Drones and wall-climbing systems using them

Abstract

This invention provides a drone that allows for easy positioning of the work area relative to a wall surface, and a wall inspection system using the same. [Solution] The drone comprises a drone body 1 and a support means 2 mounted on the drone body 1 that supports a work tool V for performing predetermined work on a wall surface W. The drone body 1 has a flight means 11, a control means 12 for controlling the flight means 11, and a drone structure 13 on which the flight means 11 and the control means 12 are provided. The support means 2 has at least one of a first support means 21 that supports the work tool V so as to be movable in the yaw axis direction of the drone body 1, or a second support means 22 that supports the work tool V so as to be movable in the pitch axis direction of the drone body 1.

Description

Technical Field

[0001] The present invention relates to a drone and a wall working system using the same.

Background Art

[0002] In recent years, drones have been used in various fields as devices capable of unmanned flight.

[0003] Especially in the fields of inspection and surveying, it has attracted attention as an efficient means to replace conventional manual and mechanical inspection work. That is, in the conventional inspection method, it was difficult to access high places and narrow places, and the installation of scaffolds and the ensuring of personnel safety were problems. However, by using a drone equipped with a camera and a sensor, these problems have been solved.

[0004] Regarding the above inspection work, in order to inspect walls and structures while ensuring flight stability, drones have been required to have high-precision flight control technology and positioning technology. Especially, in the conventional inspection method using drones, there are still problems with the stability when the drone approaches the wall surface, and improvement in accurate positioning and inspection accuracy has been required.

[0005] Regarding this, in Patent Document 1, a drone specialized for wall inspection and an inspection system using the same have been proposed.

[0006] This invention has a contact portion provided on the drone body, and has a structure in which the contact surface stably contacts the wall surface. And the contact portion is arranged to protrude forward from the drone body. When the drone approaches the wall surface during flight, it can maintain a stable posture while the inspection device can perform a predetermined inspection operation.

[0007] Thereby, the drone can be stably positioned on the wall surface with a simple configuration, and improvement over the prior art is achieved.

Prior Art Documents

[0008] [Patent Document 1] Patent No. 7007678 [Overview of the Initiative] [Problems that the invention aims to solve]

[0009] Here, as mentioned above, while the drone described in Patent Document 1 ensures stable positioning of the drone relative to the wall surface, high-precision flight control technology is still required to reliably apply the inspection device to the work position.

[0010] In other words, the inspection device described in Patent Document 1 includes, as an example, a drill device that operates only in the forward and backward direction. In this case, once the drone is positioned relative to the wall, the working position of the inspection device is determined at the same time. Therefore, if there is a discrepancy in the working position, the worker will need to move the drone away from the wall and perform flight control to reposition it relative to the wall, which raises concerns about a decrease in work efficiency.

[0011] This invention has been made in view of the above-mentioned circumstances, and aims to provide a drone capable of easily positioning a work position relative to a wall surface, and a wall inspection system using the same. [Means for solving the problem]

[0012] To accomplish this task, this disclosure provides a drone [1] to [4].

[0013] [1] The system comprises a drone body and a support means mounted on the drone body that supports a work tool for performing predetermined tasks on a wall surface. The drone body comprises a flight means, a control means for controlling the flight means, and a drone structure on which the flight means and the control means are provided. The support means comprises at least one of a first support means that supports the work tool so as to be movable in the yaw axis direction of the drone body, or a second support means that supports the work tool so as to be movable in the pitch axis direction of the drone body. Drone.

[0014] [2] The support means further includes a third support means for supporting the work tool so as to be movable in the roll axis direction of the drone body. The drone described in [1].

[0015] [3] The directions of movement of the work tool by the first support means, the second support means, and the third support means are substantially perpendicular to each other. The drone described in [1] or [2].

[0016] [4] The drone body further comprises a contact portion having a contact surface that contacts the wall surface, The drone structure includes a base and a connecting body configured above the base and connecting the base and the contact portion. The aforementioned contact portion is positioned in front of the drone body and protrudes from the connecting body. When the entire surface of the contact surface is in contact with the wall surface, the drone body is configured to be in an inclined position that is tilted diagonally downward. The drone described in [2] or [3].

[0017] [5] The direction of movement of the work tool by the third support means is substantially perpendicular to the wall surface when the entire surface of the contact surface is in contact with the wall surface. A drone as described in any of [2] to [4].

[0018] Also, to achieve this object, the present disclosure provides a wall working system [5].

