Wall surface washing device

Abstract

To provide a wall surface washing device that is able to suitably perform washing work on a wall surface by using a traveling body that travels on the wall surface.SOLUTION: A wall surface washing device 1 comprises: a traveling body 2 that is supported by a supporting operation cable 4 extending from right and left sides, whose position is controlled, and that is configured to travel on a wall surface W; a washing unit 7 mounted on the traveling body 2 and configured to perform washing work on the wall surface W; and a drawing device 8 configured to draw and wind the supporting operation cable 4. The traveling body 2 includes a propeller 2c configured to generate pressing force applied to the wall surface W and also includes a nozzle, as the washing unit 7, which jets a washing liquid. The pressing force by the propeller 2c is changed according to an injection amount of the washing liquid in the nozzle.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus for performing a cleaning operation on a wall surface.

Background Art

[0002] Conventionally, when performing any operation (such as painting, assembling a machine, inspection, etc.) on the wall surface of a building, other structures, natural objects, etc., a scaffold along which a person can move back and forth is assembled on the wall surface, and a person climbs onto the scaffold to perform the operation. This is common practice.

[0003] In recent years, regarding such operations, it has been proposed to use a small flying device as an alternative and it is being put into practical use (for example, see Patent Documents 1 and 2 below). Such a flying device, generally called a drone, is small, has high flight stability, is maneuverable, and is easy to operate, and is being utilized in various fields.

[0004] Furthermore, in recent years, the applicants of the present application have applied the above-mentioned drone technology and have developed a technology as described in Patent Document 3 below. The wall surface working apparatus described in Patent Document 3 below is provided with a traveling body equipped with a working device for performing operations such as painting on a wall surface, together with a lifting support device having a support column and a lifting body, and supports the traveling body and operates its position by a support operation cable fed out from the position of the lifting body.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] Incidentally, when considering replacing various operations performed on the wall surface with the wall surface working device as described above, the operations include inspections, painting, and machine assembly as also mentioned in Patent Document 3 above, and in addition, for example, cleaning / washing of the wall surface is assumed. Here, the traveling body is equipped with devices (working devices) corresponding to the content of the work. However, in performing the work using these working devices, Patent Document 3 does not necessarily examine in detail how to install devices with what specific configurations in the wall surface working device. In particular, regarding the cleaning / washing of the wall surface, it is not even exemplified in Patent Document 3, and the issue of what device configuration is suitable when cleaning the wall surface with the wall surface working device has been left as an unexamined problem.

[0007] In view of such circumstances, the present invention aims to provide a wall surface cleaning device that can suitably perform a cleaning operation on a wall surface by using a traveling body that travels on the wall surface.

Means for Solving the Problems

[0008] The present invention relates to a wall surface cleaning device characterized by comprising a traveling body that is supported by support operation cables extending from the left and right and whose position is operated, and is configured to be able to travel on a wall surface, and a cleaning device mounted on the traveling body for performing a cleaning operation on the wall surface.

[0009] The wall surface cleaning device of the present invention may further comprise a feeding device for feeding and winding the support operation cables, and a winding support portion provided above the left and right of the traveling body, around which the support operation cables are wound to support the load of the traveling body.

[0010] The wall surface cleaning device of the present invention may further comprise a lifting support device including support columns installed on the left and right of the traveling body and a lifting body that moves up and down along the support columns, and a feeding device installed at the position of the lifting body for feeding and winding the support operation cables.

[0011] The wall cleaning device of the present invention is provided with at least one of a propeller that generates a pressing force against the wall surface or a suction portion that generates a suction force against the wall surface on the traveling body, and is provided with a nozzle that injects a cleaning liquid as the cleaning device, and the pressing force by the propeller or the suction force by the suction portion can be changed according to the injection amount of the cleaning liquid at the nozzle.

[0012] In the wall cleaning device of the present invention, the propeller can be a variable pitch propeller.

[0013] In the wall cleaning device of the present invention, the cleaning device includes a brush and a nozzle, the cleaning related device used in relation to the cleaning operation by the cleaning device is installed at a location other than the traveling body, and the cleaning device and the cleaning related device can be connected by a communication cable.

[0014] In the wall cleaning device of the present invention, at least one of the brush or the nozzle of the cleaning device can be configured to rotate with respect to the wall surface.

Effect of the Invention

[0015] According to the wall cleaning device of the present invention, it is possible to achieve an excellent effect of suitably performing a cleaning operation on the wall surface by using a traveling body that travels on the wall surface.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Best Mode for Carrying Out the Invention

[0017] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0018] Figs. 1 to 4 show an example of the form of a wall cleaning device according to the implementation of the present invention (the first embodiment). The wall cleaning device 1 of this first embodiment is configured to include a traveling body 2 supported by a support operation cable 4 and traveling along a wall surface W that is the work target, and a feeding device 8 that feeds and winds up the support operation cable 4. The support operation cable 4 is a wire rope that supports the traveling body 2, and the feeding device 8 is a winch that winds the support operation cable 4 around a drum and feeds and winds up the support operation cable 4 by the rotation of the drum by a motor. The traveling body 2 is supported at an appropriate position along the wall surface W in a form suspended from the support operation cables 4 extending from the left and right by a mechanism described later, and is operated to move along the wall surface W.

