Wire-driven system

Abstract

We provide a highly convenient wire-driven system. [Solution] The wire running system according to the present disclosure comprises a support structure having a plurality of support columns extending downward from above, a pair of wires stretched between the plurality of support columns and extending in parallel, and wire support parts provided at the lower ends of the support columns and supporting the wires from below, and a moving device suspended via left and right rotating bodies that run above the pair of wires and is movable along the wires, wherein when the moving device moves along the wires from one side of the support column to the other, the left and right rotating bodies run above the pair of wires supported by the wire support parts.

Description

Technical Field

[0001] The present disclosure relates to a wire running system.

Background Art

[0002] For example, Patent Document 1 proposes a device that rides and runs a self-propelled aircraft equipped with a special camera for ground photography on an overhead ground wire stretched between towers to photograph the ground.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the example of Patent Document 1, when the self-propelled aircraft reaches the position of the tower supporting the overhead ground wire, a worker who has climbed the tower needs to move the self-propelled aircraft from one side of the tower to the other side. That is, in the conventional method, since it takes time for the worker to move the self-propelled aircraft, there is room for improvement in terms of convenience.

[0005] Therefore, the present disclosure has been made in view of the above problems, and its object is to provide a highly convenient wire running system.

Means for Solving the Problems

[0006] According to this disclosure, a wire travel system is provided, comprising: a support structure having a plurality of support columns extending downward from above, a pair of wires stretched between the plurality of support columns and extending in parallel, and wire support parts provided at the lower ends of the support columns and supporting the wires from below; and a moving device suspended via left and right rotating bodies that run above the pair of wires and is movable along the wires, wherein when the moving device moves along the wires from one side of the support column to the other, the left and right rotating bodies run above the pair of wires supported by the wire support parts. [Effects of the Invention]

[0007] According to this disclosure, a highly convenient wire-driven system can be provided. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows an example configuration of a wire travel system according to one embodiment of the present disclosure. [Figure 2] This is a view of the system according to the same embodiment, seen from the direction of wire extension. [Figure 3] This figure shows a modified example of the wire travel system according to the same embodiment. [Figure 4] This figure shows another modified example of the wire travel system according to the same embodiment. [Figure 5] This figure shows the curved portion of the wire according to the same embodiment. [Modes for carrying out the invention]

[0009] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0010] Figure 1 shows an overview of the wire travel system 1 according to this embodiment. The wire travel system 1 comprises a support structure 10 and a moving device 20.

[0011] The support structure 10 comprises a plurality of support columns 11 extending downward from above, a pair of wires 12 suspended between the plurality of support columns 11 and extending in parallel, and wire support parts 13 provided at the lower ends of the support columns 11 and supporting the wires 12 from below. The wires 12 are suspended between three or more support columns 11 arranged at predetermined intervals.

[0012] The support column 11 may, for example, have its base fixed to the ceiling surface A of a building or the like, as shown in Figure 2, or its root portion fixed to the side wall surface B, as shown in Figure 3. Alternatively, instead of the side wall in Figure 3, the root portion of the support column 11 may be connected to a vertically extending column or tower erected on the ground. In other words, the root portion of the support column 11 may be fixed to the ground. In any case, the support column 11 extends upward from the connection point with the wire support portion 13. In this example, the support column 11 is connected to approximately the center of the wire support portion 13, but it is not limited to this.

[0013] In this example, two wires 12 are arranged parallel to each other, sandwiching the support column 11. The wires 12 are supported from below by the wire support section 13. In this example, a cover section 16 that covers the wires 12 located above the wire support section 13 prevents misalignment of the wires. The cover section 16 is detachably fixed to the wire support section 13 by fasteners such as screws. The rotating body 21 of the moving device 20 can travel on the upper surface of the cover section 16. The wires 12 may be made of metal, synthetic fibers, or the like. There may be two wires 12, or three or more. The number of rotating bodies 21 of the moving device 20 is preferably the same as the number of wires 12, or an integer multiple of the number of wires 12. For example, as shown in Figure 4, two rotating bodies 21 may be provided for one wire 12, one in front and one behind. When multiple rotating bodies 21 are provided, the number of rotating bodies driven by the drive device may be one or multiple.