[0019] [5] It includes a drone according to any one of [1] to [4], a guide wire provided along the surface direction of the wall, and wire support means for supporting the guide wire. The drone is attached to the guide wire. The wire support means has a winch device for paying out and taking up the guide wire. Wall inspection system.

Effect of the Invention

[0020] According to the present invention, it is possible to provide a drone capable of easily positioning a working position with respect to a wall surface and a wall inspection system using the same.

Brief Description of the Drawings

[0021] [Figure 1] It is a perspective view of a drone body according to an embodiment of the present invention. [Figure 2] It is a perspective view of support means according to an embodiment of the present invention. [Figure 3] It is a view showing a drone according to an embodiment of the present invention, (a) an enlarged side view, (b) an enlarged plan view. [Figure 4] It is an explanatory view of a method of using a wall working system according to an embodiment of the present invention. [Figure 5] It is an explanatory view of a method of using a wall working system according to an embodiment of the present invention. [Figure 6] It is an explanatory view of a method of using a wall working system according to an embodiment of the present invention. [Figure 7] It is an explanatory view of a method of using a wall working system according to an embodiment of the present invention. [Figure 8] It is an explanatory view of a method of using a wall working system according to an embodiment of the present invention. [Figure 9]This is an explanatory diagram illustrating the method of using the wall surface work system according to an embodiment of the present invention. [Figure 10] This is an explanatory diagram illustrating the method of using the wall surface work system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0022] The following describes a drone and a wall inspection system using the same according to an embodiment of the present invention, with reference to Figures 1 to 10. The embodiments described below are merely examples of the present invention, and the present invention is not limited to these embodiments. In these figures, the symbol X represents the drone according to this embodiment, and the symbol S represents the wall inspection system according to this embodiment.

[0023] <Configuration (Drone X)> The configuration of Drone X will be explained below using Figures 1 and 2. For the sake of clarity, in the following explanation, the x-direction shown in Figure 1 will be referred to as the roll direction (forward / backward direction), the y-axis direction as the pitch direction (left / right direction), and the z-axis direction as the yaw direction (up / down direction).

[0024] As shown in Figures 1 and 2, the drone X comprises a drone body 1, a support means 2 mounted on the drone body 1 that supports a work tool V that performs predetermined work on a wall surface W (see Figure 4, etc.), and a contact portion 3 having a contact surface T that contacts the wall surface W. In this embodiment, the work tool V is an electrically operated sealing gun with a grip that can be remotely controlled.

[0025] The drone body 1 includes a flight means 11, a control means 12 for controlling the flight means 11, and a drone structure 13 on which the flight means 11 and the control means 12 are provided.

[0026] In this embodiment, the flight means 11 is a multiple propeller device, similar to a typical drone, and includes a two-bladed propeller body 11a, a motor unit 11b that rotates the propeller body 11a, and a bracket 11c that connects the motor unit 11b to the drone component 13.

[0027] The control means 12 is located approximately to the rear center of the drone structure 13 in a plan view, and is a so-called flight controller that controls the attitude, direction of movement, and speed of movement of the drone X in the air by individually controlling the drive state of each motor unit 11b. This allows the operator to freely fly the entire drone X in three dimensions using a remote control wirelessly connected to the control means 12.

[0028] The drone structure 13 is constructed as a frame of roughly cylindrical, elongated rod-shaped bodies, and includes a base body 13a formed along a plane whose direction perpendicular to the surface is substantially parallel to the rotation axis of the propeller body 11a, a connecting body 13b projecting upward from the base body 13a, and a plurality of legs 13c projecting downward from the base body 13a. Furthermore, the elongated rod-shaped bodies that make up the drone structure 13 are hollow. Furthermore, the elongated rod-shaped body is formed using lightweight materials such as carbon.

[0029] The base 13a is composed of a first component p1, which is provided with flight means 11 and control means 12 and has a roughly rectangular outer shape in plan view and a grid-like interior; a second component p2, which is roughly U-shaped in plan view and protrudes forward from the first component p1; a third component p3, which is roughly U-shaped in plan view and protrudes rearward from the first component p1; a fourth component p4, which is roughly E-shaped in plan view and protrudes to the left from the first component p1; and a fifth component p5, which is roughly E-shaped in plan view and protrudes to the right from the first component p1.

[0030] Furthermore, each of these components p1 to p5 is constructed in a framework-like manner by connecting multiple slender rod-shaped bodies of approximately the same diameter, either straight or curved, using joints j. Depending on the number of connections and the direction of connection, three-way to five-way connectors j are used as appropriate.

