Repair device and repair method

Abstract

Repair work can be carried out without workers having to climb onto the roof. [Solution] The rotor blade generates lift by rotating around an axis extending vertically from the body. The nozzle support is located at the bottom of the body and supports the nozzle so as to be movable in a plane perpendicular to the rotation axis of the rotor blade. The first actuator moves the nozzle support. The second actuator discharges the repair material from the nozzle. The repair control device outputs a first command to the first actuator to move the nozzle support to a specified position. The repair control device outputs a second command to the second actuator to discharge the repair material.

Description

Technical Field

[0001] The present invention relates to a repair device and a repair method.

Background Art

[0002] When the roof of a building deteriorates, holes appear in the roof, causing rain leakage. Therefore, when roof deterioration occurs, it is necessary to repair the deteriorated part. However, in order to repair the roof, workers need to climb onto the roof, and the repair work is not easy. Patent Document 1 discloses a technique for evaluating the deterioration of the roof of a structure using a flying object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to provide a repair device and a repair method capable of performing repair work without workers climbing onto the roof.

Means for Solving the Problems

[0005] (1) According to a first aspect, a repair device is a repair device for repairing the roof of an existing structure, including a housing, a rotary wing that generates lift by rotating around an axis extending in the vertical direction of the housing, a nozzle support portion that is located at the lower part of the housing and supports a nozzle from which a repair material is discharged movably in a plane orthogonal to the vertical direction, a first actuator that moves the nozzle support portion, a second actuator that discharges the repair material from the nozzle, and a repair control device that outputs a first command for moving the nozzle support portion to a designated position to the first actuator and outputs a second command for discharging the repair material to the second actuator.

[0006] (2) In a second embodiment, the repair device according to the first embodiment may include an imaging device provided such that the movable range of the nozzle is included in the imaging range, and the first command is a command to move the nozzle support to a position determined based on the image captured by the imaging device.

[0007] (3) According to a third embodiment, the repair device according to the second embodiment includes an operating device that can communicate wirelessly with the control device, the operating device receives an image captured by the imaging device, accepts input of coordinate values ​​of deteriorated parts of the roof shown in the image, identifies a target position within the movable range of the nozzle from the coordinate values, transmits an operation signal indicating the target position to the repair control device, and the first command is a command to move the nozzle support to the target position indicated by the operation signal received from the operating device.

[0008] (4) According to the fourth embodiment, the repair device according to any of the first to third embodiments is equipped with a flight control device that controls the flight of the repair device by the rotation of the rotor blade, and the movable range of the nozzle may be greater than the control error of the flight control device.

[0009] (5) According to the fifth embodiment, the repair device according to any of the first to fourth embodiments is provided with an annular support leg located below the nozzle support portion and in contact with the roof to support the structure when the rotor blade is not rotating, and the length of the support leg is longer than twice the wave pitch of the corrugated sheet that constitutes the roof.

[0010] (6) According to the sixth aspect, in the repair device relating to any of the first to fifth aspects, the repair material may be a polymer foam foam that is foamed in place.

[0011] (7) According to the seventh aspect, the repair method is a method for repairing a roof using a repair device according to any of the first to sixth aspects, comprising the steps of: the repair device rotating its rotor blades and flying above the deteriorated portion of the roof; the repair device stopping its rotor blades and landing on the deteriorated portion; the repair device moving its nozzle support to a position facing the deteriorated portion; the repair device releasing the repair material; and the repair device rotating its rotor blades and flying after a time has elapsed from the time the repair material was released until the repair material hardens. [Effects of the Invention]

[0012] According to the above embodiment, repair work can be carried out without workers having to climb onto the roof. [Brief explanation of the drawing]

[0013] [Figure 1] This is a schematic diagram showing the configuration of the repair device according to the first embodiment. [Figure 2] This is a diagram showing the configuration of the holding mechanism according to the first embodiment. [Figure 3] This figure shows the configuration of the nozzle positioning mechanism and support legs according to the first embodiment. [Figure 4] This diagram shows the relationship between the repair device and the roof according to the first embodiment. [Figure 5] This is a schematic diagram showing the software configuration of the control device according to the first embodiment. [Figure 6] This is a schematic diagram showing the software configuration of the operating device according to the first embodiment. [Figure 7] This is a flowchart illustrating the repair procedure using the repair system according to the first embodiment. [Modes for carrying out the invention]

