How to work with UAVs

Abstract

To provide a work method for spraying, dispersing, and injecting material to a target object through holding a tip part of a hose with a working UAV allowing stable and secured work to be realized.SOLUTION: A work method to spray, disperse, or inject material from a plant 1 with a hose 2 through pressured feeding to an object 9 using UAV, includes: holding a tip part of the hose 2 with the working UAV 6 during operation to inject the material; holding at least one part of the hose 2 with at least one intermediate device 3a or at least one intermediate working UAV 4a between the plant 1 and the working UAV 6; and injecting the material in a state where the altitude H of the hose 2 at a position where it is held by the intermediate device 3a or the intermediate UAV 4a right before the working UAV 6 is higher than the flight altitude F of the working UAV 6.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a method of spraying, scattering, or jetting material onto an object using a UAV. [Background technology]

[0002] In recent years, there has been remarkable development in UAV (unmanned aerial vehicle) related technology, and construction methods have been devised that involve spraying, scattering, and jetting a variety of materials.

[0003] In the field of spraying, spraying work is carried out by spraying materials onto high places such as slopes using spraying methods such as mortar / concrete spraying and vegetation base spraying, which are slope protection works. In this case, the spraying material is pumped from the construction plant (plant yard) to the spraying position through a material hose, and the spraying worker holds the tip of the material hose (nozzle) by hand and sprays it. In recent years, efforts are being made to mechanize such spraying work, and construction methods using backhoes, cranes, gondolas, etc. have also come to be applied in some cases. One of the mechanizations of such spraying work is a construction method in which a UAV holds the tip of the hose and sprays it (Patent Document 1).

[0004] In addition, in fields related to spraying, methods have been devised for using UAVs to spray pesticides and other chemicals and fertilizers pumped by a pump (e.g., Patent Document 2), and to spray paint and the like to be applied to targets such as the walls of structures (e.g., Patent Document 3).

[0005] Furthermore, in the field of spraying or discharging, a method of holding the tip of a hose with a work UAV in order to spray or discharge water or fire extinguishing agents onto a target such as a building fire has been published on the Internet, etc. (e.g., Non-Patent Document 1). [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2019-108748 A (High-altitude spraying construction method and spraying device) [Patent Document 2] Utility Model Registration No. 3217561 (Drone-mounted spraying device) [Patent Document 3] US Patent Application Publication No. 2015-274294 (Indoor and outdoor aerial vehicles for painting and related applications) [Non-patent literature]

[0007] [Non-Patent Document 1] "Maximum weight of 200kg! A giant rescue drone that dangles a person and flies autonomously to rescue them" https: / / time-space.kddi.com / it-technology / 20180601 / 2327 Summary of the Invention [Problem to be solved by the invention]

[0008] A hose that has pressure resistance and abrasion resistance for pumping materials weighs 2 to 3 kg or more per unit length. When a UAV is used to spray, scatter, or jet materials pumped through such a hose, the UAV must hang or lift up the hose and hold it. To do this, a large UAV that can handle heavy loads must be used. However, a large UAV not only requires high machine and transportation costs, but also generates a considerable amount of downdraft wind caused by the rotation of the UAV's propeller. This causes problems such as deterioration of the on-site environment around the plant due to dust, including the rise of sand and dust, interference with the measurement, mixing, and input work of materials to be sprayed, scattered, or jetted at the plant, increased material loss due to materials being scattered during spraying, scattering, or jetting work, and peeling of sprayed, scattered, or jetted materials (such as sprayed growth base or mortar) due to downdraft wind.

[0009] Furthermore, when carrying out work that involves spraying, scattering or jetting while holding such heavy objects, there is the problem that it is difficult to accurately control tasks that require managing the spray thickness of the material specified in the design, for example, and to quickly right the machine when the pressurized material causes a temporary blockage in the hose and then releases it, causing the hose to vibrate or a large reaction force.

[0010] In order to avoid such problems, in Patent Document 1, the hose extending between the construction plant and the construction UAV is held by the relay device or relay UAV. However, in this method, due to the influence of the weight of the hose connected between the relay device or relay UAV and the construction UAV, the construction UAV is pulled toward the relay device or relay UAV, or conversely, the relay device or relay UAV is pulled toward the construction UAV. As a result, problems occur in which it is difficult to accurately control the spraying work and the spraying thickness, and to quickly re-stand the aircraft when it is subjected to the hose shaking or large reaction force that occurs when the blockage in the hose of the spraying material is released.

