Exterior wall repair device and exterior wall repair method

Abstract

The objective of the present invention is to provide an exterior wall repair device that can perform repair work after diagnosing the exterior wall of a building by remote operation without assembling scaffolding around the building. The exterior wall repair device (A) comprises a driving body (4), a driving unit capable of driving on the driving body (4), a trolley (1) having a winch device, a gondola (20) that is suspended and lifted by the winch device, a manipulator (21) positioned on the gondola (20) to perform repair work, a shooting unit capable of capturing the work situation by the manipulator (21), a vacuum device (24) for detachably fixing the gondola (20) to the exterior wall surface, a repair device main body (2) having a belt that is attached to the driving unit of the manipulator (21) at both ends to the attachment / detachment means of the fixing device, a monitor (32) where an operator can view an image from the shooting unit, and a remote operation unit (3) having an operation glove (31) that is operated by the operator to synchronize the manipulator (21) and allow for remote operation.

Description

Technology Field

[0001] The present invention relates to an exterior wall repair device and an exterior wall repair method. More specifically, it relates to a method for performing repair work on the exterior walls of a building by remote operation without constructing scaffolding around the building. Background Technology

[0002] Due to the deterioration caused by aging, cracks in tiles, discoloration of surface coatings, or deterioration and cracking of sealants may occur on the exterior walls of buildings. Rainwater intrusion can consequently lead to the falling of tiles. As a countermeasure, regular diagnostic checks are conducted to assess the deterioration status of the exterior walls, and repairs are carried out on necessary locations based on the results of these checks.

[0003] In the past, the diagnosis and repair of these exterior walls were carried out by constructing scaffolding around the building to ensure the safety of the workers. However, this method of using scaffolding had disadvantages: the scaffolding had to be dismantled after assembly, and the diagnosis and repair work was costly and time-consuming. Consequently, when organizations such as apartment building residents' associations planned such work, the financial burden of diagnosis and repair costs, in particular, served as a major obstacle to their implementation.

[0004] Therefore, various measures are being taken recently to reduce this burden. For example, many proposals have been made regarding means of diagnosing exterior walls without using scaffolding, and one of them is the wall surface inspection system described in Patent Document 1.

[0005] The wall surface inspection system described in the above patent document 1 generates diagnostic data by comparing the impact sound data and reference impact sound data using a terminal computer that obtains impact sound data and a wall image from an inspection terminal suspended from the wall of a building to be inspected.

[0006] In addition, the management computer performs a synthesis process with the diagnostic data output from the terminal computer and the stored building back plan data of the building under investigation, prints the diagnostic result composite building plan along with the investigation result chart data table using a printer, and conducts a wall surface inspection of the building under investigation simply and at low cost to verify the wall surface condition. Prior art literature

[0007] Japanese Patent Publication No. 2007-139707 The problem to be solved

[0008] However, the wall inspection system described in the above-mentioned Patent Document 1 had the following problem. That is, even if the inspection (diagnosis) of the exterior wall of a building can be performed simply and efficiently without constructing scaffolding, if a damaged area (defective area) is found through the diagnosis, that area must be repaired. However, this repair work is carried out in a manner no different from the conventional method, in which a worker directly performs the work by constructing scaffolding.

[0009] The present invention was conceived in consideration of the above points and aims to provide an exterior wall repair device and an exterior wall repair method that allow repair work on the exterior walls of a building to be performed by remote operation without the need to construct scaffolding around the building. means of solving the problem

[0010] (1) To achieve the above objective, the present invention is an exterior wall repair device comprising: a driving path installed on a rooftop to be repaired; a driving part capable of driving on the driving path and a trolley having a suspended lifting part; a gondola suspended and lifted by the suspended lifting part; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting part installed on the manipulator to take a picture of the repair target area; a fixing device for fixing the gondola so as to be detachable at a predetermined location on the exterior wall surface; a repair device main body having a belt or rope body with both ends fixed to a suction plate of the fixing device or a detachable means capable of being fixed to the exterior wall surface and connected to the driving part of the manipulator to prevent separation from the exterior wall surface of the gondola during the operation of the manipulator; a monitor in which an operator can view an image from the shooting part; and a remote control part having a glove operated by the operator to synchronously remotely operate the manipulator.

[0011] The exterior wall repair device of the present invention can move a travel path installed on a rooftop to be repaired by driving it with the driving part of a trolley. The trolley can lift and raise the gondola of the main body of the repair device by means of a lifting lifting part. The gondola of the main body of the repair device can be detachably fixed at a predetermined location on the exterior wall surface by means of a fixing device.

[0012] A manipulator positioned at a designated location on the gondola performs maintenance work through remote operation by an operator. The operator performs operations using the operating gloves of the remote control unit, and the manipulator operates in synchronization with the operating gloves. The operator can perform maintenance with a sense of realism as if they were actually working on-site by viewing images on a monitor from a camera unit capable of capturing the maintenance target area by the manipulator.

