Unless you live in an area with some special problem, it could be argued that, if you need to clean your panels more than once or twice a year, you didn't install enough panels.
When the cost of your time cleaning panels and the shortened life of your batteries exceeds the cost of more panels, add one or two. Then kick back, relax, and check whether they need cleaning whenever you go on/off daylight savings time. B-)
But seriously: Check whether they need cleaning whenever the batteries aren't staying full. Then, if there's no special problem (like a dust storm, tree pollen, soot from an upwind stack, leaves / pine needles, or a snowdrift) and your batteries and distribution system are OK, add more panels or reduce loads until your batteries stay up without constant attention and cleaning.