[0011] These problems occur not only when spraying but also when scattering or spraying materials, or when spraying water or extinguishing agents, etc. In particular, when spraying high-pressure liquid (such as water for extinguishing a fire), the hose becomes stiff, which can make it difficult to control the work UAV that holds the tip of the hose.

[0012] In the present invention, a material is pumped from a plant through a hose, the hose is held in the air by a relay device or a relay UAV, and the tip of the hose is held by a work UAV to spray the material onto an object. With or without The present invention aims to provide a work method using a UAV, a method for controlling material injection, and a work device that solve the above-mentioned problems in a work method for injection of material using a UAV. [Means for solving the problem]

[0013] In order to achieve the above object, the present invention provides the following configuration: The reference numerals in parentheses are reference numerals in the drawings described later, and are added for reference. i) In one embodiment of the present invention, during an operation in which a material is pumped from a plant (1) through a hose (2) and the material is sprayed or jetted onto an object (9) using a UAV, the tip of the hose (2) is held by a work UAV (6), and at least one point of the hose (2) is held by at least one relay device (3a) or at least one relay UAV (4a) between the plant (1) and the work UAV (6); and A method for injecting the material in a state where the altitude (H) of the hose (2) at a point held by a relay device (3a) or a relay UAV (4a) located immediately before the work UAV (6) is higher than the flight altitude (F) of the work UAV (6), Using an injection device (13) that is attached to the tip of the hose (2) and has a front end injection port (13a) that is attached to the work UAV (6) and injects the material, The material is injected so that the hose (2) connecting the work UAV (6) and the relay device (3a) or relay UAV (4a) located immediately before it is substantially U-shaped. When the work UAV (6) is in a horizontal attitude, the ejection device (13) is disposed so as to extend horizontally at a position vertically below the center of gravity (G) of the body of the work UAV (6) by a predetermined distance (r). Due to this arrangement, the forward thrust force (34) generated when the work UAV (6) is tilted due to the rotational moment (33) generated when the material is ejected and the horizontal component (35) of the ejection reaction force (32) generated parallel to and opposite to the ejection direction are offset, and the load on the work UAV (6) is reduced by the lift component (36) of the ejection reaction force (32). It is characterized by: ii ) In the above aspect, during the material injection operation, the hose (2) is held at one or more locations between the plant (1) and the immediately preceding relay device (3a) or relay UAV (4a) by one or more other relay devices (3b), by one or more other relay UAVs (4b), or by a combination of one or more other relay devices (3b) and one or more other relay UAVs (4b). i ii ) In the above aspect, the hose (2) is characterized in having a connection portion (11) equipped with a swivel mechanism at one or more locations between the plant (1) and the work UAV (6). iv) In the above aspect, the hose (2) is characterized in having a connection portion (8) equipped with a freely deforming mechanism at one or more points between the plant (1) and the work UAV (6). v In the above aspect, the relay device (3a) and / or the relay UAV (4a) each include an internal control device and a position control device (12) capable of communicating with each of the internal control devices, The position control device (12), (a) acquiring position information of the current positions of the plant (1), the relay device (3a) and / or the relay UAV (4a), and the work UAV (6); (b) determining a target position of each of the relay device (3a) and / or the relay UAV (4a) by calculation using the acquired position information; (c) transmitting the determined target position to each of the built-in control devices of the relay device (3a) and / or the relay UAV (4a); and The built-in control device of each of the relay devices (3a) and / or the relay UAV (4a) receives a target position from the position control device (12) and controls the position of the relay device (3a) and / or the relay UAV (4a) to be the target position; The position control device (12) is characterized in that, in the process of determining the target position, it corrects and determines the target position of the relay UAV (4a) so as to minimize the load on the work UAV (6). vi) In the above aspect, in the step of determining the target position, the position control device (12) corrects and determines the target position of the relay UAV (4a) so as to minimize the load on the work UAV (6) at least when the work UAV (6) is blown by wind during work or when the position of the UAV (6) deviates from the target position due to a reaction force from the time of blowing; Furthermore, a forward distance sensor (14) is attached in the launch direction of the work UAV (6) to detect the distance (d) from the construction surface, and an internal control device built into the work UAV (6) controls the position of the work UAV (6) so as to keep the distance (d) from the construction surface detected by the forward distance sensor (14) constant. It is characterized by: Effect of the Invention