[0014] <First Embodiment> Figure 1 is a schematic diagram showing the configuration of the repair device 10 according to the first embodiment. The repair system 1 according to the first embodiment repairs pitting corrosion that has occurred on the roof R of a building. In particular, the repair system 1 can repair pitting corrosion that has occurred on the ridge of a corrugated roof. The corrugated roof may be composed of round-corrugated steel sheets (corrugated sheets) or rib-corrugated steel sheets (folded sheets).

[0015] The repair system 1 according to the first embodiment includes a repair device 10 and an operation device 20. The repair device 10 is remotely operated by the operation device 20.

[0016] The repair device 10 includes an unmanned aerial vehicle 11 (drone), a holding mechanism 12, a nozzle positioning mechanism 13, support legs 14, an imaging device 15, and a control device 16. Hereinafter, the positional relationship of the repair device 10 will be expressed in a three-dimensional orthogonal coordinate system composed of an X-axis, a Y-axis, and a Z-axis. The X-axis is an axis that extends in the front direction of the repair device 10 when the repair device 10 is upright by the support legs 14. The Y-axis is an axis that extends in the left direction of the repair device 10 when the repair device 10 is upright by the support legs 14. The Z-axis is an axis that extends in the upward direction of the repair device 10 when the repair device 10 is upright by the support legs 14.

[0017] The unmanned aerial vehicle 11 includes a fuselage 111, a plurality of arms 112, a plurality of rotary wings 113 (rotors), and legs 114. The arms 112 are provided so as to project outward from the fuselage 111. The rotary wings 113 are provided corresponding to each of the arms 112. The rotary wings 113 are rotatably provided at the tips of the corresponding arms 112 around a rotation axis extending in the vertical direction (Z direction). The rotary wings 113 generate lift by rotating by a motor (not shown). The unmanned aerial vehicle 11 is controlled by the control device 16. The legs 114 extend downward from the fuselage 111.

[0018] FIG. 2 is a diagram showing the configuration of the holding mechanism 12 according to the first embodiment. The holding mechanism 12 holds a repair material container C for storing a repair material. The repair material according to the first embodiment is a spray polyurethane foam, and the repair material container C is a spray can. An injection button C1 is provided at the tip of the repair material container C. When the injection button C1 is pressed, the repair material stored inside the repair material container C is injected from the injection port. The injection port is provided, for example, at the tip of the injection button C1. The holding mechanism 12 is fixedly provided on the lower surface of the housing 111. The holding mechanism 12 includes a holding member 121, an arch portion 122, a first link 123, a second link 124, a third link 125, and a motor 126.

[0019] The holding member 121 is configured in a cylindrical shape having a through hole through which the repair material container C passes. The holding member 121 has a clamping mechanism and clamps the repair material container C passing through the holding member 121. In the example shown in FIG. 2, the through hole of the holding member 121 extends in the X-axis direction.

[0020] The arch portion 122 connects the delivery of the holding member 121 so as to straddle the tip of the repair material container C held by the holding member 121. The arch portion 122 is rigidly joined to the holding member 121. The arch portion 122 has a protrusion at its apex.

[0021] The first end of the first link 123 is pin-joined to the protrusion of the arch portion 122 so as to be rotatable about the Y-axis. The first end of the first link 123 contacts the injection button C1 provided at the tip of the repair material container C when the repair material container C is held by the holding member 121. When the first link 123 rotates toward the repair material container C side, the injection button C1 is pressed by the first link 123. The first end of the second link 124 is pin-joined to the second end of the first link 123 so as to be rotatable about the Y-axis. The first end of the third link 125 is pin-joined to the second end of the second link 124 so as to be rotatable about the Y-axis.

[0022] The motor 126 is mounted on the holding member 121 and rotates around the Y-axis. The rotation axis of the motor 126 is connected to the second end of the second link 124. This allows the motor 126 to rotate the second link 124 around the Y-axis relative to the holding member 121. The motor 126 is controlled by the control device 16.

