robot main body.
A47L 11/00 - Machines for cleaning floors, carpets, furniture, walls, or wall coverings
A47L 11/40 - Parts or details of machines not provided for in groups , or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers or levers
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
B08B 3/02 - Cleaning by the force of jets or sprays
B08B 7/04 - Cleaning by methods not provided for in a single other subclass or a single group in this subclass by a combination of operations
G05D 1/02 - Control of position or course in two dimensions
G01B 11/10 - Measuring arrangements characterised by the use of optical techniques for measuring diameters of objects while moving
G01B 11/02 - Measuring arrangements characterised by the use of optical techniques for measuring length, width, or thickness
B25J 5/00 - Manipulators mounted on wheels or on carriages
B25J 11/00 - Manipulators not otherwise provided for
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05D 1/02 - Control of position or course in two dimensions
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - 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
A47L 9/04 - Nozzles with driven brushes or agitators
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B08B 1/00 - Cleaning by methods involving the use of tools, brushes, or analogous members
B08B 3/02 - Cleaning by the force of jets or sprays
[Problem] To provide an autonomously traveling robot in which it is possible to prevent damage caused by the autonomously traveling robot being dropped, etc, and in which it is possible to reliably operate over the entirety of a flat surface. [Solution] A robot 1 for autonomously traveling on a structure SP having a designated flat surface SF, and performing operations on a flat surface of the structure SP, wherein the robot 1 is provided with a robot body 2 provided with a movement means for autonomous travel; a control unit 30 for controlling the movement of the robot body 2; and a cleaning unit 10 for performing operations such as cleaning of the designated flat surface SF. The control unit 30 is provided with an edge detection unit 31 for detecting the edge of the designated flat surface SF. The edge detection unit 31 is provided with an outward detection part 32 positioned farther outward than the cleaning unit 10 in the travel direction of the robot body 2; and an inward detection unit 33 positioned farther toward the robot body than the outward detection part 32 in the running direction of the robot body 2.
G05D 1/02 - Control of position or course in two dimensions
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
B08B 3/02 - Cleaning by the force of jets or sprays
[Problem] Provided are a work robot and an edge detector with which it is possible to accurately detect edges and the like even when a disturbance exists. [Solution] A robot for traveling autonomously on a structure SP having a designated flat surface SF and performing work on the designated flat surface SF of the structure SP, wherein the robot is provided with a robot body 2 provided with a movement means 4 for autonomous traveling, a control unit 30 for controlling the movement of the robot body 2, and a work unit 10 for performing work such as cleaning of the designated flat surface SF. The control unit 30 is provided with an edge detection unit 31 for detecting the edge E of the designated flat surface SF, which is provided with a plurality of ultrasonic transceivers capable of emitting and receiving ultrasonic waves. The control unit 30 performs a control so that ultrasonic waves having the same frequency and differing phases are emitted from two of the ultrasonic wave transceivers.
G05D 1/02 - Control of position or course in two dimensions
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
B08B 3/02 - Cleaning by the force of jets or sprays
Provided is a work system utilizing a self-propelled robot capable of moving the self-propelled robot effectively so as to efficiently perform work on a flat surface. This work system (S) for performing work on a structure is equipped with: a self-propelled robot (1) which travels by itself on a target flat surface of a structure (SP) so as to perform work on the flat surface; and a control means (CU) for controlling operations of the self-propelled robot (1). The control means (CU) is equipped with a monitoring part (RU) for monitoring the state of the structure (SP) and/or the surrounding environment and an operating state control part (SU) for switching the self-propelled robot (1) between a working state and a standby state in accordance with information from the monitoring part (RU). The monitoring part (RU) monitors the state of the structure (SP) and/or the surrounding environment, and the switching between the working state and the standby state is made in accordance with the information from the monitoring part (RU).
