Unmanned flying object for repair painting

Abstract

To provide an unmanned flying object for repair painting used for repair painting of a building and having a simpler configuration than conventional ones.SOLUTION: An unmanned flying object 1 is used for painting work on a building B, and performs repair painting on a surface of an exterior wall B1 (an object to be painted) that has been painted. The unmanned flying object 1 comprises a painting unit 80 that is attached to its main body and is pressed against the surface of the exterior wall B1 to apply paint. The painting unit 80 has a painting portion 82 that protrudes horizontally outward from the main body of the unmanned flying object 1 and applies paint to the surface of the exterior wall B1 by being pressed to the surface of the exterior wall B1. The unmanned flying object 1 also has a holder 70 provided on its main body for detachably holding the painting unit 80. The holder 70 restricts movement of the painting unit 80 in the protruding direction of the application part 82 when the painting portion 82 is pressed to the surface of the exterior wall B1.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an unmanned aerial vehicle for repair painting, and more particularly to an unmanned aerial vehicle for repair painting used in painting work on buildings. [Background technology]

[0002] Conventionally, a technology has been known in which unmanned aerial vehicles (drones) are used to efficiently perform repair painting (also known as touch-up work) on painted exterior walls during building painting work (see, for example, Patent Documents 1 and 2).

[0003] The unmanned aerial vehicle (unmanned aerial vehicle) described in Patent Document 1 is equipped with an injection nozzle that injects repair agent onto the areas to be repaired (damaged areas after screws are driven in, areas that have deteriorated over time) when repairing concrete structures. In addition, although the unmanned aerial vehicle described in Patent Document 2 is not intended for repair painting of buildings, it is equipped with a fluid injection nozzle that ejects fluid. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-202958 A [Patent Document 2] Patent Publication No. 2021-98176 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the unmanned aerial vehicles in Patent Documents 1 and 2 are equipped with a spray device having a spray nozzle, and therefore are relatively large and heavy, and there is a concern that they cannot be used suitably at construction sites. In addition, there is a concern that the unmanned aerial vehicle cannot fly stably due to the reaction force generated when the propellant is sprayed from the spray nozzle. When flying a large unmanned aerial vehicle, in addition to being subject to restrictions based on the Aviation Act, it is also necessary to submit a flight application to a government agency. For this reason, there was a demand for an unmanned aerial vehicle with a simple configuration that could be used for repairing and painting buildings and that could be easily used on construction sites.

[0006] The present invention has been made in consideration of the above-mentioned problems, and an object of the present invention is to provide an unmanned aerial vehicle for repair painting used for repair painting of buildings, which has a simpler configuration than conventional vehicles. [Means for solving the problem]

[0007] The above problem is solved by the unmanned aerial vehicle for repair painting of the present invention, which is an unmanned aerial vehicle used in building painting work to perform repair painting on the surface of an object to be painted that has already been painted, and which is equipped with a painting unit that is attached to the main body of the unmanned aerial vehicle and presses it against the surface of the object to be painted to apply paint, and the painting unit protrudes horizontally outward from the main body of the unmanned aerial vehicle and has an applicator section that applies paint to the surface of the object to be painted by pressing it against the surface. With the above configuration, it is possible to realize an unmanned aerial vehicle for repair painting that can be used for repair painting of buildings, has a simpler configuration than conventional vehicles, and is easy to use at construction sites. In more detail, the unmanned aerial vehicle is equipped with a coating section (painting unit) that protrudes horizontally outward from the main body of the unmanned aerial vehicle and applies paint to the surface of the object to be painted by pressing it against the surface. Therefore, it is possible to perform repair painting on the surface of the object to be painted on a building without mounting a conventional spray nozzle device. For example, the painting unit can be mounted on a small unmanned aerial vehicle. By using a small unmanned aerial vehicle, the initial cost can be reduced compared to conventional methods, and it becomes easier to work in the narrow spaces of construction sites. In addition, there are no restrictions based on the Aviation Act, and it is not necessary to submit a flight application to the government agency.

