Suction-type sliding self-propelled inspection device and its control method

Abstract

By flying inspection and work equipment at high altitudes and setting it up at the target location, large work vehicles like those used in the past are no longer required. [Solution] The device comprises a main body 4 consisting of a travel mechanism 2 attached to a chamber 1, an exhaust pump, and an inspection / working tool 3; a motor 6 attached to the outer circumference of the main body 4 for rotating a blade 5; and an angle variable mechanism 22 attached between the main body 4 and the motor 6 for varying the direction of the lift of the blade 5. When bringing the main body 4 close to a wall w from the ground and returning it to the ground, the lift of the blade 5 makes the main body 4 fly; when the main body 4 reaches the wall w, the chamber 1 is made into a negative pressure state to attract it to the wall w, and the travel mechanism 2 makes it travel along the wall w.

Description

Technical Field

[0001] The present invention relates to a flying suction sliding type self - propelled inspection device that flies a inspection device or a working device from the ground to a wall surface or a metal surface at a high place such as a highway or a bridge girder of a bridge, adsorbs it to the inspection location, and moves while adsorbing, and a control method thereof.

Background Art

[0002] A suction sliding type self - propelled device that adsorbs and runs on a wall surface such as concrete is equipped with an electromagnetic hammer integrated magnetostrictive sensor for diagnosing internal deformation parts of concrete. This suction sliding type self - propelled device is also equipped with a non - destructive inspection device, a remote - controlled camera, a contamination inspection device, etc. and is used for inspecting wall surfaces and the like.

[0003] For wall surfaces with a rough surface or unevenness, a brush - type adsorption device is often used for the suction sliding type self - propelled device. The brush of the adsorption device follows the uneven surface, improves the sealing performance without leakage of the gap, thereby maintaining the vacuum pressure in the adsorption device, and can adsorb and run well on the wall surface and the like. Regarding such a suction sliding type self - propelled device, various proposals have been made in order to address concerns about labor shortages in the construction industry due to declining birthrates and aging populations, the need for efficient maintenance management and renewal in response to infrastructure aging, and the need for a rapid response to large - scale disasters.

[0004] Such a suction sliding type self - propelled device is used for the "maintenance management" of buildings. For example, in "bridges", the use of a suction sliding type self - propelled device is expected when visually inspecting closely, performing an impact sound inspection, or when an inspector moves. In "tunnels", its use is expected when visually inspecting closely, performing an impact sound inspection, or when an inspector moves. Furthermore, its use is also expected for dams and rivers.

[0005] Furthermore, suction-type sliding self-propelled devices are expected to be useful in times of disaster. They are expected to be used when investigating the situation of landslides, volcanic disasters, and tunnel collapses. For example, they are expected to be used when assessing the extent of damage at a site, measuring soil and other materials, obtaining information on flammable gases, and determining the state and scale of tunnel collapses. Furthermore, it is expected to be used during emergency recovery efforts following disasters such as landslides and volcanic eruptions. For example, it is expected to be used when carrying out emergency recovery work on landslides, when providing emergency drainage services, and when transmitting information.

[0006] As a technology relating to suction-sliding self-propelled devices for which such use is expected, for example, as shown in Japanese Utility Model Publication No. 6-71378, Patent Document 1, "Wall Adsorption Moving Device," a wall adsorption moving device has been proposed which comprises a device body, a moving means installed on the device body, and a depressurized space provided below the device body, and which moves along the wall surface by the moving means while adsorbing to the wall surface by creating a negative pressure state in the depressurized space, and which comprises a rotating member rotatably attached to the device body, a driving means linked to the rotating member and rotating the rotating member, and a brush-type sealing means attached to the rotating member and in contact with the wall surface.

[0007] In addition, inspection methods using so-called drones have also been proposed. For example, as described in Patent Document 2, Japanese Patent Application Publication No. 2023-142731, "Method and apparatus for inspecting concrete floor surfaces," a method for inspecting concrete floor surfaces has been proposed in which air is blown by the downwash of the drone's propellers to change the temperature of a first region of the concrete floor surface, and a second region including at least a part of the first region where the temperature has changed is photographed by a camera mounted on the drone to obtain temperature distribution information of the second region.

