Mobile systems

Abstract

To provide a movement system that can safely move an external surface moving body (an unmanned flight vehicle) along an erected external surface part of a structure.SOLUTION: A movement system has an external surface moving body 10 which is arranged to oppose to an erected external surface part of a structure 100, can move in a three-dimensional direction and is suspended on wire 21, and a wire feeding / winding mechanism 20 that feeds and winds the wire 21, and the movement system can safely move the external surface moving body along the erected external surface part of the structure.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a moving system that moves an outer surface moving body disposed facing an upright outer surface portion of a structure such as a building along the outer surface portion.

Background Art

[0002] Conventionally, a moving system using a drone (unmanned aerial vehicle: outer surface moving body) described in Patent Document 1 is known. In this moving system, mecanum wheels are provided at the four corners of the housing (X-shaped frame) of the drone, and the mecanum wheels are pressed against the wall surface of the structure (for example, the inner peripheral surface of the ceiling of a tunnel, the lower surface of a bridge, etc.) by the lift force generated by the operation of a plurality of propellers of the drone. While this state is maintained, the mecanum wheels rotate and the drone can move two-dimensionally in an arbitrary direction on the wall surface of the structure.

[0003] According to such a moving system, the wall surface of the structure can be inspected by an inspection device mounted on the drone (unmanned aerial vehicle). Therefore, the wall surfaces at high places such as the inner wall surface of a tunnel and the lower surface of a bridge can be safely inspected without using a high-altitude bridge inspection vehicle or a high scaffold.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the aforementioned drone (unmanned aerial vehicle) mobility system, the lift generated by the movement of multiple rotors presses the multiple Mecanum wheels on the drone against the inner wall surface of the tunnel ceiling or the underside of a bridge. Therefore, it is not possible to move the drone along the upright outer surface of structures such as buildings. Furthermore, if there is a malfunction in the control of the multiple propellers, the drone may fall. For these reasons, it is difficult to apply this system to structures built in places where many people gather, such as buildings.

[0006] This invention has been made in view of these circumstances and provides a moving system that can safely move an external moving body along the upright outer surface of a structure. [Means for solving the problem]

[0007] The moving system according to the present invention comprises an external moving body positioned opposite the upright outer surface of a structure, movable in three dimensions and suspended by a wire, and a wire feeding / winding mechanism that feeds out and winds up the wire, The structure comprises a running device provided on the outer surface moving body, which includes a plurality of wheels capable of rotating the outer surface of the structure in the lateral direction, wherein the outer surface of the structure includes louvers having a plurality of vanes arranged at predetermined intervals in the vertical direction, each extending in the lateral direction, and the running device is configured such that each of the plurality of wheels is pressed against one of the plurality of vanes in the louvers by the propulsive force directed toward the outer surface by the outer surface moving body. .

[0008] With this configuration, the external moving body can move along the outer surface of the structure. In this process, the wire feeding / winding mechanism feeds and winds the wire that suspends the external moving body in accordance with its movement. In particular, by applying a thrusting force toward the outer surface of the structure, the external moving body causes each of the multiple wheels of the running device provided on the external moving body to be pressed against one of the multiple louvers on the outer surface of the structure. In this state, when the external moving body moves laterally, the multiple wheels, each pressed against one of the multiple louvers, can rotate and move continuously laterally along the louvers.

[0009] In the mobile system according to the present invention, the wire feeding / winding mechanism is further described as structure The configuration may include a lateral movement mechanism that moves objects in the lateral direction.

[0010] With this configuration, the lateral position of the wire suspending the external moving body can be changed by the lateral movement mechanism. As a result, even if the external moving body itself does not move significantly laterally, it can be moved over a wider range laterally along its outer surface.

[0017] In the mobile system according to the present invention, the external mobile body may be configured to mount at least a part of an inspection device for inspecting the louvers.

[0018] With this configuration, when the external moving body moves laterally along the louvers on the outer surface of the structure, at least a portion of the inspection device mounted on the external moving body can be used to inspect the louvers.