[0013] In addition, the main body of the maintenance device is secured at both ends to a suction plate of the fixing device or to a detachable means that can be fixed to the outer wall surface, and is attached to the drive unit of the manipulator, and has a belt or rope body that prevents separation from the outer wall surface of the gondola during the operation of the manipulator, so that separation from the outer wall surface of the gondola can be more reliably prevented when performing work that applies pressure or impact to the outer wall surface, such as using an impact, during the operation of the manipulator.

[0014] In this way, according to the exterior wall repair device, it becomes possible to perform repair work on the exterior walls of buildings, etc., by remote operation without the need to construct scaffolding around the building.

[0015] [2] To achieve the above objective, the present invention is an exterior wall repair device comprising: a gondola that is suspended and lifted by a trolley having a suspension lifting unit and capable of traveling along a roadway installed on a rooftop to be repaired; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting unit capable of photographing the repair target area by the manipulator; a fixing device for detachably fixing the gondola at a predetermined location on the exterior wall surface; a repair device main body having a belt or rope body that fixes both ends to a suction plate of the fixing device or a detachable means capable of being fixed to the exterior wall surface and is connected to the driving unit of the manipulator to suppress separation of the gondola from the exterior wall surface during the operation of the manipulator; a monitor in which an operator can view an image from the shooting unit; and a remote control unit having a control globe that is operated by the operator to synchronize the manipulator and remotely operate the device.

[0016] The exterior wall repair device of the present invention has the same operating effect as the exterior wall repair device of [1] and can perform repair work on the exterior walls of a building, etc., remotely without assembling scaffolding around the building.

[0017] [3] The exterior wall repair device according to the present invention may be configured to have a remotely operable tapping test device for diagnosing the exterior wall of the building.

[0018] In this case, by operating a tapping device to tap the exterior wall and acquiring tapping sound data, it becomes possible to determine or analyze the condition of the exterior wall surface. Consequently, if defective parts are identified during the diagnosis of the exterior wall by the exterior wall repair device, repair work can be performed as a series of operations, thereby enabling work efficiency.

[0019] [4] The exterior wall repair device according to the present invention may be configured such that the tapping device is installed at both ends of the horizontal movement direction of the gondola.

[0020] In this case, for example, the tapping device on the right side (one end) of the horizontal movement direction can be used when tapping so that the main body of the repair device does not protrude from the right end of the outer wall surface, and the tapping device on the left side (other end) can be used when tapping so that the main body of the repair device does not protrude from the left end of the outer wall.

[0021] [5] To achieve the above objective, the present invention is a method for repairing an exterior wall, comprising the steps of: diagnosing the exterior wall of a building and identifying defective parts based on acquired data; aligning a work unit installed on a gondola that is movable horizontally and suspended up and down along the exterior wall surface with the defective part; attaching a belt or rope body, with both ends fixed to a detachable means attached to the exterior wall surface, to the drive unit of the manipulator to prevent separation from the exterior wall surface of the gondola during the operation of the manipulator; and performing repair work on the exterior wall surface by the manipulator, which operates in synchronization with remote operation using an operating globe, while the operator sees the image of the work unit on a monitor.

[0022] According to the exterior wall repair method of the present invention, the exterior wall of a building can be diagnosed, and defective parts can be identified based on acquired data. In addition, by aligning a work unit installed on a gondola that is movable in a horizontal direction while being suspended up and down along the exterior wall surface with the defective area, work by the manipulator becomes possible.

[0023] By performing exterior wall repair work using a manipulator that operates in synchronization with remote control via a control globe, which the operator performs while viewing a monitor displaying the situation of the work area, the operator can perform the work with a sense of realism as if they were actually working on-site. This makes it possible to perform exterior wall repair work on buildings, such as office buildings, via remote control without the need to erect scaffolding around the building.

[0024] In addition, the main body of the maintenance device is secured at both ends to a suction plate of the fixing device or to a detachable means that can be fixed to the outer wall surface, and is attached to the drive unit of the manipulator, and has a belt or rope body that prevents separation from the outer wall surface of the gondola during the operation of the manipulator, so that separation from the outer wall surface of the gondola can be more reliably prevented when performing work that applies pressure or impact to the outer wall surface, such as using an impact, during the operation of the manipulator.

[0025] [6] The exterior wall repair device according to the present invention may be configured to diagnose the exterior wall of the building using a remotely operable tapping test device and a microphone that collects the tapping sound.

[0026] In this case, by operating a tapping device to tap the exterior wall and acquiring tapping sound data via a microphone, it becomes possible to determine or analyze the condition of the exterior wall surface. Consequently, if defective parts are identified during the diagnosis of the exterior wall, the repair work can be performed as a series of operations using an exterior wall repair device, thereby enabling work efficiency.

[0027] [7] The exterior wall repair device according to the present invention may be configured such that the tapping device is installed at both ends of the horizontal movement direction of the gondola.

[0028] In this case, for example, the tapping device on the right side (one end) of the horizontal movement direction can be used when tapping so that the main body of the repair device does not protrude from the right end of the outer wall surface, and the tapping device on the left side (other end) can be used when tapping so that the main body of the repair device does not protrude from the left end of the outer wall.