[0019] In addition, in this specification, the "wall surface" refers to the outer surface of a building or a wall as a partition, a wall that divides an outdoor area, the inner wall of a machine or equipment such as a furnace in a power plant, the cliff surface in a natural structure, and other various surfaces having a direction along a vertical surface. The "surface having a direction along a vertical surface" does not refer only to a plane that is strictly perpendicular to the direction of gravity, and may be a curved surface or may be inclined to a certain extent. As long as it is a planar structure that a human can sensuously recognize as a wall surface or a surface similar thereto, it can correspond to the "wall surface" in this specification.

[0020] The traveling body 2 is provided with wheels 2b as traveling parts at the four corners of a main body 2a formed by combining rod-shaped structural materials in a square shape. As shown in FIG. 3, the wheels 2b are in contact with the wall surface W so that the traveling body 2 can travel on the wall surface W. Each wheel 2b is configured as a ball caster attached to the back side of the traveling body 2 (here, the side facing the wall surface W with respect to the traveling body 2 is referred to as the "back side", and the opposite side is referred to as the "front side"). By the rotation of the wheels 2b, the traveling body 2 can freely travel in any direction along the wall surface. Note that the "traveling" as used in this specification does not only refer to traveling by wheels, but generally means an operation of moving along a wall surface. That is, in the implementation of the present invention, when the traveling body travels along the wall surface, the mechanism for traveling is not limited to the wheels as shown here. Also, as specific configurations of the main body 2a and the traveling part (wheels) 2b, various forms other than those described here can be adopted as long as the work can be carried out without hindrance, as will be described later.

[0021] Also, on the front side of the traveling body 2, a propeller 2c for generating a pressing force for pressing the entire traveling body 2 against the wall surface W is provided. The propeller 2c is configured to blow air from the traveling body 2 to the front side by rotation, and by the reaction force, press the entire traveling body 2 to the back side, thereby holding the traveling body 2 against the wall surface W.

[0022] Here, from the viewpoint of improving the responsiveness regarding the operation of the traveling body 2, it is particularly preferable to adopt a so-called variable pitch propeller as the propeller 2c. A variable pitch propeller is a propeller configured to be able to freely change the pitch, and can change the magnitude and direction of the thrust while keeping the rotation direction and rotation speed constant. That is, when the propeller 2c is a variable pitch propeller, the propeller 2c can vary the magnitude of the pressing force against the wall surface W, can also make the pressing force zero while rotating in the same direction, and can further generate a negative pressing force (a force in the direction away from the wall surface W). Being like this is convenient when performing the cleaning work of the wall surface W and traveling on the wall surface W, as will be described later.

[0023] In the case of the first embodiment, the attachment positions of the two support operation cables 4 on the traveling body 2 are set at one location on the upper part of the main body 2a. In addition, the attachment positions of the support operation cables 4 on the traveling body 2 can be set at appropriate positions. For example, it is also possible to connect the tips of the left and right support operation cables 4 to the upper left and upper right of the main body 2a, respectively.

[0024] Further, the wall surface cleaning device 1 includes a cleaning device 7 and a cleaning-related device 7a for performing a cleaning operation on the wall surface W. The cleaning device 7 and the cleaning-related device 7a are functional parts that cooperate with each other to function for cleaning the wall surface W. In the case of the first embodiment, they are separately installed on the traveling body 2 and other locations (on the ground in the case of the first embodiment). Although not shown, a pedestal or the like for installing the cleaning-related device 7a may be provided as appropriate. The same applies to other devices, such as the pay-out device 8.

[0025] The cleaning device 7 includes, for example, a nozzle that injects a high-pressure cleaning liquid onto the wall surface W and a brush provided with bristles that contacts the wall surface W. The cleaning-related device 7a is a device necessary for the operation of the nozzle and motor included in the cleaning device 7. For example, it includes a tank for storing a cleaning liquid such as water or detergent supplied to the nozzle, a pump that sends out the cleaning liquid to the nozzle at high pressure, a control device that controls the operation of the pump and the nozzle and brush, and a power supply device that supplies power necessary for these operations.

[0026] The cleaning device 7 and the cleaning-related device 7a are connected by a communication cable 6. The communication cable 6 is a cable, hose, tube, or a bundle thereof that connects the devices mounted on the traveling body 2 and the devices installed at other locations (such as on the ground).

[0027] Thus, in the wall surface cleaning device 1 of the first embodiment, when mounting equipment for cleaning the wall surface W, on the traveling body 2, the minimum components necessary for the work directly performed on the wall surface W (nozzles and brushes constituting the cleaning equipment 7) are loaded, and the rest (tanks, pumps, control equipment, power supply devices, etc. constituting the cleaning-related equipment 7a) are arranged in other parts, so as to reduce the weight of the traveling body 2. Incidentally, the installation position of the cleaning-related equipment 7a does not have to be on the ground, and for example, it can also be loaded on a cart that can move left and right according to the position of the traveling body 2. Also, the functional sharing between the cleaning equipment 7 and the cleaning-related equipment 7a is not limited to the example described here. For example, the control equipment may be loaded on the traveling body 2 as part of the cleaning equipment 7.