[0008] In this case, the unmanned aerial vehicle may be provided with a holder that is provided on the main body of the unmanned aerial vehicle and that removably holds the painting unit, and the holder may regulate the movement of the painting unit in the protruding direction of the application part when the application part is pressed against the surface of the object to be painted. With the above configuration, when the applicator is pressed against the surface of the object to be painted, the holder can restrict the movement of the painting unit in the protruding direction of the applicator. This allows the paint to be applied appropriately by pressing the applicator against the surface of the object to be painted. In other words, even when the applicator is pressed against the surface of the object to be painted, the positional deviation of the painting unit can be suppressed.

[0009] In this case, the application part protrudes forward from the main body of the unmanned aerial vehicle, the holder is positioned at a position lower than the main body of the unmanned aerial vehicle, and the holder preferably has a movement regulating part that holds the painting unit from the rear and regulates the rearward movement of the painting unit. With the above configuration, even when the application part is pressed against the surface of the object to be painted, the positional deviation of the painting unit can be further suppressed.

[0010] In this case, the painting unit has a unit body held by the holder, an application section that protrudes forward from the unit body and is located at the front end of the unmanned aerial vehicle, and a weight section that is provided on the unit body and is located on the opposite side of the application section with respect to the center of the main body of the unmanned aerial vehicle, and it is preferable that the painting unit is positioned along the horizontal direction by the weight section. With the above configuration, even if a painting unit is mounted on the main body of the unmanned aerial vehicle, the center of gravity position of the unmanned aerial vehicle (balance of the unmanned aerial vehicle) can be adjusted.

[0011] In this case, the application portion is an application pad that elastically deforms when pressed against the surface of the object to be painted and applies the soaked paint, and it is preferable that when the application pad is pressed against the surface of the object to be painted and elastically deforms, the tip of the application pad is positioned at the very tip of the unmanned aerial vehicle. By providing an application pad as described above, paint can be applied appropriately to the surface of the object to be painted, despite the simple configuration. In addition, by setting the position of the application pad as described above, it is possible to prevent the propellers of the unmanned aerial vehicle, etc. from coming into contact with the object to be painted when performing repair painting.

[0012] In this case, the unmanned aerial vehicle is provided with an imaging camera attached to the front of the main body of the unmanned aerial vehicle for capturing external images, a flight unit attached to the main body of the unmanned aerial vehicle, and a control unit for controlling the flight unit, and when a part to be repaired is detected in the external image captured by the imaging camera, the control unit controls the flight unit to face the application part against the part to be repaired, and controls the flight unit to press the application part against the part to be repaired. By controlling the flight of the unmanned aerial vehicle as described above, repair painting can be suitably performed by targeting the repair surface of the object to be painted. In other words, the flight operation and repair operation of the unmanned aerial vehicle can be suitably controlled. Effect of the Invention

[0013] The unmanned aerial vehicle for repair painting of the present invention has a simpler configuration than conventional vehicles, making it possible to perform repair painting conveniently at construction sites. [Brief description of the drawings]

[0014] [Figure 1] 1 is a configuration diagram of a repair painting system according to an embodiment of the present invention. [Figure 2A] FIG. 2 is a front view of the unmanned aerial vehicle. [Figure 2B] FIG. 2 is a side view of the unmanned aerial vehicle. [Diagram 3] A figure showing an unmanned aerial vehicle flying in a position facing the repair surface of an exterior wall. [Figure 4] A diagram showing an unmanned aerial vehicle applying repair paint to the repaired surface of an exterior wall. [Figure 5A] This is a front view of the unmanned aerial vehicle of the second embodiment. [Figure 5B]A side view of the unmanned aerial vehicle of the second embodiment. [Figure 6] A diagram showing the functions of an unmanned aerial vehicle and an information processing device. [Figure 7] FIG. 1 is a process flow diagram showing a repair painting method. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. This embodiment relates to an "unmanned aerial vehicle for repair painting" that is used to perform repair painting on the surface of an object to be painted during building painting work, and has a simpler configuration than conventional devices, making it easy to perform repair painting at the work site.