[0014] The present invention provides the following advantageous effects. 1) The weight of the hose connected from the plant to the work UAV and the tension of the connected hose can be significantly reduced. In the case of spraying work, it becomes possible to accurately control the spray thickness by the work UAV. In addition, when the material causes a blockage in the hose and is released, it becomes easier to quickly restore the hose to a normal state when shaking or a large reaction force occurs. 2) There is no need to use a large UAV. This prevents problems such as the downwind from a large UAV interfering with work such as measuring and mixing materials in plants, the generation of dust such as flying sand, material loss due to scattering of material when injected, and peeling of sprayed material. 3) If the hose becomes twisted or kinked due to movement of the relay device, relay UAV, or work UAV, the swivel connection can quickly eliminate the twist. 4) The freely deformable connector allows the hose to be bent at an angle that exceeds the flexibility of the hose itself when landing a work UAV, eliminating the problem of the hose being unable to land in a normal posture due to insufficient flexibility. 5) By automatically controlling the relative positions of the relay device, relay UAV, and work UAV, operation becomes easier and the number of pilots and their workload can be reduced. 6) By using a sensor on the work UAV facing the direction of material injection, the injection intensity can be kept constant or collisions between the relay device, relay UAV, and work UAV can be avoided. 7) By positioning the nozzle of the ejection device below the center of gravity of the work UAV's body, the propulsive force generated by the tilt due to the rotational moment and the reaction force generated by the ejection can be offset, thereby stabilizing flight. [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating a first embodiment of a work method according to the present invention in which a hose is held between a plant and a work UAV by a single relay UAV. [Diagram 2]FIG. 2 is a diagram showing a schematic diagram of a second embodiment of the work method of the present invention in which a hose is held between a plant and a work UAV by a single relay device. [Diagram 3] FIG. 3 is a schematic diagram showing a third embodiment of the present invention in which a hose is held between a plant and a work UAV by three relay UAVs. [Figure 4] FIG. 4 is a schematic diagram showing a fourth embodiment of the present invention in which a hose is held between a plant and a work UAV by one relay device and two relay UAVs. [Diagram 5] FIG. 5 is a schematic diagram of a work UAV and a tip of a hose in one embodiment. [Figure 6] FIG. 6 is a diagram illustrating an example of a control method for controlling a work method according to the present invention. [Figure 7] FIG. 7 is a schematic side view showing a work situation on an object by a work UAV. [Figure 8] FIG. 8 is a schematic diagram showing the state of the material sprayed onto the application surface of the object. [Figure 9] FIG. 9 is a diagram for explaining forces acting on the working device during work. [Figure 10] FIG. 10 is a diagram showing the relationship between the force applied to the working device during work and the attitude of the working device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings showing the embodiment. FIG. 1 is a diagram showing a schematic diagram of a first embodiment of the working method of the present invention. The present invention is a method for spraying a material from a plant 1 by pressure-feeding it through a hose 2 onto an object 9 (including a construction object such as a building and a construction site such as a slope). Tsukimata The work UAV 6 holds a jetting device at the tip of a hose. The jetting device includes a nozzle 5. Note that "jetting" refers to spraying. Attachment and spray Used as a superordinate concept of arrows ""Material" means any liquid, solid, or mixture of liquid and solid that is being pumped in accordance with the operation.

[0017] One embodiment of the present invention is a method for holding the tip of a hose 2 by a work UAV 6 during a material injection operation, and holding at least one portion of the hose 2 by at least one relay UAV 4a between a plant 1 and the work UAV 6. The embodiment of FIG. 1 is one of the simplest forms of the present invention. In this embodiment, the hose 2 is held by one relay UAV 4a between the plant 1 and the work UAV 6. The relay UAV 4a in this embodiment is the only relay UAV that holds the hose 2 between the plant 1 and the work UAV 6, and is located immediately before the work UAV 6.

[0018] The plant 1 is generally installed on the ground. Tsukimata is composed of appropriate devices such as measuring instruments and mixers for preparing the materials to be sprayed, pressure-transport devices such as pumps and sprayers for pumping the prepared materials at high pressure, generators for driving these devices, and air compressors necessary for the pressure-transport devices. For example, when spraying water or extinguishing agents to put out a fire, plant 1 is a pump or pump truck for pumping the water, or a fire hydrant facility.

[0019] Furthermore, the plant 1 may be mounted on a portable vehicle or installed in the air using a crane or a large UAV. If the target object 9 is, for example, a slope, the plant 1 may be installed on a stage such as a platform installed on the ground or the slope.

[0020] The base end of a hose 2 for pumping materials is connected to the pumping device of the plant 1. The hose 2 extends to a nozzle 5 at the tip of the hose held by the work UAV 6 via a relay UAV 4a.