[0028] As the cleaning equipment 7 and the cleaning-related equipment 7a, for example, a high-pressure washer used for floor cleaning can be diverted. Such a high-pressure washer is provided with a brush having tufts of hair and a nozzle for supplying a cleaning liquid to the operating range of the brush, and also includes various equipment such as a tank for the cleaning liquid, a pump for sending out the cleaning liquid, control equipment for each part, and a power supply device in the housing. Therefore, it is disassembled, the brush and the nozzle are loaded on the traveling body 2 as the cleaning equipment 7, while the other equipment is arranged on the ground as the cleaning-related equipment 7a, and they are connected by a connecting cable 6 in between. Generally, for wall surface cleaning, a high-pressure washer that injects the cleaning liquid linearly from the tip of a cylindrical nozzle is often used. Of course, it is possible to adopt such a type of washer for the wall surface cleaning device. However, for a washer of the type used for floor cleaning, a wider area can be cleaned at once, and the cleaning of the wall surface W can be performed efficiently.

[0029] Here, when compared with a normal high-pressure washer used for cleaning walls or the like, the washer used for cleaning floors has a large and heavy head portion equipped with a brush. Therefore, when considering using a drone or a drone-like device to clean a wall surface, it is a more common idea to adopt the nozzle of a normal high-pressure washer for wall cleaning rather than a floor cleaning washer equipped with a brush. This is because in a drone, there is a limit to the weight of the equipment that can be carried according to its flight ability, and it is usually desirable to make the equipment to be mounted as light as possible. Also, originally, a floor cleaning washer is a device developed and used for the purpose of efficiently cleaning the floor, and it is difficult to come up with the idea of applying it to wall surface cleaning.

[0030] In the wall surface cleaning device 1 of the first embodiment, instead of supporting the traveling body 2 by the flying force of a propeller like a drone, the weight of the traveling body 2 and the equipment loaded thereon is supported by suspending it with a support operation cable 4 (the propeller 2c in the first embodiment is not for supporting the weight in the air by the flying force, but is provided for pressing the traveling body 2 supported by the support operation cable 4 against the wall surface W. However, separately from this, it is also possible to further assist the support and operation of the traveling body 2 by the support operation cable 4 by providing a propeller or suspending the traveling body 2 from another flying body. The support mechanism of the traveling body 2 by the support operation cable 4 will be described in detail later). This enables a floor cleaning head with a large weight to be mounted on the traveling body 2 and efficiently clean a large area.

[0031] The support structure of the cleaning equipment 7 in the traveling body 2 will be described. As shown in FIGS. 2 and 3, on the back side (front side) of the main body 2a of the traveling body 2, there is provided an attachment portion 2d, and the cleaning equipment 7 is supported by the traveling body 2 in a form attached to this attachment portion 2d.

[0032] The attachment part 2d is provided on the front side (opposite side of the wall surface W) with respect to the main body 2a assembled in a square shape, and is a part that supports the cleaning device 7 so as to suspend it. The attachment part 2d is a structural part formed in a vertically long rectangular parallelepiped shape by combining rod-shaped structural materials, protrudes from the main body 2a to the front side, and is attached to the main body 2a so as to protrude downward from the main body 2a. And the cleaning device 7 is attached to the part protruding downward from the main body 2a.

[0033] The cleaning device 7 is a part corresponding to the head part of a high-pressure washer for floor cleaning and its peripheral part, and includes a brush 7b provided with tufts of hair, a nozzle 7c connected to the back surface of the brush 7b, and a rod 7d protruding from the back surface of the brush 7b. The brush 7b is supported by the attachment part 2d in such a way that the rod 7d on the back surface is attached to the framework at the lower part of the attachment part 2d. In a state where the main body 2a is supported along the wall surface W, the front surface faces the wall surface W (the front surface faces the back side of the traveling body 2). The nozzle 7c is connected to the brush 7b from the back side (front side) as described above, but the injection port at the tip is exposed on the front surface (back surface) side of the brush 7b, and the cleaning liquid is injected from here to the wall surface W at high pressure. The nozzle 7c is attached to the brush 7b at its tip part, while being attached to the framework of the attachment part 2d at a position slightly (about several tens of centimeters) behind that position, and is supported by the traveling body 2 at these two points.

[0034] In this embodiment, the brush 7b is configured as, for example, tufts of hair provided at the peripheral edge of a disk-shaped head part, and the injection port of the nozzle 7c rotates inside the tufts of hair of the brush 7b that forms a circle as a whole, and the cleaning liquid is injected within that range (illustrations are omitted). In the cleaning device 7 having such a configuration, while the nozzle 7c rotates with respect to the wall surface W, the brush 7b does not rotate, and it plays a role of suppressing the scattering of the cleaning liquid sprayed from the nozzle 7c to the surroundings. In addition, in the head of a high-pressure washer for floor cleaning, in addition to such a type, there are types in which the nozzle does not rotate and the brush rotates, types in which both the brush and the nozzle rotate, etc. As the cleaning device mounted on the wall cleaning device, such types of brushes and nozzles may be adopted.