[0029] [8] To achieve the above objective, the present invention is an exterior wall repair device comprising: a driving path installed on a rooftop to be repaired; a trolley having a driving section capable of driving on the driving path and a lifting section capable of lifting; a gondola suspended and lifted by the lifting section; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting section installed on the manipulator capable of photographing the repair target area; a tapping inspection tapping device installed at both ends of the horizontal movement direction of the gondola; and a repair device main body having a fixing device for detachably fixing the gondola at a predetermined location on the exterior wall surface; and a remote control section having a control glove that is operated by an operator who views an image from the shooting section and can remotely operate the manipulator by synchronizing it.

[0030] The exterior wall repair device of the present invention can move a travel path installed on a rooftop to be repaired by driving it with the driving part of a trolley. The trolley can lift and raise the gondola of the main body of the repair device by means of a lifting lifting part. The gondola of the main body of the repair device can be detachably fixed at a predetermined location on the exterior wall surface by means of a fixing device.

[0031] A manipulator positioned at a designated location on the gondola performs maintenance work through remote operation by an operator. The operator performs operations using the operating gloves of the remote control unit, and the manipulator operates in synchronization with the operating gloves. The operator can maintain a sense of realism as if they are actually working on-site by viewing images on a monitor from a camera unit capable of capturing the maintenance target area by the manipulator.

[0032] In addition, since a tapping inspection is performed by each tapping device installed at both ends of the horizontal movement direction of the gondola, for example, the tapping device on the right side (one end) of the horizontal movement direction can be used when tapping the right end of the outer wall surface so that the main body of the repair device protrudes, and the tapping device on the left side (the other end) can be used when tapping the left end of the outer wall so that the main body of the repair device does not protrude.

[0033] Accordingly, it becomes possible to perform repair work on the exterior walls of buildings, etc., via remote operation without the need to set up scaffolding around the building.

[0034] [9] To achieve the above objective, the present invention is an exterior wall repair device comprising: a gondola that is lifted and lowered by being suspended from a trolley having a suspension lifting unit and capable of traveling along a roadway installed on a rooftop to be repaired; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting unit installed on the manipulator to be capable of photographing the area to be repaired; a tapping inspection device installed at both ends of the horizontal movement direction of the gondola; and a repair device main body having a fixing device for detachably fixing the gondola at a predetermined location on the exterior wall surface; a monitor in which an operator can view an image from the shooting unit; and a remote control unit having a manipulator glove that is operated by the operator to synchronize the manipulator and remotely operate the device.

[0035] The exterior wall repair device of the present invention has the same operating effect as the exterior wall repair device of [8] and can perform repair work on the exterior walls of a building, etc., remotely without assembling scaffolding around the building.

[0036]

[10] The outer wall repair device according to the present invention may be configured such that the fixing device has a suction plate of the vacuum device adsorbed to the outer wall.

[0037] In this case, the suction plate of the vacuum device of the fixed device adheres to the outer wall. According to this, since a continuous and reliable suction force is obtained when the inside of the suction plate is vacuumed, it is possible to prevent the gondola of the outer wall repair device from falling off the outer wall surface due to the repulsive force of pressure from tools, etc., on the outer wall surface during work by the manipulator.

[0038]

[11] The exterior wall repair device of the present invention may be configured to have a microphone that collects the sound of the tapping device.

[0039] In this case, by operating a tapping device to tap the exterior wall and acquiring tapping sound data via a microphone, it becomes possible to determine or analyze the condition of the exterior wall surface. Consequently, if defective parts are identified during the diagnosis of the exterior wall by the exterior wall repair device, repair work can be performed as a series of operations, thereby enabling work efficiency.

[0040]

[12] To achieve the above objective, the present invention is a method for repairing an exterior wall, comprising the steps of: moving a gondola that is suspended along the exterior wall of a building and capable of moving in a horizontal direction, and moving it in a vertical and horizontal direction, and simultaneously performing a tapping inspection by tapping devices installed at both ends of the gondola in the horizontal direction of movement and diagnosing the exterior wall, and identifying defective areas based on acquired data; aligning a work unit, which performs work using a manipulator installed on the gondola and synchronized with remote operation using a manipulator glove by an operator, with the defective areas; and performing repair work on the exterior wall surface using the manipulator that operates in synchronization with remote operation using a manipulator glove, while the operator sees an image on a monitor showing the condition of the repair target area where the work unit performs work.

[0041] According to the exterior wall repair method of the present invention, the exterior wall of a building can be diagnosed, and defective parts can be identified based on acquired data. In addition, by aligning a work unit installed on a gondola that is movable in a horizontal direction while being suspended up and down along the exterior wall surface with the defective area, work by the manipulator becomes possible.

[0042] By performing exterior wall repair work using a manipulator that operates in synchronization with remote control via a control globe, which the operator performs while viewing a monitor displaying the situation of the work area, the operator can perform the work with a sense of realism as if they were actually working on-site. This makes it possible to perform exterior wall repair work on buildings, such as structures, via remote control without the need to erect scaffolding around the building.