[0021] Hose 2 is for spraying. WorkIn the case of dry spraying, a pressure-resistant rubber delivery hose used in conventional spraying work can be used, and in the case of jetting work, an existing hose such as a general fire hose can be used. In the present invention, since the hose 2 needs to be held in the air, it is desirable to use a hose that is as light as possible. Although not shown, a power cable may also be used in addition to the hose 2. In addition, in the case of dry spraying, a water pressure hose may also be used in addition to the hose 2 to join the water at the tip of the nozzle.

[0022] FIG. 2 is a schematic diagram showing a second embodiment of the working method of the present invention. Another embodiment of the present invention is a method in which the tip of the hose 2 is held by the work UAV 6 during the material injection operation, and at least one relay device 3a holds at least one portion of the hose 2 between the plant 1 and the work UAV 6. The embodiment of FIG. 2 is also one of the simplest forms of the present invention. In this embodiment, the hose is held by one relay device 3a between the plant 1 and the work UAV 6. The relay device 3a in this embodiment is the only relay device that holds the hose 2 between the plant 1 and the work UAV 6 and is located immediately before the work UAV 6.

[0023] The relay device 3a is preferably a crane such as a self-propelled crane, a fixed crane, or a cable crane, but any device can be used as long as it can hold the hose 2. Furthermore, when a construction machine such as a self-propelled crane or a backhoe is used as the relay device 3a, it does not necessarily have to be installed in a location close to the plant 1, and can be set appropriately according to the conditions of each site, including a location close to the target object 9 such as a slope.

[0024] The work UAV 6, relay UAV 4a, and relay UAV indicated by reference symbol 4b in the figures described below are unmanned aerial vehicles, preferably multicopters (commonly known as drones). The UAV used in the present invention is appropriately selected according to the conditions of use, regardless of the power source (electric drive, engine drive, etc.) or the number of propellers. For example, when hoisting a hose 2 directly from a plant 1 to the ground, it is desirable to use a model with high output for the first relay UAV, which bears the heaviest weight.

[0025] As shown in Figure 1 or Figure 2, during the work of injecting the material, it is preferable to inject the material in a state where the altitude H of the hose 2 at the point held by the relay UAV 4a or relay device 3a located immediately before the work UAV 6 is higher than the flight altitude F of the work UAV 6. Figures 1 and 2 show a situation in which spraying work is being performed, as an example.

[0026] Here, the altitude H of the hose 2 at the location held by the relay UAV 4a or the relay device 3a is the altitude of the location where the hose 2 is actually held. For example, when the hose is hung by a crane hook, it is not the altitude of the tip of the crane but the altitude of the hose 2 hung by the crane. This is also the case when the hose 2 is hung by the relay UAV 4a. In FIG. 1, the hose 2 is hung from the relay UAV 4a via a wire rope 10, and in FIG. 2, the hose 2 is hung from the tip of the crane via a wire rope 10. Note that, although FIG. 1 shows a situation in which the relay UAV 4a hangs the hose with the wire rope 10, the hanging member is not limited to the wire rope, and the length can be appropriately set according to the situation at the site (the same applies to each relay UAV in the following embodiments).

[0027] In another embodiment, the hose 2 can be supported by being lifted by a jig installed on, for example, a lifter or a relay UAV. In that case, the height H of the hose 2 is the height of the hose 2 at the point where it is lifted and held.

[0028] Fig. 3 is a schematic diagram of a third embodiment of the present invention. In Fig. 3, a hose is held by three relay UAVs 4a, 4b, and 4b between a plant 1 and a work UAV 6. Fig. 4 is a schematic diagram of a fourth embodiment of the present invention. In Fig. 4, a hose is held by one relay device 3b and two relay UAVs 4a ​​and 3b between a plant 1 and a work UAV 6.

[0029] In the drawings, the reference numerals of the relay devices or relay UAVs located immediately before the work UAV 6 are marked with "a", and the reference numerals of the other relay devices or relay UAVs are marked with "b". In the present invention, at least one relay device or at least one relay UAV is disposed between the plant 1 and the work UAV 6, so that one relay device 3a or one relay UAV 4a located immediately before the work UAV 6 is always used in any embodiment.

[0030] As shown in Figures 3 and 4, relay devices 3b or relay UAVs 4b other than the one located immediately before the work UAV 6 are used as necessary. When relay devices 3b or relay UAVs 4b are used, one or more other relay devices 3b, one or more other relay UAVs 4b, or a combination of one or more other relay devices 3b and one or more other relay UAVs 4b are used between the plant 1 and the relay UAV 4a or relay device 3a located immediately before, to hold one or more points of the hose 2. Therefore, various combinations of one or more relay devices 3b and / or one or more relay UAVs 4b are possible.