[0019] In the mobile system according to the present invention, the wire may be configured to include an electric wire electrically connected to the inspection device mounted on the externally moving body.

[0020] With this configuration, the external moving body is suspended, and power can be supplied to the external moving body and electrical signals can be transmitted to and received from the inspection device mounted on the external moving body, as well as power can be supplied via the electric wires contained in the wires that are fed out and wound up by the wire feeding / winding mechanism. [Effects of the Invention]

[0021] According to the moving system of the present invention, since the external moving body, which is movable in three dimensions, is suspended by a wire that is fed out and wound up by a wire feeding / winding mechanism, the external moving body can be safely moved along the upright outer surface of a structure. [Brief explanation of the drawing]

[0022] [Figure 1] Figure 1 shows an example of louvers installed on the wall of a building (structure). [Figure 2]FIG. 2 is a front view showing a moving system according to the first embodiment of the present invention. [Figure 3] FIG. 3 is a side view showing a moving system according to the first embodiment of the present invention. [Figure 4] FIG. 4 is a perspective view showing an outer surface moving body used in the moving system. [Figure 5] FIG. 5 is a front view showing the outer surface moving body. [Figure 6] FIG. 6 is a front view showing a wheel (Mecanum wheel) included in a traveling device of the outer surface moving body. [Figure 7] FIG. 7 is an enlarged side view showing a sub-wheel constituting the wheel (Mecanum wheel) shown in FIG. 6. [Figure 8] FIG. 8 is a side view showing the outer surface moving body in a state where the wheel is pressed against the louver blade. [Figure 9] FIG. 9 is a front view showing a state where the outer surface moving body moves horizontally along the louver blade in the moving system. [Figure 10] FIG. 10 is a front view showing another example of a wheel included in a traveling device of the outer surface moving body. [Figure 11] FIG. 11 is a front view showing a moving system according to the second embodiment of the present invention.

Mode for Carrying Out the Invention

[0023] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0024] For example, as shown in FIG. 1, on the upright outer surface of a building 100 (structure) built on the ground G, a louver 110 may be provided for sunshade, rain protection, ventilation, eye protection, etc. The louver 110 has a plurality of blades... 110a to 110g... arranged at a predetermined interval in the vertical direction (up and down direction) and each extending in the horizontal direction. The moving system according to the first embodiment of the present invention is configured to move an outer surface moving body equipped with an inspection device for inspecting the louver 110 along the louver 110 (blade).

[0025] The moving system according to the first embodiment of the present invention is configured as shown in Figures 2 and 3. Figure 2 is a front view of the moving system, and Figure 3 is a side view of the moving system. In Figures 2 and 3, the louver 110 is shown to be composed of seven slats 110a to 110g, but in reality it has more slats (see Figure 1). For convenience, the following description will assume that the louver 110 provided on the exterior surface of building 100 is composed of seven slats 110a to 110g.

[0026] In Figures 2 and 3, this mobile system uses an external mobile body 10 that moves along the louvers 110 provided on the outer surface of the building 100. The external mobile body 10 is a rotary-wing aircraft (e.g., an unmanned aerial vehicle (drone)) that can move in three dimensions and has an elongated fuselage 11, as shown in Figures 4 and 5, as well as Figures 2 and 3. One end of the fuselage 11 is provided with a running gear including four wheels 12a, 12b, 12c, and 12d. The external mobile body 10 also has four rotors (propellers) 14a, 14b, 14c, and 14d that enable three-dimensional movement together with the rotor 15. Two rotors 14a and 14b and two rotors 14c and 14d are arranged opposite each other on an axis that extends in the longitudinal direction of the fuselage 11. Furthermore, a rotor 15 (propeller) that ejects airflow outward is provided inside the end portion of the fuselage 11 opposite to the end portion where the wheels 12a to 12d are located. A fastener 13 is provided at a predetermined position in the central part of the fuselage 11 (corresponding to the center of gravity of the external moving body 10).