[0043] In addition, since a tapping inspection is performed by each tapping device installed at both ends of the horizontal movement direction of the gondola, for example, the tapping device on the right side (one end) of the horizontal movement direction can be used when tapping the right end of the outer wall surface so that the main body of the repair device protrudes, and the tapping device on the left side (the other end) can be used when tapping the left end of the outer wall so that the main body of the repair device does not protrude.

[0044]

[13] The method for repairing an outer wall according to the present invention may be configured such that the tapping inspection of the outer wall surface is performed using a microphone that collects the tapping sound of the tapping device.

[0045] In this case, by operating a tapping device to tap the exterior wall and acquiring tapping sound data via a microphone, it becomes possible to determine or analyze the condition of the exterior wall surface. Consequently, if defective parts are identified during the diagnosis of the exterior wall, the repair work can be performed as a series of operations using an exterior wall repair device, thereby enabling work efficiency. Effects of the invention

[0046] The present invention can provide an exterior wall repair device and an exterior wall repair method that allow repair work on the exterior walls of a building to be performed by remote operation without assembling scaffolding around the building. Brief explanation of the drawing

[0047] FIG. 1 is a schematic diagram showing one embodiment of an exterior wall repair device according to the present invention. FIG. 2 is a perspective diagram showing the structure of the bogie and the main body of the exterior wall repair device shown in FIG. 1. Figure 3 is a cross-sectional explanatory diagram showing the structure of the bogie and the main body of the exterior wall repair device. Figure 4 is a block diagram showing the control system of an exterior wall repair device. Figure 5 is an explanatory diagram showing another example of a manipulator. Specific details for implementing the invention

[0048] Embodiments of the present invention will be described in detail with reference to FIGS. 1 to 5.

[0049] The exterior wall repair device (A) comprises a driving path (4) installed on a parapet (5) on the rooftop of a building, a trolley (1) capable of moving horizontally along the driving path (4), a repair device main body (2) suspended from the trolley (1) so as to be raised and lowered by a transportable wire (163, 164) of a winch device (161, 162), and a remote control unit (3) capable of remotely operating a manipulator (21) provided by the repair device main body (2). The structure of each part will be described below.

[0050] Additionally, in the following descriptions, terms such as "up / down," "left / right," and "front / back" may be used when describing the direction of movement or the position of a specific location. This is based on 1 as the reference point, and the inside is "front / back."

[0051] (Roadside 4)

[0052] The travel path (4) is fixed along the rooftop pallapet (5) for the required length. The travel path (4) may be of a type that connects multiple units, or may be of a single unit of a certain length. The travel path (4) has a base plate (40) with a U-shaped cross section that can be attached to and removed from the pallapet (5) via an installation means (not shown). A rail (41) is installed on the upper surface of the base plate (40) parallel to the longitudinal direction (see FIG. 1 and FIG. 3).

[0053] In addition, if a parapet is not installed on the rooftop or the strength of the parapet is not structurally sufficient, a removable runway can be constructed by using, for example, a sturdy stand (city omitted) that can be fixed to the rooftop and combining it with a corresponding rail.

[0054] (Debit 1)

[0055] A trolley (1) capable of moving by traveling on a roadway (4) has a main body (10) of a predetermined size that serves as a frame. The main body (10) has a structure in which a horizontal upper plate (101) and a vertical front plate (102) are connected to a curved plate (103) on the upper side of the front (left side in FIG. 3). Additionally, a main body frame (11) is fixed to the lower surface of the upper plate (101), and sufficient strength is provided for the entire frame (main body (10) and main body frame (11).

[0056] A chassis (12) is fixed to the lower surface of the main body frame (11) at predetermined intervals in the left-right and front-rear directions. An axle (13) rotatably passes through the left and right chassis (12), and a wheel (14) is fixed to each axle (13). Power from a driving motor (15) fixed to the upper plate (101) is transmitted to the right axle (13) via a driving chain (150) (see FIG. 1 and FIG. 3). These constitute a driving unit, and the bogie (1) can move in the left-right direction along the driving path (4) by means of the driving unit.

[0057] In addition, support rollers (17) are installed at two lower locations on the left and right sides of the rear of the main body (10). Each support roller (17) can rotate and move in contact with the lower surface of the parapet (5) and can support the travel path (4) so ​​as not to move away from the parapet (5) (see FIG. 3).

[0058] The bogie (1) is equipped with a suspension lifting unit (16) capable of lifting and lowering the main body (2) of the maintenance device described later. The suspension lifting unit (16) is equipped with two winch devices (161, 162) on the left and right. The winch devices (161, 162) are configured so that wires (163, 164) can be unwound in all directions.

[0059] Wires (163, 164) each pass through a pulley (165) and descend vertically from the front of the bogie (1), and a maintenance device body (2) is horizontally mounted on the tip (see FIG. 1 and FIG. 2). Additionally, although not shown, power supply to the bogie (1) is provided by the power supply equipment of the building being maintained.