[0031] Furthermore, the elongated rod-shaped bodies extending in the front-to-back direction, used on the left and right sides of the first component p1, are provided with one communication hole (not shown) near each flight means 11, which connects the outside and inside of the rod. Furthermore, the elongated rod-shaped body covered by the control means 12 is also provided with one or more communication holes (not shown). Furthermore, the conductors (not shown) that electrically connect each motor unit 11b to the control means 12 pass through the inside of the elongated rod-shaped body via the communication holes and exit to the outside via the communication holes below the control means 12, thereby connecting to the control means 12.

[0032] The connecting body 13b is composed of a pair of side parts q1 erected above the first component p1, a pair of front support parts q2 that support the front side of each side part q1, a lateral support part q3 suspended from the fourth component p4 and the fifth component p5, a projection part q4 formed in a substantially straight line that connects the front support part q2 and the contact part 3, and a suspension part q5 suspended between each projection part q4.

[0033] Furthermore, the connecting body 13b is provided with a first mounting section m1 that is suspended at the upper part of each side section q1, and a second mounting section m2 that is positioned forward of the first mounting section m1 and is mounted and fixed on the first component p1.

[0034] Each side portion q1 is formed in a roughly F-shape, extending diagonally upward when viewed from the side. Furthermore, each side portion q1 is provided so as to be symmetrical in a plan view, as shown in Figure 2 in particular.

[0035] Each front support section q2 is erected diagonally backward from both front ends of the second component p2 and is connected to the front end of each side section q1.

[0036] The lateral support portion q3 is erected upward from both ends of the right end of the fourth component p4 and the left end of the fifth component p5, and the portion extending in the left-right direction is integrally connected to each side portion q1.

[0037] Each mounting section m1 and m2, like each side section q1 and each front support section q2, is constructed as a hollow, elongated rod-shaped body and is provided on the connecting body 13b approximately parallel to each other. Furthermore, in this embodiment, the first mounting portion m1 is integrally formed with each side portion q1, and the second mounting portion m2 is fixed to the first component p1 by various connecting means (not shown), such as cable ties or adhesives.

[0038] Although the components constituting the connecting body 13b are shown as a single, continuous elongated rod-shaped body, except for the second mounting section m2, the entire connecting body 13b may also be constructed by connecting multiple elongated rod-shaped bodies with a joint j, similar to the base body 13a.

[0039] Four leg portions 13c are provided so as to be positioned at the four corners of the first component p1 in a plan view, and a roughly cylindrical rubber foot r is provided at the lower end of each leg portion 13c. Furthermore, each leg 13c is constructed by connecting three elongated rod-shaped bodies with a joint j, and the vertically extending elongated rod-shaped body is connected to a joint j provided on the base 13a. Other elongated rod-shaped bodies are also connected to the base body 13a, for example, using flexible joints (not shown) that can be fitted from the outside.

[0040] The support means 2 includes a first support means 21 that supports the work tool V so as to be movable in the pitch axis direction of the drone body 1, a second support means 22 that supports it so as to be movable in the yaw axis direction, and a third support means 23 that supports it so as to be movable in the roll axis direction.

[0041] In this embodiment, the first support means 21 is composed of first support means components 21a to 21c.

[0042] The first support means components 21a to 21c are so-called linear actuators extending in the left-right direction, and consist of a rail section containing a motor and a ball screw mechanism, and a slider provided on the rail section. This allows the user to remotely control the slider's sliding speed, sliding distance, and other parameters.

[0043] The first support means components 21a and 21b support the upper and lower rear end faces of the second support means component 22a on the front side, which will be described later. The first support means component 21c supports the front end surface on the upper end side of the second support means component 22b, which will be described later. Furthermore, the first support means component 21a and the first support means component 21b are positioned opposite each other in the front-rear direction.

[0044] In this embodiment, the second support means 22 is composed of second support means components 22a and 22b that are spaced apart in the front-rear direction and arranged substantially parallel to each other.

[0045] The second support means components 22a and 22b are linear actuators similar to the first support means components 21a to 21c, extending in the vertical direction. Furthermore, the second support means component 22b is configured to be slightly shorter in overall length than the second support means component 22a.

[0046] In this embodiment, the third support means 23 is composed of a third support means component 23a and a support plate 23b.