[0027] As shown in Figure 6, the running gear provided on the outer moving body 10 has a structure in which each wheel 12a, 12b, 12c, and 12d is rotatably supported by axle mechanisms 16a, 16b, 16c, and 16d fixed to the bottom plate 18. The spacing between the two upper wheels 12a and 12b, which are aligned in the direction of rotational movement, and the two lower wheels 12c and 12d, which are also aligned in the direction of rotational movement, is set to correspond to the spacing between two adjacent louvers 110 (for example, louvers 110d and 110e in Figure 6). Each wheel 12a, 12b, 12c, and 12d is composed of multiple sub-wheels 120, similar to a Mecanum wheel. As shown in Figure 7, each sub-wheel 120 is generally barrel-shaped with a constricted portion C formed therein. Furthermore, each wheel 12a to 12d, which is composed of multiple sub-wheels 120, has a structure in which a recess S is formed on its entire circumference, corresponding to the constricted portion C of each sub-wheel 120.

[0028] Returning to Figures 2 and 3, a winch machine 20 (wire feed / wind mechanism) is installed at a designated location on the roof of building 100. The winch machine 20 winds up and feeds out a wire 21, one end of which is fixed to a fastener 13 on the external moving body 10. The external moving body 10 is suspended from the wire 21 extending from the winch machine 20 installed on the roof.

[0029] In the moving system configured as described above, the external moving body 10 is moved in the following manner.

[0030] When the rotor 15 is stopped, and the rotors 14a to 14d are moved from their operating state to a stopped state, no thrust force F toward the louvers 110 (outer surface of building 100) acts on the outer moving body 10, and as shown in Figure 3, each wheel 12a to 12d of the outer moving body 10 is separated from the louvers 110. In this state, for example, as shown in Figure 2, the outer moving body 10 is lowered and the four rotors 14a to 14d are operated, maintaining a predetermined tension on the wire 21, and the winch machine 20 feeds out the wire 21 so that it follows the movement of the outer moving body 10, thereby moving the outer moving body 10 suspended by the wire 21 extending from the winch machine 20 vertically Dv (downward) from position P0 (x0, y0) to position P1 (x0, y1). Furthermore, by operating the four rotors 14a to 14d to raise the outer moving body 10, and while maintaining a predetermined tension on the wire 21, the winch machine 20 winds up the wire 21 so that it follows the movement of the outer moving body 10, thereby moving the outer moving body 10, which is suspended from the wire 21 extending from the winch machine 20, vertically Dv (upward) to position P2 (x0, y2).

[0031] As described above, the outer moving body 10 is moved in the vertical direction Dv (up and down direction) so that the outer moving body 10 is positioned such that the upper wheels 12a, 12b and the lower wheels 12c, 12d face adjacent louvers 110 to be inspected (for example, louvers 110d, 110e) (see position P0 in Figure 2, for example). At this time, the outer moving body 10 may be operating with the four rotors 14a to 14d, or it may be simply suspended from the wire 21 with the four rotors 14a to 14d stopped. To prevent the outer moving body 10 from being blown away by the wind, it is preferable that the four rotors 14a to 14d be operated to hold it in a predetermined position so that a predetermined tension is applied to the wire 21. In this state, when the rotor 15 is operated, a thrust force F acts on the outer moving body 10 toward the louvers 110 (it is biased), and as shown in Figure 8, the upper wheels 12a and 12b are pressed against the vane 110d to be inspected, and the lower wheels 12c and 12d are pressed against the vane 110e adjacent to vane 110d to be inspected. In this state, as shown in Figure 6, the recesses S of each wheel 12a to 12d fit into the leading edges of the vane 110d and 110e. As a result, each wheel 12a to 12d is guided by the recesses S and becomes less likely to come off the vane 110d and 110e.