[0023] In other words, the holding mechanism 12 constitutes a closed-loop mechanism with four bar links. The rotation of the motor 126 causes the first link 123 to rotate around the Y axis. This allows the holding mechanism 12 to switch between pressing and releasing the spray button C1. The base end of the hose 17 is attached to the spray port of the repair material container C. A nozzle 171 is provided at the tip of the hose 17. Therefore, the repair material is sprayed from the nozzle 171.

[0024] The nozzle positioning mechanism 13 shown in Figure 1 supports the nozzle 171 so that its tip points downward along the Z-axis and the nozzle 171 is movable in the XY plane. The nozzle positioning mechanism 13 is fixed to the lower end of the leg 114 of the unmanned flying vehicle 11. Figure 3 shows the configuration of the nozzle positioning mechanism 13 and support leg 14 according to the first embodiment.

[0025] The nozzle positioning mechanism 13 comprises a frame 131, an X-axis rail 132, a Y-axis rail 133, and a nozzle support 134. The frame 131 is a rectangular annular frame provided along the XY plane. The X-axis rail 132 is suspended between two beams extending along the Y axis of the frame 131. The X-axis rail 132 extends in the direction of the X axis. The Y-axis rail 133 is supported on the X-axis rail 132 so as to be movable along the X axis. For example, the X-axis rail 132 and the Y-axis rail 133 constitute a rack and pinion mechanism. The Y-axis rail 133 includes an X-axis motor 1331 for moving along the X-axis rail 132. The nozzle support 134 is supported on the Y-axis rail 133 so as to be movable along the Y axis. For example, the Y-axis rail 133 and the nozzle support 134 constitute a rack and pinion mechanism. The nozzle support section 134 includes a Y-axis motor 1341 for moving along the Y-axis rail 133. The nozzle support section 134 holds the nozzle 171 such that the tip of the nozzle 171 points downward along the Z-axis.

[0026] As the Y-axis rail 133 moves along the X-axis rail 132 and the nozzle support part 134 moves along the Y-axis rail 133, the nozzle 171 can be moved to any position within the movable range extending in the XY plane, which is determined by the Y-axis rail 133 and the nozzle support part 134. In other words, the nozzle positioning mechanism 13 is a Cartesian robot.

[0027] The diameter of the movable range of the nozzle 171 (length in the X direction and length in the Y direction) is designed to be wider than the range of control error of the unmanned flying object 11. For example, if the control error of the unmanned flying object 11 is ±250 mm, the diameter of the movable range of the nozzle 171 is designed to be longer than 500 mm.

[0028] The support legs 14 support the repair device 10 by contacting the ground when the repair device 10 is not in flight. The support legs 14 are located below the frame 131 of the nozzle positioning mechanism 13. The support legs 14 consist of a bottom frame 141 and a plurality of support columns 142. The bottom frame 141 is a rectangular annular frame.

[0029] Figure 4 shows the relationship between the repair device 10 and the roof R according to the first embodiment. If the roof R to be repaired is a corrugated roof, the length L of the short side of the base frame 141 is longer than twice the wave pitch λ of the roof R. As a result, regardless of the orientation in which the base frame 141 rests on the roof R, the two beams on the short side or the two beams on the long side will each contact two peaks of the roof R. This allows the repair device 10 to stand upright stably on the corrugated roof. Multiple support columns 142 each connect the base frame 141 to the frame 131 of the nozzle positioning mechanism 13.

[0030] The imaging device 15 shown in Figure 1 is mounted on the body 111 of the unmanned flying object 11 so that its line of sight is directed downwards. The imaging device 15 is mounted so that the movable range of the nozzle 171 is included in the imaging range.

[0031] The control device 16 is a computer that controls the repair device 10. The control device 16 is composed of one or more hardware processors such as a CPU (Central Processing Unit), one or more memories (main memory), and storage (secondary storage). The memory is composed of, for example, RAM (Random Access Memory). The storage is composed of, for example, ROM (Read Only Memory), SSD (Solid State Drive), HDD (Hard Disk Drive), etc. The control device 16 functions by having one or more hardware processors execute programs stored in the storage and loaded into memory to perform various calculations. Note that all or part of the functions of the control device 16 may be implemented using integrated circuits such as ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array). The above programs may be transmitted via a telecommunications line.