[0008] Furthermore, devices have been developed that use the guard portion of a drone's blades to contact the underside of a building's floor slab, effectively acting as a suction device for inspecting high places. [Prior art documents] [Patent Documents]

[0009] [Patent Document 1] Japanese Utility Model Publication No. 6-71378 [Patent Document 2] Japanese Patent Publication No. 2023-142731 [Overview of the Initiative] [Problems that the invention aims to solve]

[0010] Conventional suction-type self-propelled vehicles utilize an exhaust pump to create negative pressure inside, thereby adhering to the wall surface. However, if there are large cracks or holes in the wall, a large amount of air will be drawn in, reducing the suction force and making stable operation impossible.

[0011] Furthermore, if the ground at the inspection site is not flat, it may not be possible to use a work vehicle that lifts the wall-mounted suction device with an arm, making it impossible to set up the inspection device at the inspection location. The work vehicle could also not be used in the case of rivers or coastlines.

[0012] The concrete floor inspection method described in Patent Document 2 is a technology that efficiently inspects even large floor areas by obtaining temperature distribution information using a drone, and it does not involve non-destructive testing at high altitudes.

[0013] Furthermore, this method involves applying the guard portion of the drone's blades to the underside of a building's floor slab, effectively using it as a suction device to inspect high places. However, because the drone's body constantly vibrates due to the rotation of its blades, it is difficult to obtain accurate readings from methods such as seismic wave testing (impact testing) and non-destructive radar testing while the drone is vibrating. Additionally, contact-type inspection devices such as seismic wave testing and electromagnetic radar require a certain amount of pressure against the surface being inspected, but the drone's thrust is insufficient, making it difficult to obtain accurate readings.

[0014] This invention was devised to solve the aforementioned problems. Specifically, the object of this invention is to provide a suction-sliding type self-propelled inspection device and a control method thereof, which eliminate the need for large work vehicles as in the conventional method, by flying the inspection device and work device at high altitudes and setting them at the target inspection location. [Means for solving the problem]

[0015] The inspection device of the present invention is a suction-sliding type self-propelled inspection device that inspects the wall surface (w) and its interior or performs work on the wall surface (w) while sliding along the wall surface (w) such as the upper part or side of a building using suction, A chamber (1) having an opening on one side, The apparatus body (4) consists of a travel mechanism (2) attached to the chamber (1), an exhaust pump that creates negative pressure inside the chamber (1), and an inspection / working tool (3), A motor (6) for rotating the blade (5) is attached to the outer circumference of the main body (4) of the device, The chamber (1) is provided with a pressure sensor located at the periphery of the opening, which determines whether or not it is in contact with the wall surface (w). The main body of the device (4) From the ground When approaching the wall (w) and returning to the ground, the lift from the blade (5) propels the main body of the device (4) into flight. When the main body of the device (4) reaches the wall surface (w), the inside of the chamber (1) is made to be under negative pressure and is attracted to the wall surface (w). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. The device is characterized in that it is configured to travel along the wall surface (w) by the aforementioned travel mechanism (2).

[0016] Furthermore, the inspection device of the present invention is a suction-sliding type self-propelled inspection device that inspects the wall surface (w) and its interior or performs work on the wall surface (w) while sliding along the wall surface (w) such as the upper or side of a building using suction, A chamber (1) having an opening on one side, The apparatus body (4) consists of a travel mechanism (2) attached to the chamber (1), an exhaust pump that creates negative pressure inside the chamber (1), and an inspection / working tool (3), a motor (6) attached to the outer periphery of the device main body (4) for rotating the blade (5); an angle variable mechanism (22) attached between the device main body (4) and the motor (6) for varying the direction of the lift force of the blade (5); A pressure sensor is provided on the periphery of the opening of the chamber (1) to determine whether or not it is in contact with the wall surface (w), and is provided with; when approaching the wall surface (w) and returning to the ground, the device main body (4) is made to fly by the lift force of the blade (5), From the ground and when the device main body (4) reaches the wall surface (w), the inside of the chamber (1) is put into a negative pressure state and adsorbed to the wall surface (w), characterized in that it is configured to travel along the wall surface (w) by the traveling mechanism (2). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. The angle variable mechanism (22) is configured such that the angle of the rotation axis (6a) of the motor (6) can be varied with respect to a virtual plane (VP) which is the entire surface of the opening of the chamber (1).