[0047] The third support mechanism 23a is a linear actuator similar to the first support mechanism 21a-21c and the second support mechanism 22a and 22b, extending in the front-rear direction, and the work tool V is connected to the slider of the third support mechanism 23a. The support plate 23b is a plate-like body that is roughly rectangular in shape when viewed from the side, and connects the second support means components 22a, 22b and the third support means component 23a. Furthermore, when connecting the work tool V to the third support means component 23a, cable ties t or the like may be used as appropriate.

[0048] With the above configuration, the movement directions of the work tool V by the first support means 21 (first support means components 21a to 21c), the second support means 22 (second support means components 22a and 22b), and the third support means component 23a are substantially orthogonal to each other, and the support means 2 is configured as a so-called 3-axis orthogonal robot (3D slider).

[0049] With the support means 2 configured as described above mounted on the drone body 1, the first support means 21 supports the work tool V so that it can move in the pitch axis direction of the drone body 1 via the second support means 22 and the third support means 23. Furthermore, the second support means 22 supports the work tool V via the third support means 23 so that it can move in the yaw axis direction of the drone body 1. Furthermore, the third support means 23 supports the work tool V so that it can move in the roll axis direction of the drone body 1.

[0050] The contact portion 3 is a substantially cylindrical body formed of an elastic material as a whole, which does not rotate on the wall surface, and its tip surface is the contact surface T. Furthermore, each contact surface T is located on the same plane.

[0051] Here, the support means 2 is mounted on the drone body 1, as shown in Figure 3. Figure 3(a) is an enlarged right side view of the drone X, and the fifth component p5 and the lateral support q3 are omitted. Furthermore, Figure 3(b) is a plan view taken from the direction of the arrow in (a), and only the upper components of the connecting body 13b of the drone body 1 are shown.

[0052] More specifically, the support means 2 is provided with a first connector n1 suspended from the upper second support means components 22a and 22b, and a second connector n2 provided on the lower second support means component 22a. Furthermore, the first connector n1 and the second connector n2 are configured to be fitted into the first mounting section m1 and the second mounting section m2, respectively, by having recesses provided in them.

[0053] As a result, the support means 2 is connected to the first mounting section m1 via the first connector n1 so as to be suspended from it, and connected to the second mounting section m2 via the second connector n2 so as not to swing as a whole, thereby being stably mounted on the drone body 1.

[0054] As shown in Figure 6(b), which will be described later, in this embodiment, when the entire surface of each contact surface T is in contact with the wall surface W, the direction of movement by the second support means 22 is substantially parallel to the wall surface W, and the direction of movement by the third support means 23 is substantially perpendicular to the wall surface W. In other words, in this embodiment, the support means 2 is mounted on the drone body 1 such that the direction of movement of the second support means 22 with respect to the plane formed by the pitch axis direction and the roll axis direction of the drone body 1 is inclined by a predetermined angle from the vertical. This predetermined angle is the angle between the plane formed by the pitch axis direction and the roll axis direction of the drone body 1 and the plane containing each contact surface T. Therefore, in this embodiment, the work tool V moves slightly in the roll axis direction as well as the yaw axis direction due to the operation of the second support means 22, and moves slightly in the yaw axis direction as well as the roll axis direction due to the operation of the third support means 23.

[0055] <Configuration (Wall Inspection System S)> The configuration of the wall inspection system S using the drone X described above will be explained below with reference to Figures 4 and 5 (view of drone X from the right side).

[0056] The wall inspection system S is applied to the outer wall (wall surface W) of a building Z erected on a predetermined vertical surface G, and comprises a drone X, a guide wire A provided along the surface direction of the wall surface W, and a wire support means B that supports the guide wire A.

[0057] Guide wire A is a high-strength metal wire such as piano wire, and in this embodiment, the tip of one guide wire A is fastened to the suspension section q5.

[0058] The wire support means B, as shown in particular in Figure 4, includes a winch device U around which the guide wire A is wound, a base H attached to the parapet Z1 of the building Z, a first guide roller R1 provided on the upper part of the base H, and a pair of second guide rollers R2 provided on the sides of the base H.

[0059] The winch device U is mounted on top of the base H and can remotely control the winding and unwinding of the guide wire A electrically.

[0060] The first guide roller R1 is supported by the bracket b1 and is configured to rotate on an axis in a substantially horizontal direction.

[0061] A pair of second guide rollers R2 are each supported by a bracket b2 and are configured to rotate around an axis approximately perpendicular to the wall surface W. Furthermore, each second guide roller R2 is positioned opposite to the other, thereby sandwiching the guide wire A.

[0062] By configuring the first guide roller R1 and the second guide roller R2 in this manner, the winding and unwinding of the guide wire A by each winch device U can be performed smoothly.