[0016] The repair painting system S, as shown in Figs. 1 to 4, is a system used in painting work on a building B, for performing repair painting on the outer surface of an exterior wall B1 that has already been painted. "Touch-up painting" is also called repainting or touch-up (touch-up work), and refers to work in which a part of an object that has already been painted is repaired (corrected) by painting. In the repair painting system S, the object to be painted is the exterior wall B1, but this is not particularly limited and may be the roof or waist wall of the building B, or the interior wall of the building B, etc.

[0017] Specifically, the repair painting system S comprises an unmanned aerial vehicle 1 that flies around a painted exterior wall B1 and repairs and paints the repair target portion B2 of the exterior wall B1, and an information processing device 100 that is connected to the unmanned aerial vehicle 1 via communication, monitors the unmanned aerial vehicle 1, and controls the unmanned aerial vehicle 1.

[0018] By using the repair painting system S, a worker can efficiently perform repair painting on an exterior wall B1 in a high place or a narrow place (narrow space). Specifically, by flying an unmanned aerial vehicle 1 equipped with an imaging camera 10 and a painting unit 80, a worker can perform repair painting on a part B2 of the exterior wall B1 to be repaired without assembling scaffolding (temporary scaffolding).

[0019] More specifically, an operator remotely controls the flight of the unmanned aerial vehicle 1 using the operation controller 200. The unmanned aerial vehicle 1 captures an image of the exterior surface while flying along the exterior surface of the exterior wall B1, and transmits the captured image (image data) to the information processing device 100. The worker then checks the image of the outer surface of the exterior wall B1 through the monitor 110 connected to the information processing device 100, and confirms that the repair target portion B2 is present on the outer surface. Once the repair target portion B2 is confirmed, the worker remotely controls the unmanned aerial vehicle 1 to perform repair painting. That is, the unmanned aerial vehicle 1 applies paint to the repair target portion B2 by pressing the painting unit 80 (applicator 82) against the outer surface of the exterior wall B1. As described below, when the part to be repaired B2 is detected, the unmanned aerial vehicle 1 may fly autonomously and approach the part to be repaired B2 to perform repair painting.

[0020] <Hardware configuration of the repair painting system> As shown in Figures 1, 2A, and 2B, the unmanned aerial vehicle 1 is a small unmanned aerial vehicle (drone) equipped with an imaging camera 10 and a painting unit 80, and flies while capturing external images, and communicates data with an information processing device 100 and an operation controller 200. Specifically, the unmanned aerial vehicle 1 comprises an aerial vehicle main body 2, an imaging camera 10, a transmitting / receiving antenna 20, a flight unit 30, a drive unit 40, a battery 50, a processor 60 (control unit), a holder 70, and a painting unit 80. The unmanned aerial vehicle 1 is a small unmanned aerial vehicle compared to conventional ones, and is also called a micro drone or a toy drone. For example, the weight of the unmanned aerial vehicle 1 is 100 g (less than 100 g), and the weight of the painting unit 80 is about 10 g.

[0021] The imaging camera 10 is a small imaging device, and is attached to the front of the aircraft body 2. The imaging camera 10 may be capable of switching the angle in the up, down, left, and right directions of the aircraft body 2. The imaging camera 10 captures an external image in front of it, records the image, and generates "image data" that represents the image. The transmitting / receiving antenna 20 is attached inside the aircraft body 2, and serves to receive "operation data" from the operation controller 200 and to transmit "image data" to the information processing device 100 (monitor 110).

[0022] The flight unit 30 is composed of four rotors attached to surround the aircraft body 2, and is configured with propeller-like blades attached to a vertically extending rotation shaft. The flight unit 30 receives driving power from the drive unit 40 and rotates to generate lift and thrust. In addition, the flight unit 30 has a protective guard 31 that is arranged to surround the rotor and protects the rotor. The drive unit 40 is a motor that drives the flight unit 30, is connected and attached to the flight unit 30, and operates based on drive commands received from the processor 60.