[0017]

[0018] The control method of the inspection device of the present invention is a control method when an aspiration-sliding type self-propelled inspection device performs inspection and work in a building, when inspecting the lower surface at a high place of a concrete building, using the entire surface of the opening of the chamber (1) as a virtual plane (VP), aligning this virtual plane (VP) to be parallel to the wall surface (w) for inspection and work, and varying the direction of the motor (6) with the angle variable mechanism (22) so that the blade (5) generates a downward lift force, The chamber (1) and raising the device main body (4) by the rotation of the blade (5), when the device main body (4) reaches the target location on the wall surface (w), adsorbing it to the wall surface (w) while putting the inside of the chamber (1) into a negative pressure state, When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when the pressure sensor determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. characterized in that it travels along the wall surface (w) by the traveling mechanism (2) and operates the inspection / work implement (3).

[0019] Furthermore, the control method for the inspection device of the present invention is a control method for a suction sliding type self-propelled inspection device when performing inspections and work in a building. When inspecting vertical wall surfaces (w) such as bridge girders, The entire opening of the chamber (1) is treated as a virtual plane (VP), and this virtual plane (VP) is aligned parallel to the wall surface where inspection and work are performed. hand The angle variable mechanism (22) is used to change the direction of the motor (6) so that the entire opening of the chamber (1) is parallel to the virtual plane (VP) so that the blade (5) is lifted downward. The chamber (1), which is parallel to the vertical wall (w), is raised by the rotation of the blade (5). When the main body of the device (4) reaches the target location on the wall surface (w), it is attached to the wall surface (w) while creating a negative pressure inside the chamber (1), When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. The inspection / working device (3) is operated by the aforementioned travel mechanism (2) which moves along the wall surface (w).

[0020] Furthermore, the control method for the inspection device of the present invention is a control method for a suction sliding type self-propelled inspection device when performing inspections and work in a building. When inspecting a sloping wall surface (w) such as the top of a tunnel, The entire opening of the chamber (1) is treated as a virtual plane (VP), and this virtual plane (VP) is aligned parallel to the wall surface where inspection and work are performed. The angle variable mechanism (22) is used to change the direction of the motor (6) so that the entire opening (3) is tilted relative to the virtual plane (VP) so that the blade (5) is subjected to downward lift. The chamber (1), which is parallel to the inclined wall surface (w), is raised by the rotation of the blade (5). When the main body of the device (4) reaches the target location on the wall surface (w), it is attached to the wall surface (w) while creating a negative pressure inside the chamber (1), When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. The inspection / working device (3) is operated by the aforementioned travel mechanism (2) which moves along the wall surface (w).

[0021] One method involves connecting a wire (42) wound around a movable winch (41) installed on the ground to the main body of the device (4), and flying the main body of the device (4) within a certain range. [Effects of the Invention]

[0022] In this invention, the main body of the device (4) is raised by the rotation of the blade (5), and once it reaches the wall surface (w), a negative pressure is created inside the chamber (1) to cause it to adhere to the wall surface (w). The device is then moved along the wall surface (w) by the travel mechanism (2), allowing inspection and work to be performed. The inspection device or work device can be flown from the ground to a wall or metal surface and moved while adhering to the inspection location, eliminating the need for a large work vehicle like those used in the past. When the work area at the inspection location is narrow, inspection or work can be performed even in confined spaces or on slopes where a work vehicle to raise the inspection device or work device cannot be brought in.

[0023] Furthermore, in this invention, the lift force of the blade (5) and motor (6) relative to the device body (4) can be varied. By directing the lift force of the blade (5) and motor (6) downwards, the angle of the suction surface of the device body (4) can be freely changed. Therefore, various types of surfaces, such as horizontal surfaces, vertical surfaces, and inclined surfaces, can be inspected or worked on. [Brief explanation of the drawing]

[0024] [Figure 1] This is a plan view of the suction sliding type self-propelled inspection device of Example 1, showing the upper net-equipped guard removed to illustrate the shape of the blade. [Figure 2] This is a bottom view showing the suction sliding type self-propelled inspection device of Example 1. [Figure 3] This is a modified example of the suction-sliding type self-propelled inspection device of Example 1, and is a plan view showing the upper net-equipped guard removed. [Figure 4]This is a plan view of the suction-sliding type self-propelled inspection device of Example 2, showing the upper net-equipped guard removed to illustrate the shape of the blade. [Figure 5] This is a bottom view showing the suction sliding type self-propelled inspection device of Example 2. [Figure 6] The angle-adjustable mechanism and motor section of Example 2 are shown, with (a) being an enlarged front view and (b) being an enlarged side view with a portion cut out. [Figure 7] This is a front view showing the suction sliding type self-propelled inspection device of Example 2, where (a) the blade is parallel to the virtual plane of the chamber opening, (b) the blade is tilted at approximately 45 degrees relative to the virtual plane of the chamber opening, and (c) the blade is rotated at approximately 90 degrees relative to the virtual plane of the chamber opening. [Figure 8] This is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being set on the underside of a concrete structure at a high elevation. [Figure 9] This is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being set on the side of a bridge girder or similar structure. [Figure 10] This is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being used to inspect a bridge girder or similar structure while being moved by suction. [Figure 11] This is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being moved to an inclined surface at a high elevation of a concrete structure such as a tunnel. [Figure 12] This flowchart shows the operating status of each component based on monitoring of the pressure sensor in the modified device. [Modes for carrying out the invention]