[0031] 3 and 4, it is also preferable that the material is ejected when the altitude H of the hose 2 at the point held by the relay UAV 4a or relay device 3a located immediately before the work UAV 6 is higher than the flight altitude F of the work UAV 6. Figures 3 and 4 show, as an example, a situation in which spraying work is being performed.

[0032] As in each of the above-mentioned embodiments, in the present invention, the altitude H at which the hose 2 is held by the relay device 3a or relay UAV 4a located immediately before the work UAV 6 is set higher than the flight altitude F of the work UAV 6 to perform the ejection work. This can reduce the weight of the hose 2 borne by the work UAV 6 and the force with which the work UAV 6 is pulled by the hose 2 toward the relay device 3a or relay UAV 4a located immediately before it. This reduction effect is preferably achieved by making the hose 2 connecting the work UAV 6 and the immediately preceding relay device 3a or relay UAV 4a into a substantially U-shape.

[0033] This allows for accurate control of the spray thickness in spraying work that requires management of the spray thickness. Also, even if the spray material temporarily blocks the hose 2 and is released, causing the hose 2 to shake or a large reaction force, the work UAV 6 can be quickly repositioned.

[0034] Furthermore, by adopting this work method, it becomes possible to use a UAV with a smaller output than the relay UAV 4a as the work UAV 6. As a result, in the case of spraying work, problems such as loss of sprayed material caused by the downwind caused by the propeller rotation of the work UAV 6 scattering the sprayed material during spraying and peeling of the sprayed material can be suppressed.

[0035] FIG. 5 is a schematic diagram of a work UAV 6 and a tip of a hose 2 in one embodiment. The tip of the hose 2 has a conduit 7 attached to the lower part of the main body of the work UAV 6. The material of the conduit is not particularly important, but a rigid body is preferable. The tip of the conduit 7 has a nozzle 5. The conduit 7 and the nozzle 5 constitute an ejection device 13. The material pumped through the hose 2 is sent to the conduit 7 integrated with the work UAV 6 via a connection part 11 having a swivel mechanism and / or a connection part 8 having a freely deforming mechanism. As a result, the material pumped through the hose 2 is ejected from the tip of the nozzle 5. In the case of spraying work, the spray material is ejected. The illustrated conduit 7 is an example, and the shape is not limited to this.

[0036] It is preferable that a single hose 2 is appropriately provided with a connection portion 11 equipped with a swivel mechanism and / or a connection portion 8 equipped with a freely deformable mechanism at one or more locations not only at the tip but also in the middle of the hose.

[0037] The connection part having a swivel mechanism (hereinafter referred to as "swivel connection part") 11 is a connection part that allows a hose part connected to one connection point in the axial direction of the swivel connection part 11 and a hose part connected to the other connection point to rotate freely around the axis of the swivel connection part 11. The swivel connection part 11 can be appropriately installed at a location where the hose 2 is likely to be twisted or twisted. Specifically, the swivel connection part 11 is preferably installed at a bent part of the hose 2, such as a part where the hose 2 rises from the ground into the air, or in the middle of the hose 2 that connects between multiple relay devices 3a, 3b and relay UAVs 4a, 4b.

[0038] The hose 2 used in the present invention is not particularly limited in terms of material, pipe diameter, flexibility, etc., and can be used according to the work method, location conditions, or blowing conditions. Attached or sprayed The hose is selected appropriately depending on the injection method and other factors. In particular, when performing spraying-type construction, it is necessary for the hose to have excellent pressure resistance and abrasion resistance, so thick pressure-resistant rubber hoses or poly hoses are generally used. Since such hoses are relatively hard, the hose 2 can become twisted or twisted, especially when it is held and lifted up while in a wound state. In addition, twisting or twisting is likely to occur when the relay devices 3a, 3b or the relay UAVs 4a, 4b move while suspending the hose 2. In particular, when a strong rotational force is applied to the work UAV 6, it becomes difficult to control the aircraft. These problems can be solved by using materials that are relatively hard to handle. Spray The same problem occurs when pressure is applied to hose 2 during shooting work.

[0039] In such a case, by connecting the hose 2 to the work UAV 6 via a swivel connection 8, even if the hose 2 becomes twisted or kinked, the rotational force is released by the swivel mechanism, thereby preventing any adverse effects on the work UAV 6.

[0040] A connection part 8 equipped with a freely transformable mechanism (hereinafter referred to as a "freely transformable connection part") is a connection part that allows the angle formed between a hose part connected to one connection point in the longitudinal direction of the freely transformable connection part 8 and a hose part connected to the other connection point to be freely changed. The freely transformable connection part 8 is a tubular member that is flexibly deformable, as exemplified in Fig. 5.