[0035] When the cleaning device 7 is attached to the traveling body 2 in this way, with the operation of the cleaning device 7, a repulsive force is generated that causes the traveling body 2 to swing forward (front side) with respect to the wall surface W due to the reaction force of the cleaning liquid jetted from the nozzle 7c. This repulsive force can be suppressed by the pressing force of the propeller 2c. That is, a moment greater than the moment due to the reaction force of the cleaning liquid may be applied to the traveling body 2 in the opposite direction by the pressing force generated by the rotation of the propeller 2c. In the case of the first embodiment, the fulcrum for supporting the load of the traveling body 2 is the attachment position of the support operation cable 4 at the upper part of the main body 2a (see FIG. 3), and the moment due to the reaction force of the cleaning liquid acts in the direction of rotating the traveling body 2 counterclockwise (rightward, front side) about this point. On the other hand, the moment due to the pressing force of the propeller 2c acts in the direction of rotating the traveling body 2 clockwise (leftward, back side). If the latter is equal to or greater than the former, the cleaning operation involving the jetting of the cleaning liquid from the nozzle 7c can be performed without the traveling body 2 swinging to the front side from the wall surface W.

[0036] Here, if the propeller 2c is configured as a variable pitch propeller as described above, for example, by changing the pitch of the propeller 2c according to the reaction force generated in the cleaning device 7, the pressing force can be easily adjusted to an appropriate magnitude each time. Alternatively, the control unit 10 may be programmed so that the pitch of the propeller 2c is automatically changed according to the jetting amount of the cleaning liquid at the nozzle 7c. Note that the adjustment of the pressing force is not limited to the variable pitch mechanism, and can also be performed, for example, simply by changing the rotation speed of the propeller.

[0037] Still, if the pressing force cannot be adjusted in the propeller 2c and only the operating state with a constant pressing force (pitch and rotational speed) or the off state can be selected, for example, a propeller with an output capable of suppressing the repulsive force caused by the injection of the cleaning liquid during the cleaning operation will be provided. However, if this is done, in a situation where the cleaning liquid is not being injected or the amount of the cleaning liquid injection is small, the traveling body 2 will be pressed against the wall surface W with an excessive pressing force, using wasted energy for the generation of the pressing force and possibly causing an obstacle to the traveling of the traveling body 2. Therefore, it is still desirable that the propeller 2c be configured so that the pressing force can be adjusted to generate an appropriate pressing force against the repulsive force in the cleaning device 7.

[0038] Thus, in this first embodiment, the traveling body 2 is held against the wall surface W by the pressing force of the propeller 2c and is adapted to appropriately maintain the distance from the wall surface W against the repulsive force generated in the cleaning device 7 (so as not to suddenly separate from the wall surface W during the cleaning operation).

[0039] In addition to the propeller 2c described above, the wall surface cleaning device 1 may be provided with a suction portion (not shown) for sucking the traveling body 2 to the wall surface W. As the suction portion, for example, the same devices as those sold under names such as "vacuum gripper", "vacuum suction gripper", "vacuum suction pad", or "suction lifter", and devices using the same principles as these can be used. That is, the suction portion is configured as a pneumatic suction device that sucks air between the wall surface W to generate negative pressure, and thereby the entire traveling body 2 with the suction portion attached is held on the wall surface W. Alternatively, when assuming a structure made of a magnetic material such as iron as the wall surface W to be cleaned (for example, the inner wall or outer wall of some device), the suction portion 5 may be configured as an electromagnetic suction device. That is, an electromagnet is provided in the suction portion, and by energizing the electromagnet, it is attracted to the wall surface W that is a magnetic material by electromagnetic force. In addition, for example, in the case of a type that is attracted to the wall surface W by electrostatic force, as long as it can be appropriately attracted to the wall surface W, devices based on various mechanisms and principles can be adopted as the suction portion. Regarding the suction portion, similar to the pressing force in the above-described propeller 2c, it is desirable to have a mechanism that can adjust the suction force according to the repulsive force generated by the operation of the cleaning device 7.

[0040] In addition, when the suction portion is a pneumatic suction device, a pump and a tube for sucking air are separately required. When the suction portion is an electromagnetic or electrostatic suction device, although it depends on the required suction force, a power supply device and a power cable for supplying power from the outside are separately required. In the wall surface cleaning device 1 of the first embodiment, devices such as the pump and the power supply device used for the operation of the suction portion can be installed at a location different from the traveling body 2 as suction-related devices (for example, on the ground or a cart that can move left and right according to the position of the traveling body 2). In addition, the suction portion mounted on the traveling body 2 and the suction-related devices on the ground can be connected by a tube or a power cable as the connection cable 6.

[0041] In addition, depending on conditions such as the mounting weight of devices on the traveling body, only the suction portion may be provided on the traveling body instead of the propeller.