[0023] The battery 50 is a lithium ion battery for supplying power to the imaging camera 10, the transmitting / receiving antenna 20, the drive unit 40 and the processor 60, and is detachably attached to the rear surface of the aircraft main body 2. The processor 60 is a microprocessor mainly composed of a CPU as a data arithmetic and control processing device, a ROM, RAM, and HDD as storage devices, and a communication interface for transmitting and receiving data via the transmitting and receiving antenna 20, and is installed inside the aircraft body 2. The processor 60 corresponds to the control unit of the unmanned aircraft 1.

[0024] As shown in Figs. 2A and 2B, the holder 70 is a member that is attached to the lower portion of the aircraft body 2 and that holds the painting unit 80 so that it can be detached. The holder 70 is a cylindrical or rectangular tubular container having an opening 70a on the front side of the unmanned aerial vehicle 1 and extends longitudinally in the front-to-rear direction of the unmanned aerial vehicle 1. Specifically, the holder 70 has a cylindrical side wall portion 70b that is attached to the lower end of the aircraft body 2 and surrounds and holds the painting unit 80, and a bottom wall portion 70c (closing portion) that is positioned at one end of the side wall portion 70b.

[0025] The holder 70 is structured so as to be capable of housing the painting unit 80 (unit body 81) from the front side of the unmanned aerial vehicle 1. The holder 70 has a movement restricting portion 71 that holds the painting unit 80 from the rear when the painting unit 80 is housed therein and restricts the rearward movement of the painting unit 80. The movement restricting portion 71 corresponds to the bottom wall portion 70c and abuts against one end of the painting unit 80.

[0026] The holder 70 has a positioning portion 72 that positions the painting unit 80 when the painting unit 80 is accommodated therein. The positioning portion 72 is a positioning protrusion formed on the inner surface of the side wall portion 70b, and engages with a positioning recess 81a formed on the outer surface of the painting unit 80 (unit body 81). The positioning portions 72 may be formed continuously around the circumference (circumference) of the inner surface of the side wall portion 70b, or may be formed at predetermined intervals.

[0027] As shown in Figs. 1 to 4, the painting unit 80 is attached to the lower portion of the aircraft body 2 via a holder 70, and is pressed directly against the outer surface of the exterior wall B1 to apply paint. The painting unit 80 is, for example, a stamp-type painting device that stores paint in a paint cartridge and applies paint by pressing an applicator 82 against a surface to be repaired.

[0028] Specifically, the painting unit 80 comprises a unit body 81 held by the holder 70, an application section 82 protruding forward from the unit body 81 and positioned at the front end of the unmanned aerial vehicle 1, and a weight section 83 provided inside the unit body 81. The unit body 81 is a member equivalent to a paint cartridge, and a paint storage section for storing paint and a weight section 83 are housed inside the unit body 81.

[0029] The applicator 82 applies paint to the part B2 to be repaired by pressing it against the outer surface of the exterior wall B1; for example, it is an applicator pad (applicator sponge) that elastically deforms when pressed against the outer surface of the exterior wall B1 and applies the paint that has soaked into it. The applicator 82 is not limited to an applicator pad, but may be anything that can apply paint when pressed against the outer surface of the exterior wall B1.

[0030] The weight portion 83 is also called a weight or a balancer, and is a member for stabilizing flight by adjusting the center of gravity (balance) of the unmanned aerial vehicle 1 equipped with the painting unit 80. Plummet part 83 is disposed on the opposite side to applicator part 82 with respect to the center of aircraft body 2 . Specifically, the application unit 82 and the weight unit 83 are disposed at the same position (overlapping position) in the up-down and left-right directions of the unmanned aerial vehicle 1. The application unit 82 is disposed forward of the center (center of gravity) of the unmanned aerial vehicle 1, and the weight unit 83 is disposed rearward of the center of the unmanned aerial vehicle 1. In other words, the painting unit 80 is disposed so as to extend directly along the horizontal direction by the weight unit 83. This allows the flight of the unmanned aerial vehicle 1 to be stabilized.