[0025] The present invention is a suction-sliding type self-propelled inspection device comprising a main body that inspects or works on the wall surface and its interior while sliding along the wall surface, such as the upper or side of a building, and a blade that flies the main body to the inspection location, with the direction of the motor that rotates the blade being variable. The main body of the device is attached to the wall surface while creating a negative pressure state inside the chamber, and is moved along the wall surface by a travel mechanism. [Examples]

[0026] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figure 1 is a plan view of the suction sliding type self-propelled inspection device of Example 1, with the upper net-equipped guard removed to show the shape of the blade. Figure 2 is a bottom view of the suction sliding type self-propelled inspection device of Example 1. The suction-sliding self-propelled inspection device of Example 1, once the chamber 1 reaches the wall surface w, creates a negative pressure inside the chamber 1 to attract it to the wall surface w, moves along the wall surface w using the travel mechanism 2, and inspects or works on the device body 4 using inspection / work tools 3. When bringing the device body 4 close to the wall surface w from the ground and returning it to the ground, it is made to fly using the lift of the blade 5.

[0027] As shown in Figure 1, the suction-sliding self-propelled inspection device of the present invention has a central device body 4 that adheres to a wall surface and moves, with four sets of blades 5 and motors 6 attached to its periphery by a support 7. Although the illustrated example shows four sets of blades 5 and motors 6, the number is not limited to this. It can be changed to two, six, or eight sets depending on the motor output, the weight and shape of the device body 4. Furthermore, the blades 5 are not limited to the two blades shown in the illustration, but can be three, four, or five blades.

[0028] Each blade 5 is protected by a net-covered guard 8, as shown in Figure 1. The suction-sliding self-propelled inspection device of Example 1 has power cords, inspection equipment, and equipment wiring (wire harnesses) from the ground, although these are not shown. This is to prevent these cords and equipment wiring from coming into contact with the blades 5. The shape and material of the net-covered guard 8 are not limited.

[0029] Furthermore, as shown in Figures 8 and 11 later, it is desirable to stretch a wire 42 between the ground and the device body 4 in order to further stabilize the flight of the suction sliding self-propelled inspection device of the present invention before the device body 4 is attached to the wall surface w, and before the device body 4 is retrieved on the ground after the inspection is completed. By connecting the wire 42 to the device body 4 and allowing it to fly within a certain range, it is possible to prevent the device body 4 from falling or being lost even if it becomes uncontrollable.

[0030] The wire 42 is wound around a winch 41 installed on the ground. This winch 41 serves as the "fixed point." Of course, since the winch 41 moves with the inspection location, it does not hinder wide-area inspections or work. In addition, the power supply cord, inspection equipment, and equipment wiring for work tools can be integrated into this wire 42. It is not limited to wire 42; strong string or thin materials such as fishing line can also be used. However, there are regulations under the Aviation Act regarding length, which stipulate a "maximum of 30m," so if the length of wire 42 exceeds 30m, a permit application is required.

[0031] <Configuration of the main device> As shown in Figure 1, the main body of the device 4 has an opening on one side of a roughly cylindrical chamber 1, and an exhaust pump (not shown) on the other side that creates negative pressure inside the chamber 1. The running mechanism 2 has two wheels 9 attached to the outside of the chamber 1, and the wheels 9 are rotated by a running drive motor 10 installed inside the main body of the device 4. Furthermore, auxiliary wheels 11 are attached to two locations on the chamber 1, allowing the chamber 1 to move smoothly along the wall surface. Although not shown, it is also possible to use tracks (continuous tracks) instead of wheels 9. The running mechanism is not limited to wheels 9 or tracks (continuous tracks), as long as it does not affect the negative pressure operation of the chamber 1 and is lightweight.