[0063] <How to use> The following describes how to use the wall inspection system S using drone X, with reference to Figures 4 to 10.

[0064] First, the worker generates lift for the drone X, which is placed on the vertical surface G as shown in Figure 4(a), by driving each of its propellers X2, causing it to fly upward as shown in Figure 4(b). At this time, the operator operates the winch device U to rewind the guide wire A, so as not to entangle it with the propeller bodies 11a, etc.

[0065] Next, as shown in Figure 5, the worker flies the drone X to the vicinity of the designated wall surface W to be inspected, such as the exterior or interior wall of a building, and positions the work tool V opposite to the desired position on the wall surface W. During this time, the worker maintains the drone X's position in mid-air by making it hover.

[0066] Here, the horizontal posture of the drone body 1 is defined as the state in which the drone body 1 is horizontal to the vertical surface G (ground) on which the wall surface W is erected, as shown in Figure 5, i.e., when the pitch angle is 0 degrees.

[0067] Next, the worker flies the drone X forward toward the wall W, as shown in Figure 6(a). As a result, the lift generated by the two front propeller bodies 11a becomes weaker than the lift generated by the two rear propeller bodies 11a, causing the drone body 1's attitude to change from a horizontal position to a tilted position with an increased pitch angle, sloping downwards. At this time, it is preferable for the operator to adjust the forward thrust force applied to the drone body 1 so that the plane direction of the contact surface T and the plane direction of the wall surface W are approximately parallel.

[0068] Next, as shown in Figure 6(b), the worker flies the drone X forward, bringing the entire surface of the contact surface T into contact with the wall surface W. At this time, as the operator increases the forward thrust of the drone body 1, a frictional force based on movement in the direction of increasing pitch angle is generated between the contact surface T and the wall surface W, and the drone X is stably positioned relative to the wall surface W.

[0069] Furthermore, the worker may bring the contact surface T into contact with the wall surface W in a state where the pitch angle is smaller than that shown in Figures 6(a) and 6(b). In this case, the lower end of the lower contact surface T first comes into contact with the wall surface W. From this state, the worker increases the forward thrust of the drone body 1, causing the pitch angle of the drone body 1 to increase in such a manner that the drone X rotates around the lower end of the lower contact surface T as its axis. This allows the operator to bring drone X into a state similar to that shown in Figure 6(b).

[0070] Figures 7 (and 8) show the state of Figure 6(b) as viewed from the rear of the drone X, and for the drone X, only the work tool V, support means 2, contact part 3, and each front support part q2 are schematically shown. Furthermore, in Figure 7 (and Figure 8), the working position P (the tip of the work tool V) positioned by the support means 2 is shown as a gray circle for convenience.

[0071] Next, the worker drives the first support means 21 and the second support means 22, as shown in Figure 8, to determine the position where the work (sealing) will be performed. In other words, the worker drives each support means 21, 22 to move the work position P (work tool V) in the vertical or horizontal direction, thereby positioning the work position P within the area where adjacent contact parts 3 are connected by straight lines in the rear view shown in Figure 8. In this embodiment, the work tool V can be moved to the positions indicated by the dotted lines at the four corners within the area by the first support means 21 and the second support means 22.

[0072] Next, as shown in Figure 9, the worker drives the third support means 23 and performs the work on the work position P that has been positioned by the first support means 21 and the second support means 22. In other words, the worker drives the third support means 23 to move the work tool V forward, thereby bringing the tip of the work tool V into contact with the wall surface W and performing work on the wall surface W. In this embodiment, since the work tool V is a sealing gun, the tip is brought into contact with the wall surface W, and then the first support means 21 or the second support means 22 is operated to apply sealant to the wall surface W in a linear manner.

[0073] <Effects> According to this embodiment, the first support means 21 and the second support means 22 allow for easy adjustment of the working position P relative to the wall surface W, enabling precise positioning.

[0074] Furthermore, the third support means 23 makes it easier to maintain an appropriate distance from the wall surface W or to apply appropriate pressure according to the length of the work tool V supported by the support means 2 in the front-to-back direction, thereby improving work efficiency.

[0075] Furthermore, since the movement directions of the work tool V by each support means 21 to 23 are approximately perpendicular to each other, it becomes easier to grasp the work position P in three-dimensional space, improving the accuracy of positioning.

[0076] Furthermore, the contact portion 3 allows the worker to reliably apply pressure based on the forward thrust of the drone body 1 to the wall surface W via the contact surface T, thereby suppressing deviations in the position of the drone body 1 and, consequently, the work tool V relative to the wall surface W.