[0042] The support and operation of the traveling body 2 in this first embodiment will be described. In this first embodiment, the support operation cable 4 is wound around the winding support portion 20 provided on the wall surface W side, and the traveling body 2 is supported from the position of the winding support portion 20 via the support operation cable 4.

[0043] In this first embodiment, a pair of pay-out devices 8 are installed at the ground height corresponding to the lower left and right of the traveling body 2 that travels along the wall surface W. The winding support portions 20 are installed in a pair at positions corresponding to the upper left and right of the traveling body 2 that travels along the wall surface W above the pay-out devices 8 (for example, the rooftop when the wall surface W is part of a building).

[0044] The winding support portion 20 includes, for example, a support 20a fixed to the wall surface W and a pulley 20b rotatably provided at the tip of the support 20a, and the support operation cable 4 is wound around the pulley 20b. The support 20a is a projecting beam that supports the pulley 20b and the load applied thereto. Although shown in a simplified manner in the figure, the support 20a has an appropriate structure for supporting the load of the traveling body 2 by the pulley 20b with respect to the wall surface W, and supports the pulley 20b at a position separated by an appropriate distance in front of the wall surface W (a distance at which the traveling body 2 can be suspended from the wall surface W at an appropriate distance).

[0045] The support operation cable 4 extends upward from a pair of pay-out devices 8 installed on the ground, turns downward at the pulley 20b of the winding support portion 20, and the tip is attached to the traveling body 2. In this way, the traveling body 2 is supported with respect to the wall surface W in a form suspended by two support operation cables 4 from the left and right winding support portions 20.

[0046] The installation position of the winding support portion 20 on the wall surface W needs to be above the traveling body 2 that travels on the wall surface W in order to wind the support operation cable 4 around the winding support portion 20 and thereby support the load of the traveling body 2. On the other hand, in the example shown here, the pay-out device 8 is installed on the ground below the traveling body 2, but depending on the embodiment, the pay-out device 8 is not necessarily installed below the traveling body 2. For example, a form in which the pay-out device 8 is installed in the middle of the wall surface and the traveling body 2 is suspended downward therefrom via the winding support portion 20 is also theoretically conceivable.

[0047] Furthermore, in this first embodiment, as a structure for winding the support operation cable 4, in addition to the winding support portion 20, a winding portion 21 is provided. The winding portion 21 in this first embodiment is a pulley installed in front of the pay-out position of the support operation cable 4 with respect to the pay-out device 8 which is a winch (in FIG. 1, at a position inside in the left-right direction with respect to the left and right pay-out devices 8), and the support operation cable 4 fed out from the pay-out device 8 is once wound around this winding portion (pulley) 21 and then extends upward and is wound around the winding support portion 20. Thereby, the pay-out angle of the support operation cable 4 from the pay-out device 8 is adjusted so that the pay-out and winding of the support operation cable 4 are performed smoothly. Incidentally, if the pay-out and winding of the support operation cable 4 from the pay-out device 8 can be executed without trouble even without the winding portion 21, the winding portion 21 may be omitted. Alternatively, depending on the specific state of the wall surface W, the position of the pay-out device, etc., an appropriate number of winding portions may be provided at appropriate positions different from the position of the winding portion 21 shown here to adjust the position of the support operation cable 4.

[0048] Each of the above-described devices constituting the wall surface cleaning device 1 is controlled by the control unit 10. The control unit 10 is a control device that monitors and controls the operations of the devices constituting the wall surface cleaning device 1, and inputs control signals to devices such as the motor of the pay-out device 8 that performs the pay-out and winding of the support operation cable 4, the propeller 2c mounted on the traveling body 2, the cleaning device 7, and the cleaning-related device 7a, and controls the on / off and operations of these devices.

[0049] In addition, an operation unit 11 is connected to the control unit 10. The operator of the wall surface cleaning device 1 inputs an operation signal to the control unit 10 through the operation of the operation unit 11, and the control unit 10 controls each device according to this operation signal. Further, a display unit 12 such as a liquid crystal display may be connected to the control unit 10 as needed to display the operating status of each device (the position of the traveling body 2, the operating status of the suction unit 5 and the cleaning device 7, the feeding status of the support operation cable 4 from the feeding device 8, etc.). Note that, as the operation unit 11, for example, a commercially available product such as a controller of a game machine can be used, or a touch panel type display such as a smartphone or a tablet can be used. When the operation unit 11 is configured as a touch panel type display, the operation unit 11 can also serve as the display unit 12.

[0050] Next, the operation of the above-described first embodiment of the present invention will be described.

[0051] When using the wall surface cleaning device 1, first, a winding support portion 20 is installed above the upper left and right of the wall surface W that is the work target. A feeding device 8 and a winding portion 21 are installed below it, and the support operation cable 4 fed from the feeding device 8 is first wound around the winding portion 21, then extended upward and wound around the winding support portion 20, and the traveling body 2 is attached to the tip (of course, this procedure is only an example, for example, the support operation cable 4 may be fed from the feeding device 8 with the traveling body 2 attached to the support operation cable 4 and wound around the winding support portion 20). While the necessary cleaning device 7 is mounted on the traveling body 2, the cleaning-related device 7a is installed on the ground side, and the cleaning device 7 and the cleaning-related device 7a are connected by a communication cable 6. In this state, the feeding device 8 is operated to wind up the support operation cable 4. The traveling body 2 is suspended from the winding support portion 20 by the support operation cables 4 fed from the left and right feeding devices 8 and rises.