[0032] Although not shown in the diagram, the exhaust pump is mounted in a cylindrical section formed to protrude from the opposite side of the opening of chamber 1. The exhaust pump consists of a fan and a drive motor. The power for this drive motor is supplied from an external source. The side of the cylindrical section facing the travel mechanism 2 has a circular vent hole, and the exhaust pump draws air from the opening through this vent hole, creating negative pressure inside chamber 1 and causing the entire chamber 1 to adhere to the wall surface w. For this reason, a circular opening is desirable so that the amount of air drawn in from the opening is uniform. However, it goes without saying that the opening of chamber 1 is not limited to a circular shape.

[0033] A sealing skirt consisting of multiple segments, each individually positioned to extend and retract in the direction of the wall surface w, is attached to the periphery of the opening of this chamber 1.

[0034] The inspection / working device 3 is mounted inside the chamber 1 so as to protrude from the opening of the chamber 1. This inspection / working device 3 can be used for various testing devices, working devices, or imaging with a camera, such as an elastic wave generator, in addition to an electromagnetic wave radar. The present invention functions as a multi-purpose robot.

[0035] Furthermore, when mounting a camera to film inspection points during flight, vibrations during flight will result in unclear footage. Therefore, it is advisable to use a "gimbal," which is also used with general cameras. Measures must be taken to prevent the camera from being directly affected by the aircraft's movement and vibrations.

[0036] The suction-sliding self-propelled inspection device of Embodiment 1, configured in this way, is propelled from the ground by the lift generated by the rotating blades 5 and ascends to the inspection site at a high elevation. When approaching the inspection site, the chamber 1 of the device body 4 is made to create a negative pressure state, causing it to adhere to the wall surface w, and inspection or work is performed while it is moved by the travel mechanism 2. Once the inspection or work is completed, the blades 5 can be rotated to allow it to fly back to the ground.

[0037] <Configuration of modified running mechanism> Figure 3 is a modified example of the suction sliding type self-propelled inspection device of Example 1, and is a plan view showing the device with the upper net-equipped guard removed. As shown in Figures 1 and 2, the wheels or tracks (endless tracks) of the running mechanism 2 do not need to be placed outside the chamber 1. As shown in Figure 3, they can also be placed inside the chamber 1. This configuration makes it easier to turn the running mechanism 2, allowing for an extremely short turning radius and enabling inspection work in confined spaces. [Examples]

[0038] <Configuration of the suction-sliding type self-propelled inspection device in Example 2> Figure 4 is a plan view of the suction sliding type self-propelled inspection device of Example 2, with a portion of the upper net-equipped guard removed to show the shape of the blade. Figure 5 is a bottom view of the suction sliding type self-propelled inspection device of Example 2. Figure 6 shows the angle variable mechanism and motor section of Example 2, with (a) being an enlarged front view and (b) being an enlarged side view with a portion cut out. The suction-sliding self-propelled inspection device of Example 2 is a device that adds a configuration to the device of Example 1 that allows the direction of the blade 5 (the rotation axis 6a of the motor 6) to be varied. The same configuration and components as the device of Example 1 will not be described. Unlike the mounting method using the support body 7 in Embodiment 1, each motor 6 attached to the suction sliding type self-propelled inspection device in Embodiment 2 is mounted between rod-shaped members 23 between the frame 21 and the angle variable mechanism 22, allowing the direction of the rotation axis 6a of the motor 6 to be freely varied. One end of the rod-shaped member 23 is attached to the angle variable mechanism 22. The other end of the rod-shaped member 23 is pivotably attached to the tip of the frame 21.

[0039] As shown in Figure 6(b), the angle-adjustable mechanism 22 is a mechanism in which a driven bevel gear 22a is attached to one end of a rod-shaped member 23, and a drive-side bevel gear 22b meshes with it. By rotating the drive-side bevel gear 22b, the driven bevel gear 22a rotates, and the direction of the motor 6 is changed. Note that the configuration is not limited to the one shown in Figure 6, and various configurations such as chain or belt types can be used as long as the direction of the motor 6 can be changed by driving from the main body of the device 4.