[0032] Then, as shown in Figure 9, by operating the four rotors 14a to 14d to move the outer moving body 10 to the right, and while maintaining a predetermined tension on the wire 21, the winch machine 20 feeds out the wire 21 so that it follows the movement of the outer moving body 10, thereby moving the outer moving body 10 suspended from the wire 21 extending from the winch machine 20 from position P0 (x0, y0) to position P3 (x1, y0) in the lateral direction Dh (to the right). In addition, by operating the four rotors 14a to 14d to make the outer moving body 10 fly to the left, and while maintaining a predetermined tension on the wire 21, the winch machine 20 winds up and feeds out the wire so that it follows the movement of the outer moving body 10, thereby moving the outer moving body 10 suspended from the wire 21 extending from the winch machine 20 to position P4 (x2, y0). At this time, the upper wheels 12a and 12b, which are pressed against the slat 110d of the louver 110, rotate in the lateral direction Dh on the slat 110d, and the two lower wheels 12c and 12d, which are pressed against the slat 110e of the louver 110, rotate in the lateral direction Dh on the slat 110e.

[0033] As described above, when the external moving body 10 moves laterally and moves along the adjacent slats 110d and 110e of the louver 100, the inspection device mounted on the external moving body 10 performs various inspections of the slats 110d and 110e (louver 110) (screw and nut loosening inspection, tapping inspection, photography (video transmission), etc.). The inspection device may be powered by a battery or by power from a power line connected to the inspection device. Furthermore, the transmission and reception of signals (electrical signals) to and from the inspection device may be done wirelessly or via a signal line (wired). In addition, the power line and signal line may be included in the wire 21 that is wound and fed out by the winch machine 20. Moreover, the inspection device mounted on the external moving body 10 may constitute part of the device that inspects the louver 110.

[0034] According to the moving system described above, the outward airflow ejected by the rotor 15 generates a thrust force F directed towards the louvers 100 of the building 100, causing the four wheels 12a to 12d of the external moving body 10 to be pressed against the adjacent fins 110d and 110e of the louvers 110. Then, by moving the external moving body 10 in the lateral direction Dh, the four wheels 12a to 12d pressed against the fins 110d and 110e rotate and move along the fins 110d and 110e, while the external moving body 10, suspended by the wire 21 extending from the winch machine 20, can move continuously in the lateral direction Dh along the louvers 110. The four wheels 12a to 12d move along the fins 110d and 110e with frictional force as they are pressed against the fins 110d and 110e, so the outer moving body 10 moving in the lateral direction Dh can move stably in the lateral direction Dh. Furthermore, the recesses S of each wheel 12a to 12d fit into the leading edges of the fins 110d and 110e, and each wheel 12a to 12d moves along the fins 110d and 110e while being guided by the recesses S. Therefore, even if an external force due to wind acts on the outer moving body 10, the outer moving body 10 can move more stably in the lateral direction Dh on the fins 110d and 110e of the louver 110, in conjunction with the attitude control by the four rotors 14a to 14d. Furthermore, the inspection device mounted on the externally moving body 10, which moves stably in the lateral direction, can continuously and reliably inspect each of the laterally extending slats 110a to 110g of the louver 110.

[0035] Furthermore, even if the attitude control of the external moving body 10 is impaired for any reason, the external moving body 10 is suspended by a wire 21 extending from the winch machine 20, so it is possible to prevent the external moving body 10 from falling to the ground G. Therefore, the external moving body 10 can be safely moved along the louvers 110 provided on the upright outer surface of the building 100.

[0036] Each of the four wheels 12a to 12d is composed of multiple sub-wheels 120, similar to a Mecanum wheel (see Figures 6 and 7), but is not limited to this. For example, as shown in Figure 10, each of the wheels 17a to 17d, which are rotatably supported by axle mechanisms 16a to 16d provided on the bottom plate 18 of the outer moving body 10, can be configured as a single-piece wheel. Each wheel 17a to 17d has a shape similar to a bobbin, with a recess S formed around its entire circumference. As a result, the protruding edges of the louver 110's slats 110d and 110e fit into the recesses S of each wheel 17a to 17d, and each wheel 17a to 17d moves along the slats 110d and 110e while being guided by the recesses S. Therefore, as in the example described above (see Figures 6 and 7), the outer moving body 10 can move more stably along the louver 110's slats 110d and 110e in the lateral direction Dh.