[0041] When the work UAV 6 lands, as shown by the solid line hose 2 in FIG. 5, there is no major problem if the immediately preceding relay device or relay UAV lands while maintaining a higher altitude than the work UAV 6. However, if the immediately preceding relay device or relay UAV is located at a lower altitude than the work UAV 6, the hose 2 will be shaped like the hose 2' shown by the dotted line in FIG. 5 when landing. Since it is difficult for the relatively hard hose 2 to ensure sufficient flexibility at the time of landing, a problem occurs in which the work UAV 6 cannot land in a normal attitude. This problem can be solved by landing the work UAV 6 on a landing stage or the like that has a certain height from the ground, because the hose 2 will hang down below the work UAV 6. However, it becomes a major problem when it is necessary to land directly on the ground due to unavoidable circumstances.

[0042] In such a case, by connecting the hose 2 to the work UAV 6 via the freely deformable connection part 8, the hose 2 can be bent beyond the limit of the flexibility of the hose itself, and it is possible to avoid a situation in which the flexibility of the hose 2 is insufficient, making it difficult for the work UAV 6 to land. A similar problem occurs when using a relay UAV, but the adverse effects can be avoided by using a hanging member such as a wire rope 10 having a certain length as shown in Figures 1 to 4. The hanging member can be of any type as long as it has a predetermined strength, such as a wire rope.

[0043] The flexible connection part 8 is preferably made of a structure in which multiple universal joints are connected together or a bellows structure, so that it can be bent in a flexible state with good followability without bending at sharp angles. Also, a connection part having the mechanisms of the flexible connection part 8 and the swivel connection part 11 can be used.

[0044] 1 to 5, the work UAV 6 directly holds the ejection device 13 equipped with the nozzle 5, but as another embodiment, the work UAV 6 can suspend the nozzle-equipped ejection device 13 with a wire rope or the like to perform the ejection work. In that case, the same effect can be obtained.

[0045] Under current laws and regulations regarding UAVs, some permission and approval are not required if measures such as third-party access control within the flight range are taken when flying while tethered with a rope or the like of sufficient strength (within 30 m). Although it depends on the judgment of the Civil Aviation Bureau, if the hose 2 of the present invention is regarded as a rope or the like of sufficient strength and a tether point is set on the ground, such measures may be applicable.

[0046] 6 is a diagram showing an outline of an embodiment of a control method for controlling the above-mentioned work method of the present invention. In order to execute the above-mentioned work method, it is necessary to automatically control a plurality of devices related to the work without complicated operations. The plurality of devices to be linked includes at least a work UAV 6, a relay UAV 4a (or, in another embodiment, a relay device 3a) immediately before it, and another relay UAV 4b.

[0047] In order to link these, first, the object of operation by the operator is determined to be the work UAV 6. Then, a position control device 12 is provided. The position control device 12 has a function capable of communicating with each of the plant 1, the relay UAV 4a (or the relay device 3a), the relay UAV 4b, and the work UAV 6, and can be implemented by a computer having a predetermined program installed. Meanwhile, each of the plant 1, the relay UAV 4a (or the relay device 3a), the relay UAV 4b, and the work UAV 6 also has a built-in control device capable of communicating with the position control device 12.

[0048] The position control device 12 controls the positions of the relay UAV 4a (or relay device 3a) and the relay UAV 4b so that each of the relay UAV 4a (or relay device 3a) and the relay UAV 4b maintains the position of the internal division point of the route with the fixed plant 1 and the work UAV 6 at both ends. The position of each device that the position control device 12 intends to maintain by control is called the "target position". An example of how to determine the target position is as follows. For example, the target position of the relay UAV 4a (or relay device 3a) is determined so as to maintain a constant horizontal distance and altitude difference from the work UAV 6 in order to keep the tension applied to the pipeline 7 constant. Also, for example, the target position of the relay UAV 4b is determined so as to maintain a constant amount of slack from the relay UAV 4a (or relay device 3a).

[0049] An example of a control flow by the position control device 12 is as follows. Step a: The position control device 12 acquires the current position information of each of the plant 1, the relay UAV 4a (or the relay device 3a), the relay UAV 4b, and the work UAV 6, for example, using a GNSS (Global Navigation Satellite System) or a surveying instrument installed on the ground. In the illustrated example, each of the devices 1, 4a (or 3a), 4b, and 6 acquires and recognizes its current position using a GNSS including multiple satellites S, and transmits the position information to the position control device 12. · Step b: Using the position information acquired in the above step a, the position control device 12 determines the target positions of the relay UAV 4a (or relay device 3a) and the relay UAV 4b by calculation. ·Step c: The position control device 12 transmits the determined target positions of the relay UAV 4a (or relay device 3a) and the relay UAV 4b to the built-in control devices of the relay UAV 4a (or relay device 3a) and the relay UAV 4b, respectively.