[0032] The control device 16 communicates wirelessly with the operating device 20 and transmits the images captured by the imaging device 15 to the operating device 20. Based on the instruction signals received from the operating device 20, the control device 16 drives various actuators (motor for the rotor blade 113, motor 126 for the holding mechanism 12, and X-axis motor 1331 and Y-axis motor 1341 for the nozzle positioning mechanism 13).

[0033] Figure 5 is a schematic diagram showing the software configuration of the control device 16 according to the first embodiment. The control device 16 includes an image acquisition unit 161, a wireless communication unit 162, a flight control unit 163, and a repair control unit 164. The image acquisition unit 161 acquires captured images from the imaging device 15. The wireless communication unit 162 communicates wirelessly with the operating device 20. The wireless communication unit 162 transmits the captured image to the operating device 20 and receives instruction signals from the operating device 20.

[0034] The flight control unit 163 controls the rotation of the multiple rotor blades 113 of the unmanned flying object 11 based on instruction signals related to the control of the flying object received from the wireless communication unit 162. Based on the instruction signals and measurement data from various sensors (not shown) equipped on the unmanned flying object 11, the flight control unit 163 performs rotational control of the rotor blades 113 to realize the movement indicated by the instruction signals.

[0035] The repair control unit 164 controls the actuators of the nozzle positioning mechanism 13 and the holding mechanism 12 based on the instruction signal for applying the repair material received from the wireless communication unit 162. Specifically, the repair control unit 164 generates a first command to drive the X-axis motor 1331 and the Y-axis motor 1341 according to the coordinate values ​​indicated by the instruction signal for moving the nozzle 171, and outputs it to the X-axis motor 1331 and the Y-axis motor 1341. The repair control unit 164 also generates a second command to drive the motor 126 according to the instruction signal for applying the repair material, and outputs it to the motor 126.

[0036] The operating device 20 shown in Figure 1 is a computer operated by an operator to operate the repair device 10. The operating device 20 is composed of one or more hardware processors such as a CPU, one or more memories (main memory) and storage (secondary storage). The memory is composed of, for example, RAM. The storage is composed of, for example, ROM, SSD, HDD, etc. The operating device 20 functions by having one or more hardware processors execute programs stored in the storage and loaded into the memory to perform various calculations. Note that all or part of the functions of the operating device 20 may be implemented using integrated circuits such as ASICs, PLDs, FPGAs, etc. The above programs may be transmitted via a telecommunications line.

[0037] The operating device 20 may be, for example, a tablet terminal. The operating device 20 communicates wirelessly with the control device 16 of the repair device 10. The operating device 20 receives input for vertical movement, horizontal movement, forward and backward movement, and rotation of the unmanned flying object 11 and transmits this to the repair device 10. The operating device 20 receives captured images from the repair device 10 and displays them on the touch panel. The operating device 20 receives input for coordinate values ​​on the displayed captured image and transmits a movement instruction to the repair device 10 to move the nozzle 171 to that position.

[0038] Figure 6 is a schematic diagram showing the software configuration of the operating device 20 according to the first embodiment. The operating device 20 includes a wireless communication unit 21, a display control unit 22, an input unit 23, and a coordinate transformation unit 24.

[0039] The wireless communication unit 21 communicates wirelessly with the control device 16 of the repair device 10. The display control unit 22 displays the captured image received by the wireless communication unit 21 from the control device 16 on the touch panel.

[0040] The input unit 23 receives operation input from the operator based on the operation of the touch panel. Specifically, the input unit 23 receives the following inputs: The input unit 23 receives input for vertical movement, horizontal movement, forward / backward movement, and rotation of the unmanned flying object 11 by dragging the virtual pad displayed on the touch panel. The input unit 23 receives input for coordinate values ​​to which the nozzle 171 should be moved by tapping the captured image displayed on the touch panel.