[0060] In addition, the above driving system (driving motor (15), electric chain (150), etc.) and the lifting drive system (winch device (161, 162, etc.)) are equipped with a counter to control the amount of movement, and during maintenance work, when an inspection problem such as tapping occurs, the coordinates of the designated gondola (20) are specified, thereby allowing the main body of the maintenance device (2) to be quickly moved to a position to perform work on the outer wall surface.

[0061] (Maintenance device main body 2)

[0062] The main body (2) of the repair device has a gondola (20) suspended by wires (163, 164). On the rear side of the upper surface of the gondola (20), a manipulator (21) is provided, which serves as a part (working part) for performing repair work on the outer wall. In this embodiment, the manipulator (21) is an auxiliary robot having the specifications of a human arm (see FIG. 2).

[0063] And, near the manipulator (21), a camera unit (29) (see FIG. 4; not shown in FIG. 1 to 3) is installed to film the working situation on the outer wall surface by the manipulator (21) in motion.

[0064] The shooting unit (29) is configured to photograph the situation of the work unit performing work by the manipulator (21), and the vicinity of the tool box (28) and material box (281) described later, at a plurality of different angles, and the images are displayed on the monitor (32) described later.

[0065] The manipulator (21) is driven by a drive unit (23) controlled by a control unit (22) located inside the gondola (20). The manipulator (21) is operated in synchronization with the movement of the operator's (33) fingers through a remote control unit (3) described later. This operation will be described later.

[0066] In addition, the manipulator is not limited to the specifications of a doll arm as in this embodiment, and can perform exterior wall repair work by combining a manipulator (8) similar to a medical manipulator as shown in FIG. 5 and a remote control unit (3).

[0067] In this case, the work arm (80) installed in multiple places on the manipulator (8) is each equipped with a dedicated tool for work at its tip, and work using the tool is possible by operating the remote control unit (3). This configuration allows for more efficient work because there is no need to replace the tool whenever the work changes.

[0068] Additionally, a tool box (28), which serves as a receiving section, is installed adjacent to the front (opposite side from the outer wall) of the manipulator (21) on the upper surface of the gondola (20). Various tools (280) required for maintenance work are stored in the tool box (28), and the necessary tools (280) can be taken out or stored by operating the manipulator (21) (the tools (280) are shown schematically and simplified for convenience in each drawing).

[0069] Material boxes (281) are installed on both the left and right sides of the tool box (28). The tool box (28) and material boxes (281) can accommodate various tools and materials, such as anchor pins, anchor cutting tools (impact, dedicated bits), cutting hole cleaning brushes, epoxy resin, injection guns, waste disposal after construction, and replacement tiles.

[0070] Additionally, the manipulator (21) is configured to be reversible toward the front, and the camera unit (29) is configured to photograph the area near the tool box (28) and material box (281) on the front side of the manipulator (21) as described above. By doing so, the operator (33) can perform the extraction and retrieval of each tool (280) or material using the manipulator (21) while viewing the image from the camera unit (29) on the monitor (32). Additionally, the tool box (28) and material box (281) can be positioned at the rear (the side closer to the outer wall) of the manipulator (21).

[0071] Additionally, a tapping device (25) for tapping inspection is installed on the left and right sides of the manipulator (21) on the upper surface of the gondola (20). In this embodiment, the tapping device (25) is shown as having a structure with a tapping ball attached to the tip of a movable rod, but it may simply be in the shape of a rod or a pleat (pants).

[0072] In addition, a sound collecting microphone (not shown) for collecting the sound of tapping is installed near each tapping device (25). Each tapping device (25) can be remotely operated by an operator (33) as described below, and, for example, the sound when tapping the outer wall surface is recorded and interpreted as data, or the operator (33) listens and makes a judgment. Thus, it is possible to detect abnormalities in the outer wall, such as tile breakage or cracks.

[0073] In addition, in this embodiment, a tapping device (25) is provided on the main body (2) of the repair device and tapping is performed by remotely operating the tapping device (25), but this is not limited thereto. A tapping rod or a tapping hammer may be provided on a manipulator (21), and tapping work may be performed by operating the manipulator (21) by the remote operation unit (3) described later.

[0074] Inside the gondola (20), a vacuum device (24) constituting a fixing device is housed. The vacuum device (24) has a vacuum pump (not shown), and a suction pipe (not shown) connected to the vacuum pump extends to the left and right sides of the gondola (20), and each end is connected to a suction plate (240) installed at the left and right positions on the rear of the gondola (20). By doing so, when the vacuum device (24) is operated to create a vacuum inside the suction plate (240), the main body of the repair device (2) can be fixed by adsorbing it to the outer wall.

[0075] (Remote control unit 3)

[0076] The above maintenance device main body (2) can be operated by an operator (33) by operating a remote control unit (3). The remote control unit (3) has a main body table (30) in which a communication device (not shown) is accommodated. A work hood (35) for shading is installed on the top plate (not shown) of the main body table (30).

[0077] A monitor (32) is installed inside the work hood (35), and the operator (33) can view the moving image on the monitor (32). The monitor can be a monitor such as a gaming head-mounted display (HMD). In this case, it can be expected that more detailed and accurate work will be possible due to the greater sense of realism.