[0031] 3 and 4, in the above configuration, when the application part 82 is pressed against the outer surface of the outer wall B1, the holder 70 can restrict movement of the painting unit 80 in the front-rear direction of the unmanned aerial vehicle 1. Furthermore, the holder 70 can also restrict movement of the painting unit 80 in the up-down and left-right directions of the unmanned aerial vehicle 1. Therefore, in the unmanned aerial vehicle 1 which performs repair painting by directly pressing it against the exterior wall B1, even when the application part 82 is pressed against the outer surface of the exterior wall B1, the impact of the painting unit 80 can be mitigated and positional deviation of the painting unit 80 can be effectively suppressed.

[0032] 4, when the application unit 82 (application pad) is pressed against the outer surface of the outer wall B1 and elastically deformed, the tip of the application unit 82 is located at the very front of the unmanned aerial vehicle 1. In other words, the tip of the application unit 82 is set at a position that protrudes forward beyond the flight unit 30 (protective guard 31). By employing the pad-type (sponge-type) applicator 82 as described above, the paint can be suitably applied to the outer surface of the exterior wall B1 with a simple configuration. Furthermore, by setting the position of the application unit 82 as described above, it is possible to prevent the propellers, etc. of the unmanned aerial vehicle 1 from coming into contact with the exterior wall B1 when performing repair painting.

[0033] In the above configuration, as shown in FIG. 2B, when the painting unit 80 is housed inside the holder 70, the positioning portion 72 on the inner surface of the holder 70 and the positioning recess 81a on the outer surface of the painting unit 80 engage with each other through a concave-convex structure. Therefore, with a simple configuration, the holder 70 can position the painting unit 80 and stably hold the painting unit 80.

[0034] In the above configuration, as shown in FIGS. 2A and 2B, the multiple legs 2a of the aircraft body 2 are disposed so as to surround the painting unit 80 and extend downward below the painting unit 80. This allows the unmanned aerial vehicle 1 to land smoothly without contacting the painting unit 80. In addition, the painting unit 80 can be protected from the surroundings by the multiple legs 2a.

[0035] As shown in FIG. 1, the information processing device 100 is a computer operated by an operator, is connected to the unmanned aerial vehicle 1 via communication, and acquires captured images (image data) recorded by the imaging camera 10. The information processing device 100 outputs and displays the captured image of the exterior wall B1 captured by the unmanned aerial vehicle 1 through the monitor 110. In addition, if necessary, it transmits a control signal to the unmanned aerial vehicle 1 to control the flight and painting operations of the unmanned aerial vehicle 1. The information processing device 100 may be installed in the vicinity of the building B, or may be installed inside the building B. It may also be installed at a location far away from the building B.

[0036] As shown in FIG. 1, the operation controller 200 is a controller operated by an operator, and remotely controls the unmanned aerial vehicle 1 via wireless communication. In detail, the operation controller 200 accepts user operation input by an operator, generates operation data for operating the unmanned aerial vehicle 1, and transmits the operation data to the unmanned aerial vehicle 1. This allows the worker to remotely control the flight of the unmanned aerial vehicle 1 and have the unmanned aerial vehicle 1 perform repair painting.

[0037] <Second embodiment of unmanned aerial vehicle> The unmanned aerial vehicle may have the configuration of unmanned aerial vehicle 1A as shown in Figures 5A and 5B. Below, we will explain the unmanned aerial vehicle 1A, but we will omit explanations of the content that overlaps with the unmanned aerial vehicle 1 described above.

[0038] The unmanned aerial vehicle 1A is a small unmanned aerial vehicle (drone) and is equipped with an aircraft body 2A, an imaging camera 10A, a transmitting / receiving antenna 20A, a flight unit 30A, a drive unit 40A, a battery 50A, a processor 60A (control unit), a holder 70A, and a painting unit 80A (application unit 82A).

[0039] As shown in FIGS. 5A and 5B, the holder 70A is attached to the lower part of the aircraft body 2A, and is a member that detachably holds the painting unit 80A. The holder 70A has a clamping portion 71A that protrudes downward from the lower end of the central portion of the aircraft main body 2A and clamps the painting unit 80A, and a movement control portion 72A that protrudes downward from the rear end of the aircraft main body 2A and supports the painting unit 80A from behind. The holder 70A also has a positioning portion 73A that determines the position of the painting unit 80A when the painting unit 80A is accommodated therein. The positioning portion 73A is a positioning mark marked on the outer surface of the clamping portion 71A. By matching the positioning portion 73A with a positioning mark 81Aa marked on the outer surface of the painting unit 80A (unit body 81A), the assembly position of the painting unit 80A relative to the aircraft body 2A can be determined.