[0050] On the other hand, an example of a control flow by the built-in control device of each of the relay UAV 4a (or relay device 3a) and the relay UAV 4b is as follows. Step d: The target position transmitted by the position control device 12 in step c is received. · Step e: Based on the target position received in step d above, the positions of the relay UAV 4a (or relay device 3a) and the relay UAV 4b are controlled to become the target position.

[0051] Preferably, in the above step b of determining the target positions, the position control device 12 corrects and determines the target positions of the relay UAV 4a (or relay device 3a) and the relay UAV 4b so as to minimize the load on the work UAV 6. For example, correction is performed when the UAV body is blown by the wind or when the position of the body is shifted from the target position due to a reaction force during blowing.

[0052] In addition, when the devices 6, 4a (or 3a), 4b deviate from the specified distance, or when there is a possibility of contact between the devices 6, 4a (or 3a), 4b and the hose 2, the position control device 12 can avoid danger by notifying the operator of a warning using sound or light, or by automatically stopping the movement of the devices 6, 4a (or 3a), 4b.

[0053] FIG. 7 is a schematic side view showing the working state of the work UAV 6 on the target 9. Here, spraying work on a slope is taken as an example. In order to keep the spray pressure constant during work, it is necessary to keep the distance d from the work surface of the target 9 constant, but it is difficult for the operator to operate this visually. Therefore, as shown in FIG. 7, a forward distance sensor 14 is attached in the launch direction of the work UAV 6 to detect the distance d from the work surface. The built-in control device built into the work UAV 6 controls the position of the work UAV 6 so as to keep the distance d from the work surface detected by the forward distance sensor 14 constant. This makes it possible to keep the launch intensity with respect to the work surface constant. In addition, it is possible to prevent collision between the work UAV 6 and the work surface at a site where the work UAV 6 needs to be brought close to the work surface. The forward distance sensor 14 can be a stereo camera, an ultrasonic distance measuring system, a laser distance measuring system, or the like.

[0054] FIG. 8 is a schematic diagram showing the state of the material M sprayed onto the treatment surface of the object 9. With or without In order to keep the amount of spray constant, it is necessary to move the work UAV6 in the vertical and horizontal directions. With or without When spraying, the thickness of the sprayed material M must be constant. For this reason, a 3D measuring device such as a stereo camera or LiDAR (LIDAR) can be used as the forward distance sensor 14 attached to the body of the work UAV 6 to calculate the appropriate amount of spraying. This makes it possible to adjust the position of the work UAV 6 so that the thickness of the material M that is automatically sprayed and layered is constant, thereby automating the spraying. In addition, by detecting the layered state of the material M after spraying with the forward distance sensor 14 and measuring the thickness, it is possible to determine whether it is OK to move to the next location as shown in Figure 8.

[0055] FIG. 9 is a diagram for explaining the forces acting on the working device 15 during work. For the sake of explanation, FIG. 9 shows the working device 15 in its horizontal position. The working device 15 includes a working UAV 6 and an ejection device 13 that is attached to the working UAV 6 and ejects material. In spraying and jetting work, a strong ejection pressure (arrow 31) is often required, and the reaction force (arrow 32) is large. As a result, a rotational moment (arrow 33) is generated, making the working device 15 unstable. To eliminate this instability, the ejection device 13 is attached to the working UAV 6 at an appropriate position.

[0056] As a preferred example, the ejection device 13 attached to the work UAV 6 extends horizontally at a position vertically below the center of gravity G of the body of the work UAV 6 by a predetermined distance r when the work UAV 6 is in a horizontal attitude state. The center of gravity G of the body is the center of gravity of the UAV when the ejection device 13 is not being held. Furthermore, in the extension direction (front-rear direction) of the ejection device 13, the ejection port 13a at the front end of the ejection device 13 is located forward of the center of gravity G of the body of the work UAV 6. Here, the ejection device 13 refers to the tip of the hose, and includes the pipe 7 and the nozzle 5.