[0037] Next, a mobile system according to a second embodiment of the present invention will be described.

[0038] The moving system according to the second embodiment of the present invention is configured as shown in Figure 11. Figure 11 is a front view of the moving system, showing the lateral movement of the outer moving body 10. In Figure 11, the same reference numerals are used for parts that are the same as those of the first embodiment described above.

[0039] The second embodiment of the moving system is characterized by having a lateral movement mechanism that moves a winch machine 20, which winds up and unwinds the wire 21 suspending the external moving body 10, laterally along the louvers 110 of the building 100.

[0040] In Figure 11, a rail 24 is laid on the rooftop of building 100, extending laterally along the edge of the roof. A carrier 23 is slidably mounted on the rail 24. A winch machine 20 is installed on the carrier 23 for winding and releasing the wire 21 that suspends the external moving body 10. The external moving body 10 has the same configuration as that of the first embodiment described above (see Figures 3, 4, and 5). The winch machine 20 installed on the carrier 23 winds and releases the wire 21, one end of which is fixed to the external moving body 10 (fastener 13). In this configuration, the rail 24 installed on the roof and the carrier 23 sliding along the rail 25 constitute a lateral movement mechanism that moves the winch machine 20, which acts as a wire feed / winding mechanism, laterally.

[0041] In the moving system configured as described above, as in the first embodiment (see Figures 2 and 3), the outer moving body 10, with the rotor 15 stopped and away from the louvers 110, can move in the vertical direction Dv by the operation of the four rotors 14a to 14d. When the rotor 15 operates while the outer moving body 10 is positioned facing the louvers 110d and 110e to be inspected due to this vertical movement Dv of the outer moving body 10, the thrust force F causes the four wheels 12a to 12d of the outer moving body 10 to press against the louvers 110d and 110e, as in the first embodiment (see Figure 8). At this time, the outer moving body 10 may be operating with the four rotors 14a to 14d, or with the four rotors 14a to 14d stopped.

[0042] In this state, as the carrier 23 slides along the rail 24, the outer moving body 10 suspended from the wire 21 extending from the winch machine 20 attached to the carrier 23 moves laterally in the direction Dh (positions P0 (x0, y0), P3 (x1, y0), and P4 (x2, y0)), as shown in Figure 11. Unwanted movement of the outer moving body 10 due to inertia based on the sliding of the carrier 23 on the rail 24 can be canceled by the operation of the four rotors 14a to 14d. At this time, similar to the first embodiment (see Figures 8 and 9), the two upper wheels 12a and 12b of the outer moving body 10 rotate laterally in the direction Dh on the louver 110's finials 110d, and the two lower wheels 12c and 12d rotate laterally in the direction Dh on the louver 110's finials 110e.

[0043] According to the second embodiment of the moving system, the external moving body 10, suspended by a wire 21 extending from the winch machine 20, moves in the vertical direction Dv and the four wheels 12a to 12d of the external moving body 10, positioned therein, are pressed against adjacent slats 110d and 110e of the louver 110 by the thrust force F from the operation of the rotor 15. As the carrier 23 slides along the rail 24, the four wheels 12a to 12d rotate and move on the adjacent slats 110d and 110e, allowing the external moving body 10, suspended by the wire 21 extending from the winch machine 20, to move continuously in the horizontal direction Dv along the louver 110. In this case as well, the four wheels 12a to 12d move on the slats 110d and 110e with frictional force as they are pressed against them, so the external moving body 10 can move stably in the horizontal direction Dh. Furthermore, the inspection device mounted on the externally moving body 10, which moves stably in the lateral direction, can continuously and reliably inspect each of the laterally extending louvers 110a to 110g, just as in the first embodiment.

[0044] In particular, according to the second embodiment of the moving system, the outer moving body 10 does not need to move in the lateral direction Dh, making it easier to control the four rotors 14a to 14d. Furthermore, since the lateral movement of the outer moving body 10 in the lateral direction Dh is performed by the lateral movement mechanism (carrier 23, rail 24) moving the winch machine 20, which winds up and unwinds the wire 21 that suspends the outer moving body 10, in the lateral direction Dh, the outer moving body 10 can be moved easily and stably in the lateral direction.