[0014] It is preferable that the wire support portion 13 is configured to allow its angle with respect to the support column 11 to be changed. In this example, a hinge portion 14 that allows its angle to be changed is provided at the connection between the wire support portion 13 and the support column 11. The hinge portion 14 can be a joint that allows its angle to be changed in any direction, such as a ball joint.

[0015] It is preferable that the support column 11 is provided with a bendable section 15 whose angle can be changed. The bendable section 15 can be a joint such as a ball joint that can change its angle in any direction.

[0016] The wire support section 13 may include, for example, a curved wire support section 13a that supports a curved section 12a where a pair of wires 12 are curved in a plan view, as shown in Figure 5. The outer shape of the curved wire support section 13a corresponds to the shape of the curved section 12a of the wire 12. With this configuration, not only linear movement but also curved movement is possible. In the curved section 12a, the wire extends in an arc shape, and the radius of curvature of the inner wire 121 is smaller than the radius of curvature of the outer wire 122. The wire support section 13 includes a support for the straight section of the wire 12.

[0017] The moving device 20 is suspended via left and right rotating bodies 21 that run above a pair of wires 12, and is configured to be movable along the wires 12. The moving device 20 can move along the wires 12 to at least one side, and preferably to both one side and the other side. The moving device 20 is provided so as to surround the pair of wires 12 from both the left and right sides and from below, and is open on the top and front and rear sides.

[0018] In this system, when the moving device 20 moves from one side to the other side of the support column 11 along the wire 12, the left and right rotators 21 travel on the upper side (upper surface) of the pair of wires 12 supported by the wire support portion 13 without the moving device 20 interfering with the support column 11 and the wire support portion 13. The moving device 20 has a structure in which the lower surface of the rotator 21 contacts the upper surface of the wire 12 and does not contact the support column 11 and the wire support portion 13, and the front and rear in the traveling direction and information are open.

[0019] As shown in FIG. 2, the moving device 20 includes a drive unit 22 such as a motor that rotates the rotator 21, and a travel control unit 23 that controls the drive unit 22. The rotator 21 can adopt any configuration that can travel on the wire, such as a tire, a roller, a gear, or a direct drive motor.

[0020] The travel control unit 23 may autonomously control the travel of the moving device according to a predetermined program, or may perform travel control based on a control signal from the control terminal 40 that can communicate with the travel control unit 23, as shown in FIG. 1. When controlling autonomously, the travel control unit 23 can travel to a previously stored destination while estimating its own position based on information from the detection unit. Also, when performing travel control based on a control signal from the control terminal 40, the travel control unit 23 receives travel instructions, stop instructions, acceleration instructions, deceleration instructions, direction change instructions, etc. as the control signal, and executes control corresponding to the control signal. The travel control unit 23 can control the travel, stop, change of travel direction (forward, backward), change of travel speed, etc. of the moving device by controlling the rotation (rotation, stop, rotation speed, rotation direction) of the left and right rotators 21.

[0021] For example, when traveling along the straight portion of the wire 12, the left and right rotors are controlled at the same rotational speed (rotational velocity). Also, when traveling along the curved portion of the wire 12, the left and right rotors can be controlled at different rotational speeds. Specifically, in the curved portion 12a of FIG. 5, (since the travel distance is greater on the outer side of the curve) the rotational speed of the right rotor traveling on the upper side of the outer wire 122 is controlled to be greater than that of the left rotor traveling on the upper side of the inner wire 121. According to this, it is possible to smoothly travel and move through the curved portion.