[0040] Figure 7 is a front view showing the suction sliding type self-propelled inspection device of Embodiment 2, where (a) the blade is parallel to the virtual plane of the chamber opening, (b) the blade is tilted at approximately 45 degrees with respect to the virtual plane of the chamber opening, and (c) the blade is rotated at 90 degrees with respect to the virtual plane of the chamber opening. The suction-sliding self-propelled inspection device of Example 2 can freely change the direction of the lift force of the blade using the angle variable mechanism 22. In other words, it means that the virtual plane of the opening of the chamber 1 can be freely changed. The state in which the blade 5 shown in Figure 7(a) is parallel to the virtual plane VP of the opening of the chamber 1 is suitable for flying when inspecting or working on the underside of a structure at a high altitude. The state in which the blade 5 shown in Figure 7(b) is tilted at approximately 45 degrees with respect to the virtual plane VP of the opening of the chamber 1 is suitable for flying when inspecting or working on inclined surfaces of structures such as tunnels at high altitudes. The state in which the blade 5 shown in Figure 7(c) is tilted at 90 degrees with respect to the virtual plane VP of the opening of the chamber 1 is suitable for flying when inspecting and working on vertical surfaces such as bridge girders at high altitudes. In this case, the angle-adjustable blade 5, i.e., the guard 8 with net, must be positioned so that it does not reach the virtual plane of the opening of the chamber 1. This is, of course, to avoid hindering the suction sliding function of the main body of the device 4.

[0041] Although not shown in the diagram, skids can be attached to the main body of the device 4 at the part where the device makes contact with the ground. This is to prevent the variable-direction blade 5 from hitting the ground.

[0042] <Explanation of operating status 1> Figure 8 is an explanatory diagram showing the suction sliding type self-propelled inspection device of Example 2 being set on the underside of a concrete structure at a high elevation. When setting up the inspection device of Example 2 on the underside of a concrete structure at a high elevation, as shown in Figure 8, it is controlled using a proportion system (remote control) as follows. First, the entire opening of chamber 1 is considered a virtual plane VP. This virtual plane VP is aligned parallel to the wall surface where inspection and work are performed, and the direction of the motor 6 is changed by the angle variable mechanism 22 so that the blade 5 generates downward lift. In the case of Figure 8, the blade 6 is oriented so that its lift is perpendicular to the virtual plane VP. In this state, the main body of the device 4 is raised by the rotation of the blade 5, and when the main body of the device 4 reaches the target location on the wall w, it is attached to the wall w while creating a negative pressure inside the chamber 1. In this state, the travel mechanism 2 moves along the wall w, and the inspection / working tool 3 is activated to perform inspection work on the underside at a high place.

[0043] The illustrated example shows a wire 42 connected between the winch 41 on the ground and the main body of the device 4. As mentioned above, this wire 42 is connected to the main body of the device 4 and flies within a certain range to prevent it from falling or being lost even if the main body of the device 4 becomes uncontrollable.

[0044] <Explanation of operating status 2> Figure 9 is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being set on the side of a bridge girder. Figure 10 is an explanatory diagram showing the suction-sliding type self-propelled inspection device of Example 2 being used for inspection while being moved by suction on the side of a bridge girder. Figures 9 and 10 illustrate the control method when inspecting a vertical wall surface w, such as a bridge girder. First, the entire opening of the chamber 1 is considered a virtual plane VP, and this virtual plane VP is aligned parallel to the wall surface to be inspected and worked on. The angle variable mechanism 22 is used to change the direction of the motor 6 so that the entire opening is parallel to the virtual plane VP, thereby generating a downward lift force on the blade 5. In this state, the chamber 1, which is parallel to the vertical wall w, is raised by the rotation of the blade 5. Once the main unit 4 reaches the target location on the wall w, it is attached to the wall w while creating a negative pressure inside the chamber 1, and the travel mechanism 2 moves it along the wall w, activating the inspection / working tool 3 to perform inspection work on the side of a bridge girder or similar structure at a high altitude. Furthermore, the angle-adjustable mechanism 22 can be operated even while the suction-sliding self-propelled inspection device is in flight, allowing the blade 5 to be changed to a desired orientation. In other words, the orientation of the virtual plane VP of the opening of the chamber 1 can be freely changed during flight, enabling rapid inspection and work on wall surfaces with different inclination angles.

[0045] <Explanation of Operating Status 3> Figure 11 is an explanatory diagram showing the suction sliding type self-propelled inspection device of Example 2 being moved to an inclined surface at a high elevation of a concrete structure such as a tunnel. The control method for inspecting an inclined wall surface w, such as the upper part of a tunnel shown in Figure 11, will be explained. First, the entire opening of the chamber 1 is considered a virtual plane VP, and this virtual plane VP is aligned parallel to the wall surface to be inspected and worked on. The angle variable mechanism 22 is used to change the direction of the motor 6 so that the entire opening is inclined relative to the virtual plane VP, thereby generating a downward lift force on the blade 5. In this state, the chamber 1, which is parallel to the inclined wall w, is raised by the rotation of the blade 5. Note that when the device body 4 is inclined and raised by the blade 5, it is necessary to accurately calculate the position of the center of gravity of the entire device and determine the angle of the blade 5. Once the main body of the device 4 reaches the target location on the wall w, it is attached to the wall w while creating a negative pressure inside the chamber 1, and the travel mechanism 2 moves it along the wall w, activating the inspection / working tool 3.