[0041] The coordinate transformation unit 24 converts the coordinate values ​​of the captured image input to the input unit 23 into coordinate values ​​of the nozzle positioning mechanism 13. The captured image is represented in an image coordinate system, which is a two-dimensional Cartesian coordinate system with the origin of the image as the reference point. The movable range of the nozzle 171 in the nozzle positioning mechanism 13 is represented in a nozzle coordinate system, which is a two-dimensional Cartesian coordinate system extending along the X and Y axes, with the origin being the position of the nozzle 171 when the nozzle support unit 134 is moved to the far right of the Y-axis rail 133 and the Y-axis rail 133 is moved to the far rear of the X-axis rail 132. Based on a known conversion function between the image coordinate system and the nozzle coordinate system, the coordinate transformation unit 24 converts the coordinate values ​​of the captured image into values ​​representing the position of the nozzle 171 in the nozzle coordinate system.

[0042] Figure 7 is a flowchart showing the repair procedure using the repair system 1 according to the first embodiment. The worker first attaches the repair material container C to the holding mechanism 12 of the repair device 10, and then attaches the base end of the hose 17 to the nozzle of the repair material container C (Step S1). The worker then activates the control device 16 of the repair device 10 (Step S2).

[0043] When the control device 16 is started and a predetermined program is executed, the image acquisition unit 161 starts acquiring captured images from the imaging device 15. Thereafter, the wireless communication unit 162 transmits the captured images to the operating device 20 via streaming communication. The operating device 20 displays the captured images received from the control device 16 and a virtual pad for flight control on its touch panel.

[0044] The operator operates the virtual pad on the control device 20 to input an instruction to move the repair device 10 upwards (step S3). The input unit 23 of the control device 20 receives the instruction input, and the wireless communication unit 162 transmits the instruction signal to the control device 16 of the repair device 10. The flight control unit 163 of the control device 16 rotates the rotor blades 113 based on the received instruction signal and makes the repair device 10 fly. The operator operates a virtual pad while viewing the captured image displayed on the touch panel, inputting a movement instruction for the repair device 10 so that it lands on the deteriorated area of ​​the roof R (step S4). The input unit 23 of the operating device 20 receives the instruction input, and the wireless communication unit 162 transmits the instruction signal to the control device 16 of the repair device 10. The flight control unit 163 of the control device 16 rotates the rotor blades 113 based on the received instruction signal, moving the repair device 10. At this time, due to control errors of the unmanned flying object 11, it is not always easy to land the repair device 10 so that the deteriorated area is located in the center of the captured image. On the other hand, if the deteriorated area is captured in the captured image that shows the movable range of the nozzle 171, the repair material can be sprayed onto that deteriorated area. Furthermore, since the movable range of the nozzle 171 is wider than the control error range of the unmanned flying object 11, the operator can attempt to land the repair device 10 so that the deteriorated area is positioned in the center of the captured image, thereby enabling the repair device 10 to land in a way that captures the deteriorated area in the captured image with fewer attempts.

[0045] The operator inputs a command to stop the repair device 10 (step S5). The input unit 23 of the operating device 20 receives the command input, and the wireless communication unit 162 transmits the command signal to the control device 16 of the repair device 10. The flight control unit 163 of the control device 16 stops the rotation of the rotor blade 113 based on the received command signal.

[0046] After confirming that the rotor blade 113 has stopped, the operator inputs an instruction to move the nozzle to the deteriorated area by tapping the location of the deteriorated area in the captured image displayed on the touch panel (step S6). The input unit 23 of the operating device 20 receives input of the deteriorated area in the image coordinate system. The coordinate transformation unit 24 converts the input image coordinate system values ​​to nozzle coordinate system values. The wireless communication unit 162 transmits an instruction to the repair device 10 to move the nozzle to the position indicated by the transformed coordinate values. The repair control unit 164 of the control device 16 rotates the X-axis motor 1331 and Y-axis motor 1341 based on the difference between the coordinate values ​​indicated by the received instruction signal and the current position of the nozzle 171, and outputs a drive command to move the nozzle 171 to the position indicated by the instruction signal. After the nozzle 171 reaches the position indicated by the instruction signal, the repair control unit 164 outputs a drive command for the motor 126 for a certain period of time. As a result, the spray button C1 is pressed, and repair material is sprayed from the nozzle 171 for a certain period of time.