[0040] The unmanned aerial vehicle 1A described above has a simpler configuration than conventional unmanned aerial vehicles, yet is capable of performing repair painting conveniently at construction sites. Specifically, when the applicator 82A is pressed against the outer surface of the outer wall B1, the holder 70A can restrict the movement of the painting unit 80A in the front-rear direction of the unmanned aerial vehicle 1A. Furthermore, the holder 70A can also restrict the movement of the painting unit 80A in the up-down direction and the left-right direction of the unmanned aerial vehicle 1A.

[0041] <Functions of the repair painting system> As shown in Figure 6, from a functional perspective, the unmanned aerial vehicle 1 (processor 60) is equipped with a memory unit 61 for storing various programs and various data, a communication unit 62, an attitude control unit 63, an object detection unit 64, and a painting execution unit 65. These are composed of a CPU (processor), ROM, RAM, HDD (memory), a communication interface, and various programs.

[0042] Regarding the information processing device 100 from the functional aspect, it also includes a storage unit 120 for storing various programs and various data in addition to “video data”, a communication unit 121, and a screen output unit 122. The communication unit 121 acquires in real time "video data" captured by the unmanned aerial vehicle 1 flying along the outer surface of the exterior wall B1. The screen output unit 122 outputs and displays on the monitor 110 an image of the outer surface of the exterior wall B1 captured by the unmanned aerial vehicle 1.

[0043] In this embodiment, the unmanned aerial vehicle 1 is equipped with an attitude control unit 63, an object detection unit 64, and a painting execution unit 65, but is not particularly limited thereto. For example, the information processing device 100 may include a posture control unit 63 , an object detection unit 64 , and a painting execution unit 65 .

[0044] The functions of the unmanned aerial vehicle 1 are explained in detail below. The communication unit 62 acquires "operation data" for operating the unmanned aerial vehicle 1 from the operation controller 200. The "operation data" is data generated by the operation controller 200 upon receiving input of a user operation by an operator. The processor 60 controls the flight of the unmanned aerial vehicle 1 based on the "operation data". In addition, the communication unit 62 transmits the “image data” recorded by the imaging camera 10 to the information processing device 100. The information processing device 100 outputs and displays on the monitor 110 the image of the outer surface of the exterior wall B1 recorded by the unmanned aerial vehicle 1.

[0045] The attitude control unit 63 controls the flight unit 30 (drive unit 40) of the unmanned aerial vehicle 1 and corrects the flight attitude of the unmanned aerial vehicle 1. Specifically, using an inertial measurement unit (IMU) installed on the unmanned aerial vehicle 1, the attitude control unit 63 calculates the behavior and vibration of the aerial vehicle main body 2 based on the detection information of the inertial measurement unit, estimates the current attitude, and corrects its own flight attitude. As a result of the above, the unmanned aerial vehicle 1 can fly stably along the outer surface of the exterior wall B1 and proceed toward the portion to be repaired B2.

[0046] The object detection unit 64 detects the presence of the repair target part B2 to be detected in the external image captured by the imaging camera 10. When the repair target portion B2 is detected by the object detection portion 64, the painting execution portion 65 controls the flight unit 30 to make the unmanned aerial vehicle 1 face (slowly approach) the repair target portion B2. Specifically, the painting execution portion 65 makes the applicator 82 face the repair target portion B2, as shown in FIG. 3. Then, the painting execution unit 65 controls the flying unit 30 to press the application unit 82 against the part to be repaired B2. As described above, by automatically controlling the repair painting of the unmanned aerial vehicle 1, repair painting can be preferably performed by targeting the portion B2 of the exterior wall B1 that is to be repaired. In particular, when the unmanned aerial vehicle 1 flies along the exterior wall B1, negative pressure is generated around the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 is unintentionally drawn to the exterior wall B1 (also known as the Coanda effect). Therefore, by switching the unmanned aerial vehicle 1 to automatic control when the repair target portion B2 is detected, it becomes easier to prevent the unmanned aerial vehicle 1 from colliding with the exterior wall B1.