G05D 1/02 - Control of position or course in two dimensions
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - 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
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Provided is a self-propelled robot for which damage due to falling or the like of the self-propelled robot can be prevented, and which is able to perform work efficiently on a flat surface. This robot (1), which moves by self-propulsion on a structure having a flat surface and performs work on the flat surface of the structure, is equipped with a robot main body part (2) provided with a movement means (4) for the purpose of self-propulsion, and a control unit that controls the movement of the robot main body unit (2). The control unit is equipped with an edge detection unit (31) that detects the end edges of the flat surface, and the control unit has a function that controls the operation of the movement means (4) on the basis of a signal from the edge detection unit (31) so as to maintain a distance of equal to or greater than a prescribed distance between the movement means (4) and the end edges of the flat surface.
G05D 1/02 - Control of position or course in two dimensions
A47L 9/00 - DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL - 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
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
Provided is a self-propelled cleaning robot that is capable of efficiently cleaning even a flat surface comprising a gap or a step. The robot (1) travels on a structure comprising a flat surface (SF) in which a groove (G) is formed and cleans the flat surface (SF) of the structure. The robot (1) is provided with a robot main body (2) comprising a movement means (4) for self-propulsion and a guidance unit (40) that guides the movement of the robot main body (2). The guidance unit (40) is provided with a shaft member (43) that is removably inserted in the groove (G) and a shaft member movement mechanism (45) that controls the insertion and removal of the shaft member (43) with respect to the groove (G). The robot main body (2) is arranged so as to be rotatable around the shaft member in a state in which the shaft member (43) of the guidance unit (40) is inserted in the groove.
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
E04G 23/02 - Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
H01L 31/042 - PV modules or arrays of single PV cells
Provided is an autonomous-travel cleaning robot with which a flat surface can be efficiently cleaned, even if steps are formed therein. This robot, which autonomously travels upon a structure provided with a flat surface disposed outdoors, and cleans the flat surface of the structure, is provided with: a robot main body (2) having, provided thereto, a movement means (4) for implementing autonomous travel; a cleaning unit (10) provided to a front part and/or a rear part of the robot main body (2); and a controller (30) for controlling operation of the movement means (4). The controller (30) is provided with an orientation controller (35) which detects the orientation of the robot main body (2). The orientation controller (35) is provided with a rise detection sensor (36) for detecting rising of the front part or the rear part of the robot main body (2). When the rise detection sensor detects rising of the front part or the rear part of the robot main body (2), the controller (30) controls operation of the movement means (4) such that the cleaning unit (10) passes over a place (NSA) where rising was detected, after the rising has subsided.
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
E04G 23/02 - Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
H01L 31/042 - PV modules or arrays of single PV cells
Provided is an autonomous-travel cleaning robot with which cleaning can be performed continuously, even in large spaces, without increasing the size thereof. This robot, which autonomously travels upon a structure (SP) provided with a flat surface disposed outdoors, and cleans a target flat surface (SF) of the structure (SP), is provided with: a robot main body (2) having, provided thereto, a movement means for implementing autonomous travel; and cleaning units (10) provided to side surfaces of the robot main body (2). The cleaning units (10) are each provided with: a rotatable brush (12) comprising a shaft part (12a), and brush parts (12b) provided to the shaft part (12a); and an air-current forming cover (15) which, during cleaning of the flat surface, is provided covering a portion of the brush (12), said portion being located at a side of the robot main body (2) and at a side opposite to the flat surface. The provision of a dust-collection portion to the robot main body (2) is not required, and thus increasing the size of the robot main body (2) is unnecessary. Furthermore, dust suction is not required, and thus power consumption can be reduced, thereby enabling cleaning of extremely large places to be performed continuously.
B08B 1/04 - Cleaning by methods involving the use of tools, brushes, or analogous members using rotary operative members
A47L 9/28 - Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
A47L 11/38 - Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
E04G 23/02 - Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
H01L 31/042 - PV modules or arrays of single PV cells
patents