[0078] A manipulator glove (31) is installed on the top plate. The manipulator glove (31) is in the shape of a flexible glove and is equipped with a sensor (not shown) that finely detects the movement of each finger in the corresponding part. According to this structure, when an operator (33) wears the manipulator glove (31) and moves their fingers, the manipulator (21) also moves in synchronization with the movement of each finger of the manipulator glove (31) and reproduces the movement of the operator's (33) fingers. Then, work can be performed.

[0079] In addition, various information signals, such as information signals from an operating globe (31) or a switch unit (34) (see FIG. 4; not shown in FIG. 1 to 3), are transmitted from the communication device of the main body table (30) and are received by a relay (26) installed on the road surface of the construction site or mounted on a work vehicle, etc. Then, the relay (26) and the main body of the maintenance device (2) are connected by a transmission cable (27). The transmission cable (27) can supply power along with the transmission of various information signals from the relay (26) to the main body of the maintenance device (2).

[0080] Here, an overview of the control system of the exterior wall repair device (A) is described with reference to the block diagram shown in FIG. 4. This control system is equipped with, in the remote operation unit (3), a monitor (32) that displays an image captured by the shooting unit (29), an operation globe (31) operated by the operator, and a switch unit (34) for turning ON / OFF various power sources such as a driving motor (15), a vacuum pump (not shown) of a vacuum device (24), and a winch device (161, 162). In addition, the trolley (1) is equipped with a driving motor (15) operated by the switch unit (34) and a winch device (161, 162).

[0081] Additionally, the main body (2) of the repair device is equipped with a control unit (22) that processes various information signals input to the remote control unit (3) and sends control signals to the driving motor (15), vacuum pump, winch device (161, 162), etc., a manipulator (21) that performs repair work in synchronization with the operation of the operation glove (31), a shooting unit (29) that photographs the work situation in the repair target area by the manipulator (21) controlled by the control unit (22), a vacuum device (24) that fixes the main body (2) of the repair device to the outer wall surface, and a tapping device (25) that performs tapping on the outer wall.

[0082] When storing and interpreting image data captured by the shooting unit (29) and percussion sound data collected when percussed by the percussion device (25), a data storage unit that stores image data, percussion sound data, etc., and an interpretation unit that performs interpretation may be provided.

[0083] (action)

[0084] With reference to FIGS. 1 to 4, the operation of the exterior wall repair device (A) and the method of repairing the exterior wall using the exterior wall repair device (A) will be explained. Furthermore, for the convenience of making the explanation easier to understand, the explanation will be given in the case where the control system of the exterior wall repair device (A) is equipped with the data storage unit and the analysis unit described above.

[0085] (1) An operator (33) operates the switch unit (34) to stop the bogie (1) and the maintenance device body (2) at the starting point (for example, the upper corner of one of the multiple outer wall surfaces of a building).

[0086] (2) By operating the switch unit (34), the winch device (161, 162) of the repair device body (2) is driven, and the wire (163, 164) is released to lower the repair device body (2) and stop it at a predetermined position. At this time, the right tapper (25) is positioned at the upper corner of the outer wall (the starting position for tapping). At this position, the operator (33) operates the switch unit (34) to activate the vacuum device (24) and fixes the repair device body (2) to the outer wall with the suction plate (240). In addition, the left tapper (25) is used when tapping the left end of the outer wall so that the repair device body (2) does not protrude.

[0087] (3) The operator (33) checks the appearance of the outer wall in the image (video or still image) sent from the shooting unit (29) to the monitor (32). The angle and size of the image can be appropriately adjusted by operating the remote control unit (3) to facilitate diagnosis. Additionally, the operator performs a tapping test by operating the tapping device (25) by the switch unit (34), acquires position data (coordinate data) of the tapping location, image data corresponding to the tapping location, and tapping sound data from the tapping, and stores them in the data storage unit.

[0088] (4) By operating the winch device (161, 162) to intermittently lower the main body (2) of the repair device, a tapping inspection similar to the process (3) is performed at each stop position, and within a predetermined range in the upper and lower directions of the outer wall surface, position data of the tapping position, image data corresponding to the tapping position, and tapping sound data by tapping are acquired and stored in the data storage unit.

[0089] (5) The main body of the repair device (2) is raised and returned to the height of the above process (2), and the trolley (1) is moved a predetermined distance, for example, the width of one tile of the outer wall, and stopped. Then, a tapping inspection is performed in the same process as above processes (2) to (4), and position data of tapping positions within a predetermined range in the vertical direction of the outer wall surface, image data corresponding to those positions, and tapping sound data are acquired and stored in the data storage unit.

[0090] (6) By repeating the above processes (2) to (5), a tapping inspection is performed on a predetermined range of the outer wall surface, and position data of the tapping location, image data corresponding to each location, and tapping sound data are obtained. Normally, a full diagnosis of the tiles is not performed, and a diagnosis by so-called extraction is carried out, but depending on the scale of the building or the size and number of tiles, a full diagnosis is not excluded.