[0077] Furthermore, the direction of movement of the work tool V by the third support means 23 is substantially perpendicular to the wall surface W when the entire surface T of the contact surface is in contact with the wall surface W. This suppresses positional deviations of the drone body 1 relative to the wall surface W, making it easier to grasp the work position P in three-dimensional space and further improving work efficiency.

[0078] Furthermore, the wall inspection system S can prevent the drone X from falling due to an unexpected malfunction.

[0079] <Example of changes> The shapes and dimensions of the components shown in the above embodiment are merely examples and can be modified in various ways based on design requirements, etc.

[0080] For example, in the above embodiment, an example was shown in which the drone X is moored by a single guide wire A. However, as shown in Figure 10, a pair of wire support means B may be provided on the upper part of the building Z, and a pair of wire support means B may also be provided on the vertical surface G. As a result, the drone X is tethered by four guide wires A, which further enhances the stability of the drone X's flight attitude and effectively suppresses the occurrence of accidents such as unexpected falls. Furthermore, the pair of wire support means B provided on the vertical surface G consist only of a winch device U.

[0081] In addition, as mentioned above, the number of guide wires A for mooring is not limited; there may be two, three, five or more.

[0082] Furthermore, although the work tool V in this embodiment is a sealing gun, it may also be a chalk or spray for marking, a drill device for neutralization depth testing, or the like.

[0083] Furthermore, the drone X does not necessarily need to have a contact portion 3. The worker may hover the drone X at a predetermined distance from the wall surface W and perform the positioning of the work position P and the work on the wall surface W using the support means 2.

[0084] Furthermore, the support means 2 does not necessarily need to have a third support means 23; the configuration may involve the drone X flying forward to bring the work tool V into contact with the wall surface W.

[0085] Furthermore, the support means 2 does not necessarily need to have both the first support means 21 and the second support means 22; it may have either one.

[0086] Furthermore, the linear actuators (first support mechanism component 21a, etc.) constituting the support mechanism 2 are not limited to those described above, and any configuration that allows for remote control of the sliding speed and sliding distance is acceptable. The number of actuators is also not limited to those described above, and there may be one actuator each for the first, second, and third actuators.

[0087] Furthermore, the number and configuration of each connecting device n1 and n2 are not limited to those described above; any means that can stably mount the entire support means 2 to the drone body 1, such as cable ties, is acceptable.

[0088] In application documents, the term "abbreviated" is a concept that includes shapes that have been chamfered or rounded, or shapes whose constituent elements have been modified or altered in length to the extent that it does not impede the purpose of the shape. [Explanation of Symbols]

[0089] X Drone 1. Drone body 11 Flight means 12 Control means 13 Drone Components 2 Support means 21 First support means 22 Second support means 23 Third support means 3 Contact part T Contact surface V Work Tools W Wall A Guidewire B Wire support means C Separation means Z construction G Standing surface S Wall Inspection System

Claims

1. The system comprises a drone body and a support means mounted on the drone body that supports a work tool for performing predetermined tasks on a wall surface. The drone body comprises a flight means, a control means for controlling the flight means, and a drone structure on which the flight means and the control means are provided. The support means comprises at least one of a first support means that supports the work tool so as to be movable in the yaw axis direction of the drone body, or a second support means that supports the work tool so as to be movable in the pitch axis direction of the drone body. Drone.

2. The support means further includes a third support means for supporting the work tool so as to be movable in the roll axis direction of the drone body. The drone according to claim 1.

3. The directions of movement of the work tool by the first support means, the second support means, and the third support means are substantially perpendicular to each other. The drone according to claim 2.

4. The drone body further comprises a contact portion having a contact surface that contacts the wall surface, The drone structure includes a base and a connecting body configured above the base and connecting the base and the contact portion. The aforementioned contact portion is positioned in front of the drone body and protrudes from the connecting body. When the entire surface of the contact surface is in contact with the wall surface, the drone body is configured to be in an inclined position that is tilted diagonally downward. The drone according to claim 3.

5. The direction of movement of the work tool by the third support means is substantially perpendicular to the wall surface when the entire surface of the contact surface is in contact with the wall surface. The drone according to claim 4.

6. A drone according to any one of claims 1 to 5, a guide wire provided along the surface direction of the wall, and a wire support means for supporting the guide wire, The drone is attached to the guide wire, The wire support means includes a winch device for unwinding and winding the guide wire. Wall inspection system.

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