[0052] Furthermore, the feeding device 8 feeds and winds the support operation cable 4 to operate the position of the traveling body 2 thereby. The height and position of the traveling body 2 in the vertical and horizontal directions with respect to the wall surface W are determined by the feeding amount of the support operation cable 4 from the left and right feeding devices 8. That is, the smaller the feeding amount of the support operation cable 4, the closer the traveling body 2 is supported at a height near the winding support portion 20, and if the feeding amount of the support operation cable 4 is large, the traveling body 2 is suspended downward with respect to the winding support portion 20. Also, in a state where the traveling body 2 is supported by the tension of the left and right support operation cables 4, if the feeding amount of the support operation cable 4 from the left feeding device 8 is larger than the feeding amount from the right feeding device 8, the traveling body 2 is positioned closer to the right between the left and right winding support portions 20, 20, and if the feeding amount of the support operation cable 4 from the left feeding device 8 is smaller than the feeding amount from the right feeding device 8, the traveling body 2 is positioned closer to the left between the left and right winding support portions 20, 20.

[0053] While holding itself on the wall surface W by the operation of the propeller 2c, the traveling body 2 is operated in the vertical and horizontal directions with respect to the wall surface W by the support operation cable 4 as described above and travels along the wall surface W. While thus causing the traveling body 2 to travel, the cleaning device 7 and the cleaning-related device 7a are operated to perform a cleaning operation on the wall surface W.

[0054] A series of operations such as the adjustment of the position of the traveling body 2 by the support operation cable 4 and the injection of the cleaning liquid in the cleaning device 7 can be executed by inputting an operation signal from the operation unit 11. Also, during the work, the operating status of various devices is displayed on the display unit 12, and in addition to visually observing the traveling body 2, detailed operating status can also be grasped from the visual information displayed on the display unit 12. Incidentally, among the above various operations, the operation unit 11 may be made to handle only a part of them. For example, the cleaning operation by the cleaning device 7 may be executed through another dedicated controller for the cleaning device 7.

[0055] During the cleaning operation, when the cleaning liquid is sprayed from the nozzle 7c of the cleaning machine 7, a repulsive force in the direction away from the wall surface W is generated on the traveling body 2. Since this repulsive force varies depending on the injection amount of the cleaning liquid, the pitch and rotational speed of the propeller 2c provided on the traveling body 2 are adjusted to generate a pressing force on the traveling body 2 that can appropriately resist the repulsive force. In this way, while maintaining an appropriate distance so that the traveling body 2 does not move too far away from the wall surface W and adjusting the pressing force so that the traveling body 2 is not excessively pressed against the wall surface W by the pressing force of the propeller 2c, the cleaning operation is performed.

[0056] During the operation of the wall cleaning device 1, when it is desired to move the traveling body 2 significantly on the wall surface, the pressing force by the propeller 2c may hinder the movement. In such a case, if the operation of the propeller 2c is turned off (or the output is reduced) and the feeding length of the support operation cable 4 is operated with the pressing force cut off (reduced), the traveling body 2 can be moved more smoothly and quickly. Here, if the propeller 2c is configured as a variable pitch propeller, the pressing force can be reduced or made zero while maintaining rotation without turning off the operation of the propeller 2c, so that the operation of the propeller 2c and the traveling body 2 can be executed with better responsiveness.

[0057] Also, on the wall surface W, there may be obstacles such as protrusions like pillars that hinder the traveling of the traveling body 2. In that case, if the propeller 2c is a variable pitch propeller, a negative pressing force can be generated to separate the traveling body 2 from the wall surface W, and it can be quickly moved without detouring around the obstacle.

[0058] When cleaning the wall surface W using such a wall cleaning device 1, it is not necessary to construct a scaffold that allows people to move back and forth along the wall surface W. It is only necessary to install the winding support portion 20 on the wall surface W. Therefore, compared with the case of performing the work manually, the labor and time required for installing the scaffold can be significantly reduced. Also, when actually performing the cleaning work, there is no need for the labor of people moving up, down, left, and right using a lift or a scaffold, and the workload can be reduced and the construction period can be shortened.

[0059] Figure 5 shows another form (second embodiment) of the wall cleaning device according to the implementation of the present invention. The wall cleaning device 1 of this second embodiment is common to the above-described first embodiment shown in FIG. 1 with respect to the basic configuration, while it is different from the first embodiment in that it includes a lifting support device 3 similar to the wall working device described in Patent Document 3. In this second embodiment, the traveling body 2 is supported by support operation cables 4 extending from the left and right lifting support devices 3, and the position of the traveling body 2 is operated.