[0047] As shown in Figure 1, a worker can of course remotely control the unmanned aerial vehicle using the operation controller 200 while checking the monitor 110 of the information processing device 100, and press the application part 82 against the part B2 of the exterior wall B1 to be repaired to perform the repair painting.

[0048] Additionally, the water absorption properties may be changed between the front and rear ends of the applicator 82 (application pad) in order to suitably apply paint by the applicator 82. For example, it is preferable to increase the water absorption properties of the front end of the applicator 82 so that more paint is soaked into it. On the other hand, it is preferable to decrease the water absorption properties of the rear end of the applicator 82 so that the paint can pass through it more easily.

[0049] The above-described repair painting system S makes it possible to perform repair painting conveniently at construction sites using an unmanned aerial vehicle 1 with a simpler configuration than conventional unmanned aerial vehicles.

[0050] <Repair painting method> Next, a repair painting method using the unmanned aerial vehicle 1 will be described with reference to FIG. The method includes at least the steps of "starting flight of the unmanned aerial vehicle," "detecting the part to be repaired," "repair painting," and "terminating the flight of the unmanned aerial vehicle." In addition, explanations of work steps other than those described above for the repair and painting work of the exterior wall B1 (object to be painted) will be omitted.

[0051] First, an operator calibrates the unmanned aerial vehicle 1 (calibrates the inertial measurement unit of the unmanned aerial vehicle 1) and starts flying the unmanned aerial vehicle 1 (Step 1 (S1)). The unmanned aerial vehicle 1 is communicatively connected to an information processing device 100 (monitor 110).

[0052] 1, an operator remotely controls the flight of the unmanned aerial vehicle 1 using an operation controller 200. The unmanned aerial vehicle 1 captures an image of the outer surface of the outer wall B1 while flying along the outer surface of the outer wall B1, and transmits the captured image (image data) to the information processing device 100. The worker checks the image of the outer surface of the exterior wall B1 through the monitor 110 connected to the information processing device 100, and confirms that the part to be repaired B2 is present on the outer surface of the exterior wall B1 (step 2). In addition, the processor 60 (object detection unit 64) may detect the presence of the part to be repaired B2 in the external image captured by the imaging camera 10 through autonomous control of the unmanned aerial vehicle 1.

[0053] 3 and 4, when the portion to be repaired B2 is identified, the worker remotely controls the unmanned aerial vehicle 1 to perform repair painting. That is, the unmanned aerial vehicle 1 applies paint to the portion to be repaired B2 by pressing the painting unit 80 (applicator 82) directly against the outer surface of the exterior wall B1 (step 3). When repair painting is performed by autonomous control of the unmanned aerial vehicle 1, the processor 60 (painting execution unit 65) controls the flight unit 30 to slowly bring the applicator 82 close to and facing the part to be repaired B2. Then, the painting execution unit 65 controls the flight unit 30 to press the applicator 82 against the part to be repaired B2 and apply the paint.

[0054] Then, when the repair painting of the repair target portion B2 is completed, the worker ends the flight of the unmanned aerial vehicle 1. Specifically, the worker lands the unmanned aerial vehicle 1 on the ground (step 4).

[0055] After going through steps 1 to 4 above, the repair painting work is completed. The above method makes it possible to carry out repair painting conveniently at construction sites using an unmanned aerial vehicle 1 with a simpler configuration than conventional methods.

[0056] <Other embodiments> In the above embodiment, as shown in FIG. 1, the repair painting system S includes the unmanned aerial vehicle 1 and the information processing device 100, but is not particularly limited and does not necessarily need to include the information processing device 100. In that case, the worker should wear a head mounted display and remotely operate the unmanned aerial vehicle 1 using the operation controller 200 while checking the image from the imaging camera 10. Then, the worker should press the applicator 82 against the part B2 of the exterior wall B1 to be repaired to perform repair painting. Alternatively, the unmanned aerial vehicle 1 may fly along the outer surface of the exterior wall B1 by autonomous control, detect the portion B2 to be repaired, and apply repair paint to the portion B2 to be repaired.