[0047] The operator looks at the captured image displayed on the touch panel and determines whether the deteriorated area has been covered by the sprayed repair material (Step S7). If there are deteriorated areas that are not covered by the repair material (Step S7: NO), the operator returns to Step S6 and instructs the spraying of the repair material to the deteriorated areas. If all deteriorated areas are covered by the repair material (Step S7: YES), the operator waits for the time required for the repair material to harden (Step S8). Since the surface of the on-site foamed rigid polyurethane foam hardens in about 1 minute, the operator may wait for about 1 minute without moving the repair device 10. Since the expansion of the repair material stops when the surface hardens, for example, the operator may look at the captured image and wait without moving the repair device 10 until the expansion of the repair material stops.

[0048] The reason for waiting for the repair device 10, after it has finished spraying the repair material, to harden before taking flight is explained below. When the repair device 10 is taken flight, the rotor blades 113 generate a downward wind. If the repair material has not hardened, the downward wind will scatter the repair material. This could cause the scattered repair material to adhere to the rotor blades, hindering the flight of the repair device 10, or cause the repair material to peel off the deteriorated area. Therefore, the repair device 10 is taken flight only after the repair material has hardened and is no longer scattered by the wind.

[0049] After the time required for the repair material to harden has elapsed since its spraying, the operator operates the virtual pad on the control device 20 to input an instruction to move the repair device 10 upwards (step S9). The input unit 23 of the control device 20 receives the instruction input, and the wireless communication unit 162 transmits the instruction signal to the control device 16 of the repair device 10. The flight control unit 163 of the control device 16 rotates the rotor blades 113 based on the received instruction signal, causing the repair device 10 to fly. The operator operates the virtual pad while viewing the captured image displayed on the touch panel and inputs a movement instruction for the repair device 10 so that the repair device 10 lands in a position where it can be retrieved (step S10). The input unit 23 of the operating device 20 receives the instruction input, and the wireless communication unit 162 transmits the instruction signal to the control device 16 of the repair device 10. The flight control unit 163 of the control device 16 rotates the rotor blade 113 based on the received instruction signal and moves the repair device 10.

[0050] As described above, the repair device 10 according to the first embodiment has the following configuration. The repair device 10 comprises a body 111, a rotor 113, a nozzle support 134, an X-axis motor 1331, a Y-axis motor 1341, and a motor 126. The rotor 113 generates lift by rotating about the Z-axis, which extends vertically from the body 111. The nozzle support 134 is located at the bottom of the body 111 and supports the nozzle 171 so as to be movable in the XY plane. The X-axis motor 1331 and the Y-axis motor 1341 are actuators that move the nozzle support 134. The motor 126 is an actuator that discharges repair material from the nozzle 171. The control device 16 outputs a first command to the X-axis motor 1331 and the Y-axis motor 1341 to move the nozzle support 134 to a specified position. The control device 16 outputs a second command to the motor 126 after the first command, which causes the repair material to be released. This allows the repair device 10 to fly onto the roof R and perform the repair work. In other words, the repair device 10 allows the repair work to be performed without a worker having to climb onto the roof R.

[0051] Furthermore, the repair device 10 according to the first embodiment includes an imaging device 15 provided so as to include the movable range of the nozzle 171 in its imaging range. The control device 16 outputs a command as a first command to move the nozzle support portion 134 to a position determined based on the image captured by the imaging device 15. This allows the repair device 10 to reliably spray the repair material to the area to be repaired. In other embodiments, the repair device 10 does not necessarily have to include an imaging device 15. For example, the repair device 10 according to other embodiments may spray the repair material over the entire movable range of the nozzle 171.