[0060] The lifting support device 3 includes support columns 3a installed along the wall surface W on the left and right of the traveling body 2, and a basket 3b as a lifting body that moves up and down along the support columns 3a. At appropriate positions of the support columns 3a, a winch (a winch different from the feeding device 8) or the like (not shown) is installed, and the basket 3b can be moved up and down along the support columns 3a by the operation of the winch or the like. Here, the basket 3b is exemplified as the lifting body, but the configuration of the lifting body is not limited to this. For example, a platform that moves up and down along the support columns 3a may be configured as the lifting body. Further, the mechanism for moving the lifting body up and down is not limited to a winch, and for example, a self-elevating lifting device may be adopted.

[0061] In addition, as the lifting support device 3, for example, the same devices as various devices sold as scaffolding working devices can be used. For example, the applicant of the present application sells devices such as "Power Mast" (trade name), "Power Lift" (trade name) for moving a scaffolding for wall work up and down along support columns, and "Power Climber" (trade name) for moving a hoisting basket for a scaffolding for wall work up and down along support columns. These devices can be used as they are or with some modifications for the lifting support device in this second embodiment.

[0062] A winch 8 as a feeding device for the support operation cable 4 is loaded on the basket 3b. The tips of a pair of support operation cables 4 fed out from the positions of the left and right baskets 3b are connected to the traveling body 2, whereby the traveling body 2 is supported from the left and right and its position is operated. A motor (not shown) as the power of the winch 8 is also loaded on the basket 3b.

[0063] The basket 3b is further loaded with cleaning-related equipment 7a. The cleaning-related equipment 7a loaded on the basket 3b is connected to the cleaning equipment 7 by a connecting cable 6.

[0064] In addition, the wall surface cleaning device 1 is provided with a height sensor 13 for measuring the height of the basket 3b provided in the lifting support device 3. The height sensor 13 is, for example, a laser distance measuring sensor. In the case of this second embodiment, the height sensor 13 is provided at the height of the ground at the installation positions of the left and right lifting support devices 3 in FIG. 1, irradiates vertical irradiation light toward the basket 3b located above, and detects the reflected light from the basket 3b, whereby the height of the basket 3b can be grasped. Note that the height sensor 13 may be attached to the side of the basket 3b instead of the height of the ground.

[0065] In addition, at least one of the baskets 3b (in the case of this second embodiment, the basket 3b on the left side when facing) is provided with a distance sensor 9 for detecting the distance to the other basket 3b. The distance sensor 9 is, for example, a laser distance measuring sensor, irradiates horizontal irradiation light from one basket 3b toward the other basket 3b, and detects the reflected light from the other basket 3b, whereby the distance between the baskets 3b, 3b attached to the left and right lifting support devices 3 can be grasped. Note that as the height sensor 13 and the distance sensor 9, other types of instruments (for example, ultrasonic distance measuring sensors, etc.) may be appropriately used as long as the height and distance can be appropriately grasped.

[0066] The operations of the respective devices including the lifting support device 3 are controlled by the control unit 10. Further, the measured values of the distance sensor 9 and the height sensor 13 are input to the control unit 10 as data signals.

[0067] When performing the cleaning operation of the wall surface W using the wall surface cleaning device 1 of this second embodiment, the cages 3b provided in the left and right lifting support devices 3 are lifted, and the winch (pay-out device) 8 loaded on the cages 3b is supported at a position higher than the traveling body 2. The winch (not shown) of the lifting support device 3 is operated to lift the left and right cages 3b along the support columns 3a. The traveling body 2 is suspended by the support operation ropes 4 paid out from the left and right winches 8 and rises together with the cages 3b.

[0068] When the traveling body 2 is lifted to an appropriate height, the support operation ropes 4 are paid out and wound from the winches 8 loaded on the left and right cages 3b, thereby operating the position of the traveling body 2. While the traveling body 2 is traveling along the wall surface W in this way, the cleaning device 7 and the cleaning-related device 7a are operated to perform the cleaning operation.

[0069] Here, when operating the traveling body 2, there may be a certain height difference between the left and right winches 8 and the traveling body 2, but if the difference is too large, the horizontal component of the tension of the support operation ropes 4 that support the traveling body 2 from the left and right will become small, and there is a risk that it will be difficult to operate the left and right positions of the traveling body 2 by the support operation ropes 4. Also, since there is a limit to the length of the communication ropes 6, it is not preferable for the height difference between the left and right winches 8 and the traveling body 2 to be too large. On the other hand, if the height difference between the winch 8 and the traveling body 2 is too small, the tension of the support operation ropes 4 required to support the weight of the traveling body 2 will increase, and this may cause a large deflection in the support columns 3a. Therefore, when operating the traveling body 2, it is advisable to pay attention so that the height difference between the cage 3b and the traveling body 2 is within an appropriate range.

[0070] A series of operations such as adjusting the height of the basket 3b, adjusting the position of the traveling body 2 by the support operation cable 4, and cleaning work by the cleaning device 7 can be executed by inputting an operation signal from the operation unit 11. Also, during the work, the operating status of various devices is displayed on the display unit 12. In addition to visually observing the traveling body 2 and the lifting support device 3, detailed operating status can also be grasped based on the visual information displayed on the display unit 12. Note that among the above various operations, the operation unit 11 may be responsible for only a part of them. For example, the lifting of the basket 3b may be executed through another controller provided in the lifting support device 3.