[0022] As shown in FIG. 2, the drive unit 22 is provided on the side wall portion 24 outside the pair of rotors 21 (outside when viewed from the center of the moving device). A space S is provided between the left and right side walls 24. By providing the space S, the support column 11 and the wire support portion 13 can pass through the space S. The pair of left and right side walls 24 are connected to the bottom plate 25. Below the bottom plate 25, a photographing device 30 is provided via a shaft portion 26. The photographing device 30 can photograph based on an instruction from the operation terminal 40 or a predetermined program, and generate at least one of still images and moving images. The photographing device 30 can have the functions of a known camera, and preferably, the photographing direction can be changed to an arbitrary direction. Note that, instead of or in addition to the photographing device 30, other configurations may be provided. The operation terminal 40 may include a monitor 41 for displaying the photographed image transmitted from the photographing device 30 and an operation unit 42 for supporting travel.

[0023] In addition to the travel control unit 23 that controls the rotation of the left and right rotors 21, the moving device 20 can include a communication unit that transmits and receives information to and from the operation terminal 40 and an external information processing device, etc., a storage unit for storing various information such as information on control conditions and photographed images, a photographing control unit for controlling photographing, a detection unit for detecting various information, etc. The detection unit can be a sensor for detecting the position and orientation of the moving device, a contact sensor for detecting contact with an obstacle, a distance measuring sensor for detecting the approach of an obstacle, a sensor (including a camera) for recognizing a sign, etc., but is not limited thereto.

[0024] The travel control unit 23 may also control the rotation speed of the rotating body 21 located on the outside of the curved portion 12a of the pair of wires 12 so that it is greater than the rotation speed of the rotating body located on the inside of the curved portion 12a when the wires 12 are traveling along the curved portion 12a.

[0025] The moving device 20 may have a detection unit that detects a marker placed near the boundary between the straight and curved sections of the wire 12. The marker may be placed, for example, on the wire support section 13, or on the support column 11 or the wire 12. The marker can be a barcode, a two-dimensional code, etc., associated with various information such as whether it is a straight section or a curved section, and the detection unit can be a camera or a sensor. The driving control unit 23 can control the rotation of the left and right rotating bodies based on the detection information from the detection unit. That is, it can recognize whether it is a straight section or a curved section and control the rotation speed of the left and right rotating bodies 21. In the case of a curved section, information such as whether it is a rightward curve or a leftward curve may also be stored in association with the marker.

[0026] As described above, the wire running system 1 of this embodiment includes a support structure having a plurality of support columns extending downward from above, a pair of wires stretched between the plurality of support columns and extending in parallel, and wire support parts provided at the lower ends of the support columns and supporting the wires from below, and a moving device suspended via left and right rotating bodies that run above the pair of wires and is movable along the wires, wherein when the moving device moves along the wires from one side of the support column to the other side, the left and right rotating bodies run above the pair of wires supported by the wire support parts. With this configuration, the moving device can run over the wire support parts of the support columns, eliminating the need to manually move the moving device from one support column to the other. As a result, it is possible to provide a highly convenient wire running system.

[0027] Furthermore, in this embodiment, the wire support portion may be configured to allow the angle with respect to the support column to be changed. This makes it easy to change the direction of the wire's extension when installing or relocating the support column.

[0028] Furthermore, in this embodiment, the support column may be provided with a bendable portion whose angle can be changed. This allows the angle to be changed at the bendable portion, making it possible to fix the support column to any position such as the ceiling or side surface.

[0029] Furthermore, in this embodiment, the wire support portion may include a curved wire support portion that supports the curved portion where the pair of wires curve in a plan view. This allows the moving device to travel not only on wires that extend in a straight line in a plan view, but also on curved wires. As a result, the range of applications for the wire travel system can be expanded.

[0030] Furthermore, in this embodiment, the moving device includes a travel control unit that controls the rotation of the left and right rotating bodies, and the travel control unit may control the rotation speed of the rotating body located on the outside of the curved portion of the pair of wires to be greater than the rotation speed of the rotating body located on the inside of the curved portion when the moving device is traveling along the curved portion of the wire. This allows the moving device to travel smoothly along the curved portion of the wire.

[0031] Furthermore, in this embodiment, the moving device may have a detection unit that detects a marker provided near the boundary between the straight and curved sections of the wire, and the travel control unit may control the rotation of the left and right rotating bodies based on the detection information from the detection unit. This allows the moving device to recognize the curved section and travel smoothly through it.