[0052] Furthermore, the control device 16 of the repair device 10 according to the first embodiment is capable of wireless communication with the operating device 20 and outputs a command to move the nozzle support 134 to the target position indicated by the operation signal received from the operating device 20 as a first command. The operating device 20 receives the image captured by the imaging device 15, accepts the input of coordinate values ​​of deteriorated areas on the roof R shown in the image, identifies the target position within the movable range of the nozzle 171 from the coordinate values, and transmits an operation signal indicating the target position to the control device 16. This allows the worker to operate the repair device 10 on the roof R from the ground by remote operation of the repair device 10. Note that the repair device 10 according to other embodiments does not need to communicate with the operating device 20. For example, the control device 16 of the repair device 10 according to other embodiments may analyze the captured image to identify the location of deteriorated areas and autonomously move the nozzle 171 to that location. The analysis of the captured image may be performed, for example, using a trained model that takes an image as input and outputs the range in which deteriorated areas are captured. In this case, the autonomous control device 16 may take flight after a predetermined waiting period, which is sufficiently longer than the time required for the repair material to harden, has elapsed following the spraying of the repair material. Alternatively, the control device 16 may calculate the area of ​​the region where the repair material is visible from the captured image, wait until the increase in area due to the expansion of the repair material subsides, and then take flight after the increase in area has subsided.

[0053] Furthermore, the movable range of the nozzle 171 in the repair device 10 according to the first embodiment is greater than the width of the control error in the flight control by the control device 16. This allows the operator to land the repair device 10 so that the deteriorated area is positioned in the center of the captured image, thereby enabling the repair device 10 to land in a way that captures the deteriorated area in the captured image with fewer attempts. In other embodiments, however, the number of attempts required to land the repair device 10 so that the deteriorated area is captured in the captured image may be greater, but the movable range of the nozzle 171 may be smaller than the width of the control error.

[0054] Furthermore, the repair device 10 according to the first embodiment includes annular support legs 14 located below the nozzle support section 134, which contact the roof R and support the structure when the rotor blade 113 is not rotating. The span of the support legs 14 is longer than twice the pitch λ of the corrugated roof R. As a result, regardless of the orientation in which the bottom frame 141 rests on the roof R, the support legs 14 will contact two peaks of the roof R. This allows the repair device 10 to stand upright and stably on the corrugated roof. In addition, the annular shape of the support legs 14 prevents the repair material sprayed from above the support legs 14 from adhering to them. Note that the support legs 14 of the repair device 10 according to the first embodiment are rectangular annular, but are not limited to this. For example, the support legs 14 according to other embodiments may be circular annular or polygonal annular. If the support legs 14 are circular, the diameter should be at least twice the pitch λ. If the support leg 14 is a polygonal annular shape, the shortest span (width) should be at least twice the pitch λ. Furthermore, "annular" includes shapes with notches in part. For example, even if there is a notch in part of the bottom frame 141, if the bottom frame 141 can contact the two peaks and achieve the effect of standing upright stably, the support leg 14 can be said to be "annular." In other embodiments, if the roof R is a flat roof, the shape of the support leg 14 should be such that the repair device 10 can stand upright stably.

[0055] Furthermore, the repair material used by the repair device 10 according to the first embodiment is a polymer foam that is foamed in-situ. This allows the repair device 10 to adhere to various forms of deterioration, even if there are irregularities or pitting corrosion at the repair site of the roof R, so that the repair material can be applied to conform to these irregularities. The repair material according to the first embodiment is a rigid polyurethane foam that is foamed in-situ, but is not limited to this. For example, the repair material may be polyurea or urethane urea. Also, the repair material according to other embodiments may not be sprayed, but may be a putty-like repair material. In this case, the motor 126 may be used to dispense the repair material by pressing the repair material container C.

[0056] <Other Embodiments> Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to that described above, and various design changes are possible. In other embodiments, the order of the above-described processes may be changed as appropriate. Also, some processes may be executed in parallel. The control device 16 of the repair device 10 according to the above embodiment may be composed of a single computer, or the configuration of the control device 16 may be divided among multiple computers, and the multiple computers may cooperate with each other to function as the control device 16. For example, some of the computers constituting the control device 16 may be independent as flight control devices that control the unmanned flying object 11. In this case, the unmanned flying object 11 may be realized by an existing drone. Furthermore, the operating device 20 for operating the unmanned flying object and the operating device 20 for operating the nozzle positioning mechanism 13 and the holding mechanism 12 may be configured as separate units. For example, the operating device 20 for operating the unmanned flying object 11 may be a proportional controller.