[0071] As described above, the wall surface cleaning device 1 of each of the above embodiments includes a traveling body 2 that is supported by support operation cables 4 extending from the left and right and whose position is manipulated, and is configured to travel with respect to the wall surface W, and a cleaning device 7 mounted on the traveling body 2 that performs cleaning work on the wall surface W. In this way, while the traveling body 2 is traveling with respect to the wall surface W, the cleaning work can be performed by the cleaning device 7 mounted on the traveling body 2.

[0072] The wall surface cleaning device 1 of some embodiments further includes a feeding device 8 that feeds and winds the support operation cable 4, and a winding support portion 20 that is provided above and to the left and right of the traveling body 2 and around which the support operation cable 4 is wound to support the load of the traveling body 2.

[0073] The wall surface cleaning device of some embodiments further includes a lifting support device 3 including support columns 3a installed on the left and right of the traveling body 2 and a lifting body (basket) 3b that moves up and down along the support columns 3a, and a feeding device 8 installed at the position of the lifting body 3b that feeds and winds the support operation cable 4.

[0074] The wall cleaning device 1 of each embodiment includes at least one of a propeller 2c that generates a pressing force against the wall surface W or a suction portion that generates a suction force against the wall surface W on a traveling body 2, and includes a nozzle 7c that injects a cleaning liquid as cleaning equipment 7. The pressing force by the propeller 2c or the suction force by the suction portion can be changed according to the injection amount of the cleaning liquid at the nozzle 7c. In this way, an appropriate pressing force can be generated by the propeller 2c against the repulsive force generated by the injection of the cleaning liquid in the cleaning equipment 7.

[0075] In the wall cleaning device 1 of each embodiment, the propeller 2c can be a variable pitch propeller. In this way, the pressing force by the propeller 2c can be easily adjusted.

[0076] In the wall cleaning device 1 of each embodiment, the cleaning equipment 7 includes a brush 7b and a nozzle 7c. The cleaning related equipment 7a used in relation to the cleaning operation by the cleaning equipment 7 is installed at a location other than the traveling body 2, and the cleaning equipment 7 and the cleaning related equipment 7a are connected by a communication cable 6. In this way, only the minimum components necessary for the operations directly performed on the wall surface W are loaded on the traveling body 2 as the cleaning equipment 7, and the rest is arranged in other parts as the cleaning related equipment 7a, so that the weight of the traveling body 2 can be reduced.

[0077] In the wall cleaning device 1 of each embodiment, at least one of the brush 7b or the nozzle 7c of the cleaning equipment 7 can be configured to rotate with respect to the wall surface W. In this way, a wide area can be cleaned at once, and the cleaning of the wall surface W can be efficiently performed.

[0078] Therefore, according to each of the above embodiments, a traveling body that travels on a wall surface can be used, and the cleaning operation can be suitably performed on the wall surface.

[0079] Note that the wall cleaning device of the present invention is not limited to the above-described embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

Explanation of Reference Numerals

[0080] 1 Wall cleaning device 2 Traveling body 2c Propeller 3 Lifting support device 3a Support column 3b Lifting body (cage) 6 Connecting cable 7 Cleaning equipment 7a Cleaning-related equipment 7b Brush 7c Nozzle 8 Hoist (pay-out device) W Wall

Claims

1. A traveling body that is supported by support operation cables extending from the left and right and whose position is manipulated, and is configured to travel on a wall surface, a cleaning device mounted on the traveling body and performing a cleaning operation on the wall surface, A wall surface cleaning device, characterized in that it comprises the above.

2. A feeding device that feeds and winds the support operation cables, A winding support part that is provided above the left and right of the traveling body, around which the support operation cables are wound, and supports the load of the traveling body, The wall surface cleaning device according to claim 1, further comprising the above.

3. A lifting support device comprising support columns installed on the left and right of the traveling body and a lifting body that moves up and down along the support columns, A feeding device that is installed at the position of the lifting body and feeds and winds the support operation cables, The wall surface cleaning device according to claim 1, further comprising the above.

4. The traveling body is provided with at least one of a propeller that generates a pressing force against the wall surface or a suction part that generates a suction force against the wall surface, The cleaning device is provided with a nozzle that injects a cleaning liquid, The pressing force by the propeller or the suction force by the suction part can be changed according to the injection amount of the cleaning liquid at the nozzle. The wall surface cleaning device according to claim 1, characterized by the above.

5. The propeller is a variable pitch propeller. The wall surface cleaning device according to claim 4, characterized by the above.

6. The cleaning device is provided with a brush and a nozzle, Cleaning related devices used in relation to the cleaning operation by the cleaning device are installed at a location other than the traveling body, and the cleaning device and the cleaning related devices are connected by a communication cable. The wall surface cleaning device according to claim 1, characterized by the above.

7. At least one of the brush or the nozzle of the cleaning device is configured to rotate with respect to the wall surface. The wall surface cleaning device according to claim 6, characterized by the above.

Images