[0057] FIG. 10 is a diagram showing the relationship between the force applied to the working device 15 during work and the attitude during work. As described in FIG. 9, a rotational moment (arrow 33) is generated in the working device 15 due to the reaction force generated at the time of ejection. As a result, as shown in FIG. 10, the attitude of the working UAV 6 changes to an inclined state, and a forward thrust force (arrow 34) is generated as the forward component of the ejection pressure. Meanwhile, the action of the ejection reaction force (arrow 32) at the position of the center of gravity G of the aircraft is decomposed into a rear component (arrow 35) and a lift component (arrow 36). The rear component (arrow 35) is offset by the forward thrust force (arrow 34) due to the change in attitude of the aircraft. In addition, the lift component (arrow 36) due to the reaction force reduces the load on the aircraft, thereby reducing the power load for the ejection reaction force. [Explanation of symbols]

[0058] 1. Plant 2 Hose 3a, 3b Relay device 4a, 4b Relay UAV 5 Nozzles 6. Work UAVs 7 Conduit 8 Freely deformable joint 9. Construction Object 10 Wire Rope 11 Swivel connection 12 Position control device 13 Injection device 13a Injection port 14 Front distance sensor 15 Work equipment H Hose holding position (previous relay UAV) F Flight altitude (work UAV) G center of gravity

Claims

1. During an operation in which a material is pumped from a plant (1) through a hose (2) and the material is sprayed or jetted against an object (9) using a UAV, the tip of the hose (2) is held by a work UAV (6), and at least one point of the hose (2) is held by at least one relay device (3a) or at least one relay UAV (4a) between the plant (1) and the work UAV (6); and A method for injecting the material in a state where the altitude (H) of the hose (2) at a point held by a relay device (3a) or a relay UAV (4a) located immediately before the work UAV (6) is higher than the flight altitude (F) of the work UAV (6), comprising: Using an injection device (13) that is attached to the tip of the hose (2) and has a front end injection port (13a) that is attached to the work UAV (6) and injects the material, The material is injected so that the hose (2) connecting the work UAV (6) and the relay device (3a) or relay UAV (4a) located immediately before it is formed into an approximately U-shape; A work method using a UAV, characterized in that, when the work UAV (6) is in a horizontal attitude, the ejection device (13) is arranged to extend horizontally at a position vertically below the center of gravity (G) of the body of the work UAV (6) by a predetermined distance (r), and by this arrangement, a forward thrust force (34) generated when the work UAV (6) is tilted due to a rotational moment (33) generated when the material is ejected, and a horizontal component (35) of an ejection reaction force (32) generated parallel to and opposite the ejection direction are offset, and the load on the work UAV (6) is reduced by a lift component (36) of the ejection reaction force (32).

2. The method of working using a UAV as described in claim 1, characterized in that during the material injection operation, one or more locations of the hose (2) are held between the plant (1) and the immediately preceding relay device (3a) or relay UAV (4a) by one or more other relay devices (3b), by one or more other relay UAVs (4b), or by a combination of one or more other relay devices (3b) and one or more other relay UAVs (4b).

3. The method of working using a UAV as described in claim 1 or 2, characterized in that the hose (2) has a connection portion (11) equipped with a swivel mechanism at one or more points between the plant (1) and the work UAV (6).

4. A method of working using a UAV as described in any one of claims 1 to 3, characterized in that the hose (2) has a connection part (8) equipped with a freely deforming mechanism at one or more points between the plant (1) and the work UAV (6).

5. The relay device (3a) and / or the relay UAV (4a) each include an internal control device, and a position control device (12) capable of communicating with each of the internal control devices; The position control device (12) (a) acquiring location information of the current positions of the plant (1), the relay device (3a) and / or the relay UAV (4a), and the work UAV (6); (b) determining a target position of each of the relay device (3a) and / or the relay UAV (4a) by calculation using the acquired position information; (c) transmitting the determined target position to each of the built-in control devices of the relay device (3a) and / or the relay UAV (4a); and Each of the built-in control devices of the relay device (3a) and / or the relay UAV (4a) receives a target position from the position control device (12) and controls the position of the relay device (3a) and / or the relay UAV (4a) to be the target position; A work method using a UAV as described in any one of claims 1 to 4, characterized in that, in the process of determining the target position, the position control device (12) corrects and determines the target position of the relay UAV (4a) so as to minimize the load on the work UAV (6).

6. In the process of determining the target position, the position control device (12) corrects and determines the target position of the relay UAV (4a) so as to minimize the load on the work UAV (6) when the work UAV (6) is blown by the wind during the operation of injecting the material or when the position of the body of the UAV (6) deviates from the target position due to a reaction force during spraying; The work method using a UAV as described in claim 5, further characterized in that a forward distance sensor (14) is attached in the launch direction of the work UAV (6) to detect the distance (d) from the construction surface, and an internal control device built into the work UAV (6) controls the position of the work UAV (6) so as to keep the distance (d) from the construction surface detected by the forward distance sensor (14) constant.

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