[0046] <Modified example of the device body: "Safety device"> Figure 12 is a flowchart showing the operating status of each device based on monitoring of the pressure sensor in a modified suction-sliding type self-propelled inspection device in which a pressure sensor is installed inside the chamber. The illustrated modified version of the suction-sliding self-propelled inspection device is equipped with a pressure sensor (not shown) to prevent the device body from falling. In this modified version, the pressure sensor determines whether or not the peripheral edge of the opening of the chamber 1 is in contact with the wall surface w. This pressure sensor is a device that measures the pressure of a gas through a diaphragm such as a stainless steel diaphragm or a silicon diaphragm using a pressure-sensitive element, converts it into an electrical signal, and outputs it. When the pressure sensor detects negative pressure, it means that the opening of the chamber 1 is adhering to the wall surface w of the inspection location. On the other hand, when the pressure sensor detects that the negative pressure has moved from below a predetermined set value (threshold) to approach positive pressure, it means that the opening of the chamber 1 is not adhering to the wall surface w of the inspection location. Therefore, when this is recognized, a microcontroller (not shown) controls the operation of the exhaust pump and increases the rotation speed of the blade 5 to make the opening of the chamber 1 tightly adhere to the wall surface of the inspection location.

[0047] In this manner, once the main unit 4 (chamber 1) is stably attached to the inspection location, the inspection and work are carried out while the main unit 4 is moved. When the inspection work is completed, the rotation speed of the blade 5 is increased, the attachment of the main unit 4 (chamber 1) is stopped, and it is returned to the ground.

[0048] Instead of a pressure sensor to measure negative and positive pressure inside chamber 1, a contact element can be provided (not shown). This is simply a mechanism to recognize that the opening of chamber 1 is attracted to the wall surface w of the inspection point.

[0049] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention, as long as the configuration does not require a large work vehicle as in the conventional method, by flying inspection and work equipment at high altitudes and setting it up at the target location. [Industrial applicability]

[0050] The suction-sliding self-propelled inspection device of the present invention is not limited to walls and metal surfaces at high places such as highways and bridge girders, but can also be used to inspect and repair other damages when attaching inspection devices and work devices to walls and metal surfaces. [Explanation of Symbols]

[0051] 1 Chamber 2. Running mechanism 3. Inspection and work equipment 4. Main unit of the device 5 blades 6 motors 6a Rotation axis 22 Angle-adjustable mechanism 41 Winch 42 wires w wall VP virtual plane

Claims

1. A suction-sliding type self-propelled inspection device that inspects or works on the wall surface (w) and its interior while sliding along the wall surface (w) of a building, such as the upper or side wall, A chamber (1) having an opening on one side, The apparatus body (4) consists of a travel mechanism (2) attached to the chamber (1), an exhaust pump that creates negative pressure inside the chamber (1), and inspection / working equipment (3), A motor (6) for rotating the blade (5) is attached to the outer circumference of the main body (4) of the device, The chamber (1) is provided with a pressure sensor located at the periphery of the opening, which determines whether or not it is in contact with the wall surface (w). When bringing the device body (4) closer to the wall surface (w) from the ground and then back to the ground, the lift from the blade (5) is used to propel the device body (4) into flight. When the main body of the device (4) reaches the wall surface (w), the chamber (1) is made to be negatively pressurized and adheres to the wall surface (w). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive and determines that the chamber (1) is separated. In conjunction with the exhaust pump, the rotation speed of the blade (5) is increased to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. A suction-sliding type self-propelled inspection device characterized by being configured to travel along a wall surface (w) by the aforementioned travel mechanism (2).