[0057] The holding mechanism 12 according to the above embodiment is composed of a link mechanism with 1 degree of freedom and a motor 126, but is not limited to this. For example, the holding mechanism 12 according to another embodiment may include a solenoid facing the injection button C1. In this case, the control device 16 presses the injection button C1 by applying voltage to the solenoid.

[0058] The nozzle positioning mechanism 13 according to the above-described embodiment is a Cartesian robot, but is not limited to this. For example, the nozzle positioning mechanism 13 according to other embodiments may be a parallel link robot.

[0059] In the above-described embodiment, the support column 142 of the support leg 14 does not have a height adjustment function, but in other embodiments, the support column 142 may have an adjuster for adjusting the height in the Z direction. In this case, when the control device 16 repairs a deteriorated area in the valley portion of the corrugated roof, it can lower the support column 142 by the wave height of the corrugated roof, bringing the tip of the nozzle 171 closer to the deteriorated area. In this case, the operating device 20 may receive input from the worker indicating whether the deteriorated area is a peak or a valley of the roof R. The operating device 20 or the control device 16 may automatically determine from the captured image whether the deteriorated area is a peak or a valley of the roof R. [Explanation of Symbols]

[0060] 1...Repair system 10...Repair device 11...Unmanned flying object 111...Body 112...Arm 113...Rotor wing 114...Leg 12...Holding mechanism 121...Holding member 122...Arch section 123...First link 124...Second link 125...Third link 126...Motor 13...Nozzle positioning mechanism 131...Frame 132...X-axis rail 133...Y-axis rail 1331...X-axis motor 134...Nozzle support section 1341...Y-axis motor 14...Support leg 141...Bottom frame 142...Support column 15...Imaging device 16...Control device 161...Image acquisition unit 162...Wireless communication unit 163...Flight control unit 164...Repair control unit 17...Hose 171...Nozzle 20...Operating device 21...Wireless communication unit 22...Display control unit 23...Input unit 24...Coordinate transformation unit C...Repair material container C1...Spray button R...Roof

Claims

1. A repair device for repairing the roof of an existing structure, The structure and, A rotor blade that generates lift by rotating around an axis extending vertically in the aforementioned body, A nozzle support section located at the lower part of the frame, which supports a nozzle from which repair material is discharged so as to be movable in a plane perpendicular to the vertical direction, A first actuator for moving the nozzle support portion, A second actuator that discharges repair material from the aforementioned nozzle, A repair control device that outputs a first command to the first actuator to move the nozzle support to a specified position, and a second command to the second actuator to discharge the repair material, A repair device equipped with [a specific feature / feature].

2. The imaging device is provided such that the movable range of the nozzle is included in the imaging range, The first command is a command to move the nozzle support to a position determined based on the image captured by the imaging device. The repair device according to claim 1.

3. The aforementioned repair control device is capable of communicating wirelessly with the operating device, The aforementioned operating device is The imaging device receives the image it has captured, The system accepts input of coordinate values ​​for the deteriorated areas of the roof shown in the aforementioned image. The target position within the movable range of the nozzle is identified from the coordinate values, The operation signal indicating the target position is transmitted to the repair control device. The first command is a command to move the nozzle support to the target position indicated by the operation signal received from the operating device. The repair device according to claim 2.

4. The system includes a flight control device that controls the flight of the repair device by the rotation of the rotor blades, The movable range of the nozzle is greater than the control error of the flight control device. A repair device according to any one of claims 1 to 3.

5. The aforementioned roof is a corrugated roof, It is provided with an annular support leg located below the nozzle support portion, which contacts the roof and supports the structure when the rotor blade is not rotating, The length of the support legs is longer than twice the pitch of the roof. A repair device according to any one of claims 1 to 3.

6. The aforementioned repair material is a polymer foam foam that is foamed in-situ. A repair device according to any one of claims 1 to 3.

7. A method for repairing a roof using the repair device described in any one of claims 1 to 3, The repair device rotates its rotor blades and flies upwards towards the deteriorated portion of the roof. The repair device stops the rotor blade and lands on the deteriorated part, The repair device includes the step of moving the nozzle support to a position opposite the deteriorated portion, The repair device releases the repair material, The repair device flies by rotating its rotor blades after the time required for the repair material to harden has elapsed since the release of the repair material. A repair method having

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