[0091] (7) The location data stored by the data storage unit, the image data and percussion sound data corresponding to each location are analyzed by the analysis unit to identify the location where there is a defect (problem) using the location data, and the repair method for each defective location is reviewed in advance. In addition, based on the data acquired and stored as described above, it is also possible to create a tile allocation diagram in the vertical and horizontal directions, for example.

[0092] (8) Based on the location data of the defective location, the repair device body (2) is moved to the defective part of the outer wall surface. At this time, the manipulator (21) is used to align the workable position with the location (coordinates) of the defective part. Then, the repair device body (2) is fixed to the outer wall surface by the suction plate (240) of the vacuum device (24).

[0093] Additionally, when performing work with the manipulator (21), for example, when using a tool that is prone to receiving a repulsive force from the outer wall surface (e.g., an impact driver, etc.), although not shown, for example, a belt (or wire) with both ends fixed to the left and right suction plates (240) (or a detachable means that can be fixed to the outer wall surface) can be attached to the drive unit (23) of the manipulator (21) to further suppress separation from the outer wall surface of the maintenance device main body (2) during the operation of the manipulator (21).

[0094] In addition, in this case, a belt or the like may be fastened as needed to enhance the suppression effect. Additionally, a sensor that detects the amount of separation during operation may be provided and may include a function to notify the operator (33).

[0095] (9) After fixing the main body (2) of the repair device in a predetermined position, the operator (33) operates the operating glove (31) of the remote control unit (3) according to the repair method described above, uses an appropriate tool (280) as needed, and performs repair work such as replacing tiles that are lifted, peeled, or cracked by the manipulator (21) which moves in synchronization with the movement of the operator's (33) fingers while checking the image displayed on the monitor (32) in real time. After that, the repair work is completed by repeating the same operation as above to repair each defective part.

[0096] In addition, the method of repairing the exterior wall is not limited to the method described above, in which a diagnosis of a predetermined range of the exterior wall is first performed by the main body of the repair device (2) to acquire data, the data is interpreted to identify the defective part, and the main body of the repair device (2) is moved to the defective part to perform the repair.

[0097] Alternatively, for example, when performing an exterior wall diagnosis, one may adopt a method in which data is acquired and analyzed at each diagnosis location to determine whether the condition of that location is defective; if it is not defective, the process moves to the next diagnosis location, and if it is defective, repairs are carried out on-site, followed by moving to the next diagnosis location, and this process is repeated thereafter.

[0098] In this way, according to the exterior wall repair device (A) and the exterior wall repair method using it, repair work after diagnosis of the exterior wall of a building, etc., can be performed by remote operation without constructing scaffolding around the building.

[0099] In addition, when the diagnosis and repair work on the exterior walls of a building is carried out by workers, for example by scaffolding around the building, there are challenges regarding the construction period and budget, and when the work is carried out by workers riding on a gondola suspended by a wire, there are challenges regarding safety and mobility.

[0100] However, according to the exterior wall repair device (A) and the exterior wall repair method using the same according to the present invention, it is possible to resolve these problems. In addition, by acquiring various data during the repair work, based on the data, for example, by collaborating with AI (artificial intelligence), the repair work through the manipulator (21) can be made more accurate and its reliability improved.

[0101] The terms and expressions used in this specification and claims are merely descriptive and are not limited thereto, and there is no intention to exclude terms or expressions equivalent to the features and parts thereof described in this specification and claims. Furthermore, it goes without saying that various modifications are possible within the scope of the technical concept of the present invention. Explanation of the symbols

[0102] A Exterior Wall Repair Device 4 Travel Path 40 Base Plate 41 Rail 1 Bogie 10 Main Body 101 Top Plate 102 Front Plate 103 Curved Plate 11 Main Body Frame 12 Chassis 13 Axle 14 Wheel 15 Driving Motor 150 Electric Chain 16 Suspension Lifting Unit 17 Support Rollers 161, 162 Winch Device 163, 164 Wire 165 Pulley 2 Repair Device Main Body 20 Gondola 21 Manipulator 22 Control Unit 23 Drive Unit 24 Vacuum Unit 240 Suction Cup 25 Tapper 26 Repeater 27 Transmission Cable 28 Tool Box 280 Tool 281 Material Box 29 Camera Unit 3 Remote Control Unit 30 Main Body Table 31 Operation Glove 32 Monitor 33 Operator 34 Switch Unit 35 Work Hood 5 Parapet 8 Manipulator 80 Work Arm