[0032] While preferred embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear to any person with ordinary skill in the art of the present disclosure that various modifications or alterations may be conceived within the scope of the technical idea set forth in the claims, and these will naturally also fall within the technical scope of the present disclosure.

[0033] The series of processes performed by the apparatus described herein may be implemented using software, hardware, or a combination of software and hardware. Computer programs for implementing each function of the control unit according to this embodiment can be created and implemented on a PC or the like. Furthermore, a computer-readable recording medium containing such a computer program can also be provided. Examples of recording media include magnetic disks, optical disks, magneto-optical disks, and flash memory. Alternatively, the computer program may be distributed without using a recording medium, for example, via a network.

[0034] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology relating to this disclosure may produce other effects that will be apparent to those skilled in the art from the description herein, in addition to or in lieu of the effects described herein.

[0035] Furthermore, the following configurations also fall within the technical scope of this disclosure. (Item 1) Multiple support columns extending downwards from above, A pair of wires stretched between multiple support columns and extending in parallel, and A support structure having a wire support portion provided at the lower end of the support column and supporting the wire from below, The device comprises a moving device suspended via left and right rotating bodies that run above the pair of wires and is movable along the wires, A wire travel system configured such that when the moving device moves along the wire from one side of the support column to the other, the left and right rotating bodies travel above the pair of wires supported by the wire support portion. (Item 2) The wire running system according to item 1, wherein the wire support portion is configured to allow the angle with respect to the support column to be changed. (Item 3) The wire running system according to item 1 or 2, wherein the support column is provided with a bendable section whose angle can be changed. (Item 4) The wire running system according to item 1 or 2, wherein the wire support portion includes a curved wire support portion that supports the curved portion in which the pair of wires are curved in a plan view. (Item 5) The moving device includes a travel control unit that controls the rotation of the left and right rotating bodies, The wire travel system according to item 4, wherein the travel control unit controls the rotation speed of the rotating body located on the outside of the curved portion of the pair of wires to be greater than the rotation speed of the rotating body located on the inside of the curved portion of the left and right rotating bodies when the wires travel along the curved portion of the pair of wires. (Item 6) The moving device has a detection unit that detects a marker provided near the boundary between the straight and curved portions of the wire. The wire travel system according to item 5, wherein the travel control unit controls the rotation of the left and right rotating bodies based on the detection information of the detection unit. [Explanation of Symbols]

[0036] 1. Wire-driven system 10 Support structure 11 Posts 12 wires 13 Wire support section 20 Mobile device 21. Solids of revolution 30 Imaging device

Claims

1. Multiple support columns extending downwards from above, A pair of wires stretched between multiple support columns and extending in parallel, and A support structure having a wire support portion provided at the lower end of the support column and supporting the wire from below, The device comprises a moving device suspended via left and right rotating bodies that run above the pair of wires and is movable along the wires, A wire travel system configured such that when the moving device moves along the wire from one side of the support column to the other, the left and right rotating bodies travel above the pair of wires supported by the wire support portion.

2. The wire running system according to claim 1, wherein the wire support portion is configured to be able to change its angle with respect to the support column.

3. The wire running system according to claim 1 or 2, wherein the support column is provided with a bendable portion whose angle can be changed.

4. The wire running system according to claim 1 or 2, wherein the wire support portion includes a curved wire support portion that supports the curved portion in which the pair of wires are curved in a plan view.

5. The moving device includes a travel control unit that controls the rotation of the left and right rotating bodies, The wire travel system according to claim 4, wherein when the travel control unit travels along the curved portion of the pair of wires, the rotation speed of the rotating body located on the outside of the curved portion is greater than the rotation speed of the rotating body located on the inside of the curved portion.

6. The moving device has a detection unit that detects a marker provided near the boundary between the straight and curved portions of the wire. The wire travel system according to claim 5, wherein the travel control unit controls the rotation of the left and right rotating bodies based on the detection information of the detection unit.

Images