[0045] In the above-described moving system, the lateral movement Dh of the outer moving body 10 was achieved by a lateral movement mechanism (carrier 23, rail 24) that moved the winch machine 20 in the lateral direction Dh, but this is not limited to this. The outer moving body 10 can also be moved in the lateral direction Dh by both the four rotors 14a to 14d and the lateral movement mechanism (carrier 23, rail 24).

[0046] In each of the first and second embodiments described above, at least one of the four wheels 12a to 12d can be driven by a power source (e.g., a motor) provided in at least one of the four axle mechanisms 16a to 16d in the running gear.

[0047] Furthermore, in the first and second embodiments, when the outer moving body 10 moves, the wire 21 is fed out and wound up while maintaining a state in which a predetermined tension is applied to the wire 21 so as to follow the movement of the outer moving body 10. However, the winch machine 20 may also feed out and wind up the wire 21 in a slack state.

[0048] Furthermore, while the moving systems according to the first and second embodiments move the external moving body 10 along louvers 110 provided on the exterior surface of the building 100, the system is not limited thereto. The moving system according to the present invention may move the external moving body 10 along an exterior surface such as the wall surface of the building 100, or it may move the external moving body 10 along an upright exterior surface of a structure other than the building 100.

[0049] Furthermore, in this invention, the external moving body 10 can control its precise posture and three-dimensional movement using multiple rotors, so it is not necessary to provide wheels 12a to 12d (17a to 17b).

[0050] Although embodiments of the present invention have been described above, each embodiment is presented as an example and is not intended to limit the scope of the invention. These novel embodiments described above can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments are included in the scope and spirit of the invention, as well as in the invention described in the claims. [Industrial applicability]

[0051] The moving system according to the present invention has the effect of being able to safely move an external moving body along the upright outer surface of a structure, and is useful as a moving system for moving an external moving body that is positioned opposite the upright outer surface of a structure such as a building along the said outer surface. [Explanation of Symbols]

[0052] 10 External moving body 11 Torso 12a, 12b, 12c, 12d wheels 13a,13b, 13c, 13d Fasteners 14a, 14b, 14c, 14d Rotor (propeller) 15 Rotor (propeller) 16a, 16b, 16c, 16d axle mechanism 17a, 17b, 17c, 17d wheels 18 Bottom plate 20 Winch machines 21 wires 23 carriers 24 rails 100 Building 110 Louvers 110a~110g Feather Plate

Claims

1. An external moving body positioned opposite the upright outer surface of a structure, movable in three dimensions, and suspended by wires, A wire feeding / winding mechanism for feeding and winding the aforementioned wire, The external moving body is provided with a running device that includes a plurality of wheels capable of rotating the external portion of the structure in the lateral direction of the structure, The outer surface of the structure includes louvers having a plurality of fins arranged at predetermined intervals in the vertical direction, each fin extending in the horizontal direction. The aforementioned moving device is a moving system configured such that each of the plurality of wheels is pressed against one of the plurality of fins of the louver by the propulsive force directed toward the outer surface by the outer surface moving body.

2. Furthermore, the moving system according to claim 1, further comprising a lateral movement mechanism for moving the wire feeding / winding mechanism in the lateral direction of the structure.

3. The outer moving body is Torso and, It has a mechanism that allows the torso to move in three dimensions, The aforementioned running device is provided on one end of the body, The mechanism that enables the three-dimensional movement of the torso is, The mobility system according to claim 1, comprising a rotor provided at the other end of the body opposite to the end of the body on which the running gear is provided, and which generates a propulsive force in the direction toward the end of the body on which the running gear is provided.

4. The moving system according to claim 1, wherein the external moving body is equipped with at least a part of an inspection device for inspecting the louvers.

5. The mobile system according to claim 4, wherein the wire includes an electric wire electrically connected to the inspection device mounted on the externally moving body.

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