[0057] In the above embodiment, the refinish painting system (unmanned aerial vehicle for refinish painting) and the refinish painting method according to the present invention have been mainly described. However, the above embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and the present invention naturally includes equivalents thereof. [Explanation of symbols]

[0058] S Repair Paint System 1. Unmanned aerial vehicles (drones) 2. Aircraft body 2a Legs 10 Imaging camera (imaging device) 20 Transmitting and receiving antenna 30 Flying Units 31 Protective Guard 40 Drive unit 50 Battery 60 Processor (control unit) 61 Storage section 62 Communications Department 63 Attitude control unit 64 Object detection unit 65 Painting Execution Department 70 Holder 70a opening 70b Side wall part 70c bottom wall 71 Movement Control Department 72 Positioning part (positioning protrusion) 80 Painting unit 81 Unit body 81a Positioning recess 82 Application section 83 Weight, balancer 100 Information processing device 110 Monitor 120 Storage section 121 Communications Department 122 Screen output section 200 Operation Controller B Building B1 Exterior wall (object to be painted) B2 Part to be repaired 1A Unmanned aerial vehicles (drones) 2A Aircraft body 10A Imaging camera 20A Transmitting / receiving antenna 30A Flight Unit 40A Drive Unit 50A battery 60A Processor 70A Holder 71A Clamping part 72A Movement control section 73A Positioning part (positioning mark) 80A Painting Unit 81A Unit Body 81Aa Positioning mark 82A Application section

Claims

1. An unmanned aerial vehicle used in painting work on buildings to perform repair painting on the surface of a painted object, A painting unit is attached to a main body of the unmanned aerial vehicle and presses the painting unit against a surface of the object to be painted to paint the object, The painting unit is an unmanned aerial vehicle for repair painting, characterized in that it has an application section that protrudes horizontally outward from the main body of the unmanned aerial vehicle and applies paint to the surface of the object to be painted by pressing it against the surface.

2. A holder is provided on a main body of the unmanned aerial vehicle and detachably holds the painting unit, The unmanned aerial vehicle for repair painting according to claim 1, characterized in that the holder restricts movement of the painting unit in the protruding direction of the application part when the application part is pressed against the surface of the object to be painted.

3. The application part protrudes forward from the main body of the unmanned aerial vehicle, The holder is disposed at a position lower than the main body of the unmanned aerial vehicle, 3. The unmanned aerial vehicle for repair painting according to claim 2, wherein the holder has a movement restricting portion that holds the painting unit from the rear and restricts the backward movement of the painting unit.

4. The painting unit includes: A unit main body held by the holder; The application unit protrudes forward from the unit body and is located at the front end of the unmanned aerial vehicle; A weight portion is provided on the unit body and is located on the opposite side of the application portion with respect to the center of the body of the unmanned aerial vehicle, 4. The unmanned aerial vehicle for repair painting according to claim 2 or 3, wherein the painting unit is arranged along a horizontal direction by the weight portion.

5. The coating unit is an application pad that elastically deforms when pressed against the surface of the object to be coated and applies the paint that has soaked into it, An unmanned aerial vehicle for repair painting as described in claim 2 or 3, characterized in that when the application pad is pressed against the surface of the object to be painted and elastically deformed, the tip of the application pad is located at the very tip of the unmanned aerial vehicle.

6. An imaging camera attached to the front of the body of the unmanned aerial vehicle and capturing an external image; A flight unit attached to the body of the unmanned aerial vehicle; A control unit for controlling the flight unit, The unmanned aerial vehicle for repair painting described in any one of claims 1 to 3, characterized in that when a part to be repaired is detected in the external image captured by the imaging camera, the control unit controls the flight unit to face the application unit toward the part to be repaired, and controls the flight unit to press the application unit against the part to be repaired.

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