2. A suction-sliding type self-propelled inspection device that inspects or works on the wall surface (w) and its interior while sliding along the wall surface (w) of a building, such as the upper or side wall, A chamber (1) having an opening on one side, The apparatus body (4) consists of a travel mechanism (2) attached to the chamber (1), an exhaust pump that creates negative pressure inside the chamber (1), and inspection / working equipment (3), A motor (6) for rotating the blade (5) is attached to the outer circumference of the main body (4) of the device, An angle-variable mechanism (22) is installed between the main body (4) and the motor (6) to vary the direction of the lift force of the blade (5), The chamber (1) is provided with a pressure sensor located at the periphery of the opening, which determines whether or not it is in contact with the wall surface (w). When bringing the device body (4) closer to the wall surface (w) from the ground and then back to the ground, the lift from the blade (5) is used to propel the device body (4) into flight. When the main body of the device (4) reaches the wall surface (w), the chamber (1) is made to be negatively pressurized and adheres to the wall surface (w). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive and determines that the chamber (1) is separated. In conjunction with the exhaust pump, the rotation speed of the blade (5) is increased to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. A suction-sliding type self-propelled inspection device characterized by being configured to travel along a wall surface (w) by the aforementioned travel mechanism (2).

3. The suction sliding type self-propelled inspection device according to claim 2, characterized in that the angle variable mechanism (22) is configured to vary the angle of the rotation axis (6a) of the motor (6) with respect to the virtual plane (VP) which is the entire surface of the opening of the chamber (1).

4. A control method for inspecting and working on a building using the suction sliding type self-propelled inspection device described in claim 2, When inspecting the underside of a concrete structure at a high elevation, The entire opening of the chamber (1) is treated as a virtual plane (VP), and this virtual plane (VP) is aligned parallel to the wall surface (w) where inspection and work are performed. The angle variable mechanism (22) is used to change the direction of the motor (6) so that the blade (5) is subjected to downward lift. The chamber (1) and the main body of the apparatus (4) are raised by the rotation of the blade (5). When the main body of the device (4) reaches the desired location on the wall surface (w), it is attached to the wall surface (w) while creating a negative pressure inside the chamber (1). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when the pressure sensor determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. A control method for a suction-sliding type self-propelled inspection device, characterized in that the device is moved along a wall surface (w) by the travel mechanism (2) and the inspection / working device (3) is operated.

5. A control method for inspecting and working on a building using the suction sliding type self-propelled inspection device described in claim 2, When inspecting vertical wall surfaces (w) such as bridge girders, The entire opening of the chamber (1) is considered a virtual plane (VP), and this virtual plane (VP) is aligned parallel to the wall surface where inspection and work are performed. The angle variable mechanism (22) is used to change the direction of the motor (6) so that the entire opening of the chamber (1) is parallel to the virtual plane (VP) so that the blade (5) is subjected to downward lift. The chamber (1), which is parallel to the vertical wall (w), is raised by the rotation of the blade (5). When the main body of the device (4) reaches the desired location on the wall surface (w), it is attached to the wall surface (w) while creating a negative pressure inside the chamber (1). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. A control method for a suction-sliding type self-propelled inspection device, characterized in that the device is moved along a wall surface (w) by the travel mechanism (2) and the inspection / working device (3) is operated.

6. A control method for inspecting and working on a building using the suction sliding type self-propelled inspection device described in claim 2, When inspecting a sloping wall surface (w) such as the top of a tunnel, The entire opening of the chamber (1) is treated as a virtual plane (VP), and this virtual plane (VP) is aligned parallel to the wall surface where inspection and work are performed. The angle variable mechanism (22) is used to change the direction of the motor (6) so that the entire opening (3) is tilted relative to the virtual plane (VP) so that the blade (5) is subjected to downward lift. The chamber (1), which is parallel to the inclined wall surface (w), is raised by the rotation of the blade (5). When the main body of the device (4) reaches the desired location on the wall surface (w), it is attached to the wall surface (w) while creating a negative pressure inside the chamber (1). When the opening of the chamber (1) is separated from the wall surface (w) of the inspection location, the pressure sensor detects that the air pressure inside the chamber (1) has changed from negative to positive pressure, and when it determines that the chamber (1) is separated, it increases the rotation speed of the blade (5) together with the exhaust pump to bring the opening of the chamber (1) into close contact with the wall surface of the inspection location. A control method for a suction-sliding type self-propelled inspection device, characterized in that the device is moved along a wall surface (w) by the travel mechanism (2) and the inspection / working device (3) is operated.

7. A control method for a suction sliding type self-propelled inspection device according to claim 4, 5, or 6, characterized in that a wire (42) wound around a movable winch (41) installed on the ground is connected to the device body (4), and the device body (4) is made to fly within a certain range.

Images