Claims

Claim 1 An exterior wall repair device comprising: a driving path installed on a rooftop that is the subject of exterior wall repair; a bogie having a driving section capable of driving on the driving path and a suspension lifting section; a gondola suspended and lifted by the suspension lifting section; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting section installed on the manipulator capable of photographing the area to be repaired; a fixing device that fixes the gondola at a predetermined location on the exterior wall surface through a detachable means capable of attaching to the exterior wall surface; and a repair device main body having a belt or wire that connects and fixes the fixing device and the gondola by having both ends fixed to the detachable means of the fixing device while being hooked onto a driving section provided on the gondola to drive the manipulator; and a remote control section having a monitor that allows an operator to view an image from the shooting section, and a control glove that is operated by the operator and synchronized with the manipulator to remotely operate the manipulator. Claim 2 An exterior wall repair device comprising: a gondola capable of traveling along a travel path installed on a rooftop subject to exterior wall repair and suspended from a trolley having a suspension lifting unit, a manipulator positioned at a predetermined location on the gondola to perform repair work, a shooting unit installed on the manipulator capable of photographing an area subject to repair, a fixing device for fixing the gondola at a predetermined location on the exterior wall surface through a detachable means capable of attaching to the exterior wall surface, and a repair device main body having a belt or wire that connects and fixes the fixing device and the gondola by having both ends fixed to the detachable means of the fixing device while being hooked to a driving unit provided on the gondola to drive the manipulator; and a remote control unit having a monitor for an operator to view an image from the shooting unit, and a control glove operated by the operator and synchronized with the manipulator to remotely operate the manipulator. Claim 3 An exterior wall repair device characterized by having a tapping device capable of remote operation for diagnosing the exterior wall of a building, in accordance with claim 1 or 2. Claim 4 An exterior wall repair device according to claim 3, characterized in that the tapping device is installed at both ends of the horizontal movement direction of the gondola. Claim 5 A method for repairing an exterior wall, comprising: a process of identifying a defective location on the exterior wall surface based on data obtained by performing a diagnosis on the exterior wall surface of a building; a process of positioning a manipulator configured on a gondola capable of moving horizontally while being suspended up and down along the exterior wall surface at the defective location on the exterior wall surface; a process of connecting and fixing the fixing device and the gondola by attaching a belt or wire, with both ends fixed to the attachment means of a fixing device that fixes the gondola to the defective location on the exterior wall surface through an attachment means that is detachable from the exterior wall surface, to a driving unit provided on the gondola that drives the manipulator; and a process of performing repair work on the defective location on the exterior wall surface by means of a manipulator that operates in synchronization with the remote operation, according to remote operation using the operating glove of an operator who views an image from a shooting unit that captures the working status of the manipulator. Claim 6 A method for repairing an exterior wall according to claim 5, characterized in that the diagnosis of the exterior wall surface of the building is performed using a remotely operable tapping test device and a microphone that collects tapping sounds. Claim 7 A method for repairing an exterior wall according to claim 6, characterized in that the tapping device is installed at both ends of the horizontal movement direction of the gondola. Claim 8 An exterior wall repair device comprising: a driving path installed on a rooftop subject to exterior wall repair; a bogie having a driving section capable of driving on the driving path and a suspension lifting section; a gondola suspended and lifted by the suspension lifting section; a manipulator positioned at a predetermined location on the gondola to perform repair work; a shooting section installed on the manipulator capable of photographing the area subject to repair; a tapping inspection device installed at both ends in the horizontal movement direction of the gondola; and a repair device main body having a fixing device for fixing and releasing the gondola at a predetermined location on the exterior wall surface; and a remote control section having a monitor through which an operator can view an image from the shooting section, and a control glove operated by the operator and synchronized with the manipulator to remotely operate the manipulator. Claim 9 An exterior wall repair device comprising: a gondola capable of traveling along a travel path installed on a rooftop subject to exterior wall repair and suspended from a trolley having a suspension lifting unit, a manipulator positioned at a predetermined location on the gondola to perform repair work, a shooting unit installed on the manipulator capable of photographing an area subject to repair, a tapping inspection device installed at both ends in the horizontal movement direction of the gondola, and a fixing device for fixing and releasing the gondola at a predetermined location on the exterior wall surface; and a remote control unit having a monitor through which an operator can view an image from the shooting unit, and a control glove operated by the operator and synchronized with the manipulator to remotely operate the manipulator. Claim 10 An exterior wall repair device according to claim 8 or 9, characterized in that the fixing device includes a suction plate adsorbed to the exterior wall surface. Claim 11 An exterior wall repair device according to claim 8 or 9, characterized by having a microphone that collects the striking sound of the striking device. Claim 12 A method for repairing an exterior wall, comprising: a process of moving a gondola capable of moving horizontally while suspended along the exterior wall surface of a building in a vertical and horizontal direction, and identifying defective areas on the exterior wall surface based on data obtained by performing a tapping inspection of the exterior wall surface by tapping devices installed at both ends of the horizontal movement direction of the gondola and simultaneously diagnosing the exterior wall surface; a process of positioning a manipulator equipped on the gondola to perform repair work at the defective areas on the exterior wall surface; and a process of performing repair work on the defective areas on the exterior wall surface by means of a manipulator that operates in synchronization with the remote operation, according to remote operation using the operating glove of an operator who views an image from a camera unit that captures the working status of the manipulator. Claim 13 A method for repairing an exterior wall according to claim 12, characterized in that the tapping inspection of the exterior wall surface is performed using a microphone that collects the tapping sound of the tapping device.

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